Robotics and Autonomous Systems最新文献_第5页

Human-inspired dynamic obstacle and inter-collision avoidance algorithm for humanoid biped robots 仿人两足机器人的动态障碍与避碰算法

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-04-13 DOI: 10.1016/j.robot.2025.105023

Abhishek Kumar Kashyap , Dayal Parhi

{"title":"Human-inspired dynamic obstacle and inter-collision avoidance algorithm for humanoid biped robots","authors":"Abhishek Kumar Kashyap , Dayal Parhi","doi":"10.1016/j.robot.2025.105023","DOIUrl":"10.1016/j.robot.2025.105023","url":null,"abstract":"<div><div>In order to maximize humanoid robot navigation, this paper introduces the Enhanced DAYANI Arc Contour Intelligent (EDACI) Method, which integrates Dynamic Window Approach (DWA) to choose the best walking parameters for avoiding obstacles and smooth trajectory management. EDACI algorithm provides the best response to guide humanoid robots to the goal by avoiding obstacles and preparing a smooth trajectory. Further, DWA optimizes the walking pattern of humanoid robots by controlling their velocity while encountering an obstacle and finding a smooth trajectory. The performance of the proposed controller is examined by implementing it in humanoid NAOs for navigation in several simulated and experimental terrains. It is implemented on a single humanoid robot for navigation in static and dynamic environments and on multiple humanoid robots on a single platform. Navigation of multiple robots has to deal with the situation of conflict where one robot behaves as a dynamic obstacle to the other. It is solved by setting a Dining Philosopher Controller (DPC) in the base technique. The results obtained from the simulations and experiments have a divergence below 5 %, which demonstrates a satisfactory relation between them. The proposed controller's efficacy is demonstrated by comparing the torque developed at different joints with contrast to the inbuilt controller of NAO. The results show good improvement in torque produced at all joints. In addition, it is compared with an existing controller for navigation, which displays superiority of the proposed controller.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"191 ","pages":"Article 105023"},"PeriodicalIF":4.3,"publicationDate":"2025-04-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143848054","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An underactuated gripper design and evaluation with linkage-based system for a front approach 基于连杆系统的欠驱动夹持器设计与评估

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-04-12 DOI: 10.1016/j.robot.2025.105005

Jeongseok Choi, Jeeho Won, Wonhyoung Lee, TaeWon Seo

引用次数: 0

Unified Vertex Motion Estimation for integrated video stabilization and stitching in tractor–trailer wheeled robots 牵引-拖车轮式机器人视频稳定与拼接的统一顶点运动估计

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-04-11 DOI: 10.1016/j.robot.2025.105004

Hao Liang , Zhipeng Dong , Hao Li , Yufeng Yue , Mengyin Fu , Yi Yang

{"title":"Unified Vertex Motion Estimation for integrated video stabilization and stitching in tractor–trailer wheeled robots","authors":"Hao Liang , Zhipeng Dong , Hao Li , Yufeng Yue , Mengyin Fu , Yi Yang","doi":"10.1016/j.robot.2025.105004","DOIUrl":"10.1016/j.robot.2025.105004","url":null,"abstract":"<div><div>Tractor–trailer wheeled robots need to perform comprehensive perception tasks to enhance their operations in areas such as logistics parks and long-haul transportation. The perception of these robots faces three major challenges: the asynchronous vibrations between the tractor and trailer, the relative pose change between the tractor and trailer, and the significant camera parallax caused by the large size. In this paper, we employ the Dual Independence Stabilization Motion Field Estimation method to address asynchronous vibrations between the tractor and trailer, effectively eliminating conflicting motion estimations for the same object in overlapping regions. We utilize the Random Plane-based Stitching Motion Field Estimation method to tackle the continuous relative pose changes caused by the articulated hitch between the tractor and trailer, thus eliminating dynamic misalignment in overlapping regions. Furthermore, we apply the Unified Vertex Motion Estimation method to manage the challenges posed by the tractor–trailer’s large physical size, which results in severely low overlapping regions between the tractor and trailer views, thus preventing distortions in overlapping regions from exponentially propagating into non-overlapping areas. Furthermore, this framework has been successfully implemented in real tractor–trailer wheeled robots. The proposed Unified Vertex Motion Video Stabilization and Stitching method has been thoroughly tested in various challenging scenarios, demonstrating its accuracy and practicality in real-world robot tasks. The code is available at <span><span>https://github.com/lhlawrence/UVM-VSS</span><svg><path></path></svg></span>.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"191 ","pages":"Article 105004"},"PeriodicalIF":4.3,"publicationDate":"2025-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143838986","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Kinematics analysis and performance optimization of a novel asymmetric parallel biped robot 一种新型非对称并联双足机器人运动学分析与性能优化

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-04-10 DOI: 10.1016/j.robot.2025.105003

Yue Zhang, Xizhe Zang, Boyang Chen, Chao Song, Liang Gao, Jie Zhao

{"title":"Kinematics analysis and performance optimization of a novel asymmetric parallel biped robot","authors":"Yue Zhang, Xizhe Zang, Boyang Chen, Chao Song, Liang Gao, Jie Zhao","doi":"10.1016/j.robot.2025.105003","DOIUrl":"10.1016/j.robot.2025.105003","url":null,"abstract":"<div><div>The asymmetric parallel mechanism offers advantages such as strong bearing capacity, flexible kinematics, and a large workspace, which conventional mechanisms cannot simultaneously achieve. However, few studies have applied it to the structural design of biped robots, resulting in a lack of a comprehensive theoretical system for analyzing the kinematic characteristics of such biped robots. This paper addresses this gap by analyzing a novel type of asymmetric parallel biped robot with common hinges and optimizing its dimensions. A method for degrees of freedom analysis based on the screw system is introduced. By combining the screw method with Lie algebra, a decoupled kinematic model is established, and the Jacobian matrix is derived. The workspace is determined using the Monte Carlo method. The distribution of singularity, the dexterity over time, and the stiffness mapping in two-dimensional space are obtained and analyzed based on the Jacobian matrix. Particle swarm optimization is employed to optimize the linkage length. Finally, the improvement of the optimized performance and the correctness of the kinematic derivation are validated by the gait experiment. This study offers valuable insights into exploring the kinematic characteristics of asymmetrical parallel mechanisms with common hinges, not only within the realm of biped robots but also in the broader field of multi-legged robots.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"191 ","pages":"Article 105003"},"PeriodicalIF":4.3,"publicationDate":"2025-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143834545","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A competition-based scheme using k-WTA networks for multi-target pursuit and encirclement in dynamic environments 动态环境下基于竞争的k-WTA网络多目标追击与包围方案

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-04-08 DOI: 10.1016/j.robot.2025.104990

Ning Tan , Zhenghui Cui , Yang Liu , Ruikun Hu , Bo Zhu , Tianjiang Hu

引用次数: 0

Multi-Agent Pickup and Delivery with external agents 与外部代理的多代理取货和交付

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-04-04 DOI: 10.1016/j.robot.2025.105000

Luca Bonalumi , Benedetta Flammini , Davide Azzalini, Francesco Amigoni

{"title":"Multi-Agent Pickup and Delivery with external agents","authors":"Luca Bonalumi , Benedetta Flammini , Davide Azzalini, Francesco Amigoni","doi":"10.1016/j.robot.2025.105000","DOIUrl":"10.1016/j.robot.2025.105000","url":null,"abstract":"<div><div>In a Multi-Agent Pickup and Delivery (MAPD) problem, a team of agents moving in an environment must complete pickup and delivery tasks while avoiding collisions. These tasks appear and are assigned dynamically at runtime, assuming that the environment is static, except for the movements of the agents. This paper introduces a novel MAPD formulation, where <em>team agents</em> must solve their MAPD problem in an environment populated by moving <em>external agents</em>. Team agents do not communicate nor collaborate with external agents and cannot interfere with external agents’ goals and paths, which are unknown. Thus, team agents are in charge of preventing collisions with external agents while fulfilling their pickup and delivery tasks. To address this challenge, we propose an approach where team agents build behavioral models of external agents, and then use these models to anticipate potential conflicts with external agents and plan paths accordingly. We employ two modeling approaches: (1) a probabilistic occupancy model that estimates the likelihood of each location in the environment being occupied by external agents and (2) a Markovian model that captures how external agents transition between locations in the environment. The proposed approach is evaluated under different observational assumptions for team agents, demonstrating that leveraging knowledge of external agents’ behavior reduces collision events and task completion times for team agents.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"191 ","pages":"Article 105000"},"PeriodicalIF":4.3,"publicationDate":"2025-04-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143823353","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Angle-based multi-goal ordering and path-planning using an improved A-star algorithm 基于角度的多目标排序和路径规划改进的a星算法

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-04-04 DOI: 10.1016/j.robot.2025.105001

Abdullah Allus, Mustafa Unel

{"title":"Angle-based multi-goal ordering and path-planning using an improved A-star algorithm","authors":"Abdullah Allus, Mustafa Unel","doi":"10.1016/j.robot.2025.105001","DOIUrl":"10.1016/j.robot.2025.105001","url":null,"abstract":"<div><div>In the field of autonomous mobile robotics, the demand for highly efficient path-planning algorithms is crucial. Among the various path-planning tasks and challenges, multi-goal path planning stands out as a particularly complex problem, where the objective is to determine the most efficient path for a robot to visit multiple goal nodes. In this paper, we introduce a novel ordering algorithm designed to optimize the sequence in which the goal nodes are visited. The ordering is based on a one-distance-two-angles ordering paradigm, which reduces the dependency on distances as deciding factors and incorporates more angles to gather the necessary information, thereby reducing the computational complexity of the overall ordering procedure. The backbone of the algorithm is an improved version of the A* search algorithm that we developed to further reduce the distance cost of the original A* algorithm by solving some internal issues caused by the nature of the algorithm when dealing with grid-based environments. Extensive experiments were conducted to demonstrate the computational efficiency and cost-effectiveness of our proposed algorithm. The scalability and reproducibility of the proposed ordering algorithm and the improved A* were validated by testing them on various publicly available maps in numerous different scenarios. We also performed comprehensive comparisons with existing state-of-the-art algorithms to evaluate the performance. The conducted experiments report that our proposed algorithm consistently outperformed other algorithms in numerous scenarios, underscoring its reliability and potential to match or even exceed the performance of current state-of-the-art methods in the domain of multi-goal path planning. The entire code, map and other resources of our proposed algorithms are available at <span><span>https://github.com/abdullah1aloush1/AMuGOPIA</span><svg><path></path></svg></span>.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"190 ","pages":"Article 105001"},"PeriodicalIF":4.3,"publicationDate":"2025-04-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143785971","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

VR-supported method for studying the MPC algorithm in controlling snake robot motion 基于vr的蛇形机器人运动控制的MPC算法研究

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-04-04 DOI: 10.1016/j.robot.2025.105002

Anna Sibilska-Mroziewicz, Jakub Możaryn, Andrzej Ordys, Ayesha Hameed, Ali Soltani Sharif Abadi, Krzysztof Sibilski, Edyta Ładyżyńska-Kozdraś, Ephrem Worku Anarge

{"title":"VR-supported method for studying the MPC algorithm in controlling snake robot motion","authors":"Anna Sibilska-Mroziewicz, Jakub Możaryn, Andrzej Ordys, Ayesha Hameed, Ali Soltani Sharif Abadi, Krzysztof Sibilski, Edyta Ładyżyńska-Kozdraś, Ephrem Worku Anarge","doi":"10.1016/j.robot.2025.105002","DOIUrl":"10.1016/j.robot.2025.105002","url":null,"abstract":"<div><div>The snake robot is suited for difficult terrain and limited spaces for searches, rescue, exploration, and medical procedures. However, such underactuation makes their control and locomotion quite challenging. Current methods mostly lack real-time adaptability, optimisation under constraints, and effective visualization tools. This work contributes toward filling some of the gaps in the control and locomotion of under-actuated snake robots through the use of model predictive control and virtual reality. Five control strategies were implemented and tested using simulations in MATLAB and Unity with a three-degree-of-freedom snake robot model. Simulations included ‘ghost robots’ to visualize predicted and actual trajectories under different conditions. Proposed techniques improve the navigation, and more complex algorithms provide better accuracy and robustness. VR is proving to be an important tool in optimizing robot performance. Integrating advanced control algorithms together with VR increases the effectiveness of robotic systems development. Future work will be concerned with cluttered environments and more complex interaction models.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"191 ","pages":"Article 105002"},"PeriodicalIF":4.3,"publicationDate":"2025-04-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143807781","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

ALPINE: A climbing robot for operations in mountain environments 高山机器人：在山地环境中作业的攀爬机器人

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-04-04 DOI: 10.1016/j.robot.2025.104999

Michele Focchi , Andrea Del Prete , Daniele Fontanelli , Marco Frego , Angelika Peer , Luigi Palopoli

{"title":"ALPINE: A climbing robot for operations in mountain environments","authors":"Michele Focchi , Andrea Del Prete , Daniele Fontanelli , Marco Frego , Angelika Peer , Luigi Palopoli","doi":"10.1016/j.robot.2025.104999","DOIUrl":"10.1016/j.robot.2025.104999","url":null,"abstract":"<div><div>Mountain slopes are perfect examples of harsh environments in which humans are required to perform difficult and dangerous operations such as removing unstable boulders, dangerous vegetation or deploying safety nets. A good replacement for human intervention can be offered by climbing robots. The different solutions existing in the literature are not up to the task for the difficulty of the requirements (navigation, heavy payloads, flexibility in the execution of the tasks). In this paper, we propose a robotic platform that can fill this gap. Our solution is based on a robot that hangs on ropes, and uses a retractable leg to jump away from the mountain walls. Our package of mechanical solutions, along with the algorithms developed for motion planning and control, delivers swift navigation on irregular and steep slopes, the possibility to overcome or travel around significant natural barriers, and the ability to carry heavy payloads and execute complex tasks. In the paper, we give a full account of our main design and algorithmic choices and show the feasibility of the solution through a large number of physically simulated scenarios.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"190 ","pages":"Article 104999"},"PeriodicalIF":4.3,"publicationDate":"2025-04-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143769058","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Neuro compensated sliding mode control with nonlinear surfaces for pipe crack sealing manipulator 管道裂缝密封机械手非线性曲面的神经补偿滑模控制

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-04-01 DOI: 10.1016/j.robot.2025.104997

Santosh Kumar, S.K. Dwivedy

{"title":"Neuro compensated sliding mode control with nonlinear surfaces for pipe crack sealing manipulator","authors":"Santosh Kumar, S.K. Dwivedy","doi":"10.1016/j.robot.2025.104997","DOIUrl":"10.1016/j.robot.2025.104997","url":null,"abstract":"<div><div>This work focuses on ensuring control over the pipe crack sealing manipulator (PCSM) to seal the cracks within concrete pipes. PCSM is a tree-shaped robot featuring five specialised branches, suggesting a multifunctional design for crack-sealing operation within the pipe. PCSM demonstrates versatility in navigating vertical and horizontal pipes. A CAD model featuring the pipe, target crack, and PCSM has been modelled in SolidWorks, Utilising crack data from SolidWorks, the inverse kinematics and dynamics of the model are being simulated in Simulink for precise control. Observation and simulations study in SoildWorks revealed that only the fifth branch of PCSM successfully executed crack repairs over a substantial length. The tracing of the actual crack trajectory for effective sealing within the concave pipe becomes more challenging in the presence of disturbances and uncertainty in the system. To address this issue, sliding mode control (SMC) is employed with a nonlinear surface (SMCNS), which proves effective in handling external disturbances and uncertainty. To enhance control performance, a neural network (NN) compensator is combined with SMCNS and the proposed controller is called neuro-compensated sliding mode control with the nonlinear surface (NCSMCNS). The incorporation of a neural network with a nonlinear surface leads to the convergence of tracking error to zero, a conclusion validated through the use of Lyapunov theory. Furthermore, the performance of the proposed controller has been compared with SMC (linear and non-linear surface) and neuro-compensated SMC (linear surface).</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"190 ","pages":"Article 104997"},"PeriodicalIF":4.3,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143769056","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0