Robotics and Autonomous Systems最新文献_第6页

Upper limb power-assist wearable robot for handling repetitive medium- to low-weight loads in daily logistics tasks 用于搬运日常物流任务中重复性中低重量负载的上肢动力辅助可穿戴机器人

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-08-19 DOI: 10.1016/j.robot.2024.104780

Joanne Yoon , Jaesung Park , Chang-hyuk Lee , Young-bong Bang

{"title":"Upper limb power-assist wearable robot for handling repetitive medium- to low-weight loads in daily logistics tasks","authors":"Joanne Yoon , Jaesung Park , Chang-hyuk Lee , Young-bong Bang","doi":"10.1016/j.robot.2024.104780","DOIUrl":"10.1016/j.robot.2024.104780","url":null,"abstract":"<div><p>In this study, we developed an upper-limb power-assisted wearable robot designed to reduce the burden of handling repetitive medium- to low-weight loads for daily logistics workers, thereby enhancing their work efficiency and overall safety. This study proposes a practical wearable robot with a well-designed structure for effectively supporting pick-and-place tasks at waist-to-shoulder height by applying a vertical force directly to the wearer’s wrist. The proposed robot features two active joints that are minimal for vertical assistance, resulting in a lightweight and compact structure. It offers six degrees of freedom per arm, including four passive joints, allowing free end-effector movement. Designed to connect only to the wearer’s wrist, the robot’s linkage is positioned along the wearer’s arm, not requiring alignment with the human–robot joint center, making it easy to wear and having a simple structure. This paper presents a method for calculating the joint torque that accounts for the deformation of the robot’s lightweight and slim links. This approach enhances the gravity compensation accuracy, and the proposed method demonstrates a lower RMS error compared to calculations based on the statics of the rigid link model. Experimental results demonstrated that the robot allowed for a wide range of motion and consistently applied an assistive force of 2 kgf per arm, facilitating the handling of objects weighing several kilograms.</p></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"181 ","pages":"Article 104780"},"PeriodicalIF":4.3,"publicationDate":"2024-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142049008","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

Overview of structure and drive for wheel-legged robots 轮足机器人结构与驱动概述

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-08-18 DOI: 10.1016/j.robot.2024.104777

Qixin Zhu , Xikang Guan , Bin Yu , Junhui Zhang , Kaixian Ba , Xinjie Li , Mengkai Xu , Xiangdong Kong

引用次数: 0

An improved frontier-based robot exploration strategy combined with deep reinforcement learning 基于前沿的改进型机器人探索策略与深度强化学习相结合

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-08-16 DOI: 10.1016/j.robot.2024.104783

Rui Wang, Jie Zhang, Ming Lyu, Cheng Yan, Yaowei Chen

引用次数: 0

Enabling intuitive and effective micromanipulation: A wearable exoskeleton-integrated macro-to-micro teleoperation system with a 3D electrothermal microgripper 实现直观有效的微操作：带有三维电热微型夹具的可穿戴外骨骼集成宏观到微观远程操纵系统

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-08-15 DOI: 10.1016/j.robot.2024.104776

Guoning Si , Hanli Zhang , Zhuo Zhang , Xuping Zhang

{"title":"Enabling intuitive and effective micromanipulation: A wearable exoskeleton-integrated macro-to-micro teleoperation system with a 3D electrothermal microgripper","authors":"Guoning Si , Hanli Zhang , Zhuo Zhang , Xuping Zhang","doi":"10.1016/j.robot.2024.104776","DOIUrl":"10.1016/j.robot.2024.104776","url":null,"abstract":"<div><p>In this article, we present a novel teleoperation system for dexterous micromanipulation with a 3D three-fingered electrothermal microgripper. A lightweight wearable exoskeleton hand is designed and employed as the primary device, integrating rotational potentiometers as angle sensors, which are embedded in a closed-loop kinematic chain for detecting flexion/extension and adduction/abduction angles of motion. The measured angles are subsequently translated into exoskeleton hand-fingertip positions utilized as the primary inputs. A 3D electrothermal microgripper based tele-micro manipulation system is realized. The displacement of the exoskeleton fingertips is harnessed to govern the actions of the microgripper via an effective position incremental control method. Furthermore, the system's capabilities are exemplified through intricate micromanipulations performed on soft zebrafish embryos. The micromanipulations encompass gripping and rotational maneuvers. The outcomes of empirical experimentation clearly demonstrate the suitability of the macro-micro teleoperation system, which incorporates an exoskeleton hand for controlling a microgripper in 3D micromanipulation. The system improves operator comfort and maneuvering efficiency. Even for untrained users, the tasks can be accomplished with ease in an intuitive and effective way.</p></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"181 ","pages":"Article 104776"},"PeriodicalIF":4.3,"publicationDate":"2024-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S092188902400160X/pdfft?md5=7748383aaf2d8f90a389e88f96c06f9d&pid=1-s2.0-S092188902400160X-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141991097","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

A novel hybrid adhesion method and autonomous locomotion mechanism for wall-climbing robots 爬壁机器人的新型混合粘附方法和自主运动机制

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-08-14 DOI: 10.1016/j.robot.2024.104779

Mikhail S. Tovarnov , Nikita V. Bykov

{"title":"A novel hybrid adhesion method and autonomous locomotion mechanism for wall-climbing robots","authors":"Mikhail S. Tovarnov , Nikita V. Bykov","doi":"10.1016/j.robot.2024.104779","DOIUrl":"10.1016/j.robot.2024.104779","url":null,"abstract":"<div><p>In this paper we propose a novel adhesion method for the tracked wall-climbing robot. The method is based on the use of the tape, which the robot affixes to the wall during its movement. The adhesive side of the tape adheres to the wall, while the non-adhesive side allows for the robot's movement. The robot attaches to the tape using spikes located on the surface of its tracks. We developed the experimental prototype with a tracked locomotion mechanism weighing 1.2 kg, measuring 212 mm × 294 mm × 131 mm, and capable of carrying a payload of 2 kg. The battery life of the prototype is 3.5 h in standby mode and 1.8 h in moving mode. The prototype is controlled remotely through video transmission in manual mode and can move on both vertical and horizontal surfaces, and transition between them. The prototype has demonstrated the ability to move along a vertical surface, transition from a horizontal to a vertical surface, and recover from an unstable position in the case of a capsize. We used basic components and 3D printing in the manufacturing process. This suggests that we can make the prototype better by using different materials and components.</p></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"181 ","pages":"Article 104779"},"PeriodicalIF":4.3,"publicationDate":"2024-08-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142077506","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 compound planning algorithm considering both collision detection and obstacle avoidance for intelligent demolition robots 同时考虑碰撞检测和避障的智能爆破机器人复合规划算法

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-08-12 DOI: 10.1016/j.robot.2024.104781

Hao Lv , Liyuan Liu , Yuming Gao , Shun Zhao, Panpan Yang, Zonggao Mu

{"title":"A compound planning algorithm considering both collision detection and obstacle avoidance for intelligent demolition robots","authors":"Hao Lv , Liyuan Liu , Yuming Gao , Shun Zhao, Panpan Yang, Zonggao Mu","doi":"10.1016/j.robot.2024.104781","DOIUrl":"10.1016/j.robot.2024.104781","url":null,"abstract":"<div><p>This paper presents a compound planning algorithm considering both collision detection and obstacle avoidance for intelligent demolition robots working safely in high-radiation environments. Firstly, configurations and kinematics of the intelligent demolition robot are detailed to detect the possible obstacles in its workspace. A collision detection function based on the improved dual vector method is proposed to detect the different distances between the robot and obstacles in three cases: a point and a line segment, two line segments, and a line segment and a geometric shape. This function can also be applied to detect collisions with various obstacles of different shapes reasonably and efficiently. Furthermore, an obstacle avoidance function based on modified gradient projection method considering multi-task transformation is proposed. According to the different distances between the robot and the obstacle, it can be used in three situations: end obstacle avoidance task, end effector operation task, and end trajectory tracking task. This function can be applied to avoid obstacles both in the workspace and on the desired path. Finally, a simulation system is established to verify the collision detection and obstacle avoidance algorithms of the intelligent demolition robot. An experiment was conducted on the intelligent demolition robot. This robot can successfully achieve the expected trajectory with the method described in this article. Results of simulation and experiment demonstrate that obstacles both in workspace and on desired path can be detected and avoided properly.</p></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"181 ","pages":"Article 104781"},"PeriodicalIF":4.3,"publicationDate":"2024-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142049005","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 multi-purpose robot perception system enabling closed-loop control for zero defect manufacturing in gluing processes of large parts 多功能机器人感知系统实现闭环控制，实现大型部件涂胶过程的零缺陷制造

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-08-08 DOI: 10.1016/j.robot.2024.104778

Loukas Prezas, Zoi Arkouli, George Michalos, Panagiotis Angelakis, Christos Gkournelos, Sotiris Makris

{"title":"A multi-purpose robot perception system enabling closed-loop control for zero defect manufacturing in gluing processes of large parts","authors":"Loukas Prezas, Zoi Arkouli, George Michalos, Panagiotis Angelakis, Christos Gkournelos, Sotiris Makris","doi":"10.1016/j.robot.2024.104778","DOIUrl":"10.1016/j.robot.2024.104778","url":null,"abstract":"<div><p>Significant progress has been made in robot perception facilitating the deployment of advanced automation across a wide range of applications however typically little solutions are presented for large parts manufacturing. This paper presents a versatile robot perception system designed to enhance the flexibility and precision of robotic adhesive dispensing processes. This solution is capable of addressing the unique challenges of implementing automation solutions in large parts manufacturing, such as flexibility to manufacture small lot sizes, perception for complex task sequences, and handling parts with large dimensions that cannot be captured in single camera frames. A solution based on one single vision sensor is presented for part type recognition, part localization, process monitoring, and quality inspection. This includes algorithms for these perception functionalities and a closed-loop control framework aimed at zero-defect manufacturing. The task planning and execution architecture is based on Behavior Trees to allow modular and scalable robot task modeling and execution, whereas a knowledge database updated with process monitoring results via a module named event manager serves to prevent the propagation of defects to the following production steps. The proposed approach was tested and validated in a robotic cell for glue dispensing for a case study inspired by the bus and coach sector. The results indicate that the system can tolerate position uncertainties and random parts feeding, address disruptions in-process or trigger corrective actions post-process, and easily accommodate new variants.</p></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"181 ","pages":"Article 104778"},"PeriodicalIF":4.3,"publicationDate":"2024-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142040399","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

Hierarchical optimum control of a novel wheel-legged quadruped 新型轮足四足动物的分层优化控制

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-08-06 DOI: 10.1016/j.robot.2024.104775

Rezwan Al Islam Khan , Chenyun Zhang , Yuzhen Pan , Anzheng Zhang , Ruijiao Li , Xuan Zhao , Huiliang Shang

{"title":"Hierarchical optimum control of a novel wheel-legged quadruped","authors":"Rezwan Al Islam Khan , Chenyun Zhang , Yuzhen Pan , Anzheng Zhang , Ruijiao Li , Xuan Zhao , Huiliang Shang","doi":"10.1016/j.robot.2024.104775","DOIUrl":"10.1016/j.robot.2024.104775","url":null,"abstract":"<div><p>This paper presents an optimal control architecture for Pegasus, a novel quadruped wheel-legged robot with hybrid locomotion capabilities. The proposed control architecture comprises of a hierarchical motion planner and a model predictive controller (MPC) that optimizes motion planning and control in various stages. A command-based motion planner is implemented to map desired robot states to optimal joint positions and velocities. This enables the MPC to seamlessly integrate legged and wheeled locomotion as a single task. The legs are modeled as N-link manipulators, and parallel tracking MPC controllers are implemented to optimize torques. This approach results in improved motion control and comprehensive four-wheel independent steering mechanism maneuvers. The experiments and results demonstrate the practical feasibility and robustness of the proposed control approach, with Pegasus exhibiting stable balancing, precise motion control, and the ability to navigate through challenging paths. Overall, the proposed control architecture provides a promising solution for achieving hybrid locomotion capabilities in quadruped wheel-legged robots.</p></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"180 ","pages":"Article 104775"},"PeriodicalIF":4.3,"publicationDate":"2024-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141979649","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 decoupled solution to heterogeneous multi-formation planning and coordination for object transportation 物体运输中异构多变形规划与协调的解耦解决方案

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-08-05 DOI: 10.1016/j.robot.2024.104773

Weijian Zhang, Charlie Street, Masoumeh Mansouri

{"title":"A decoupled solution to heterogeneous multi-formation planning and coordination for object transportation","authors":"Weijian Zhang, Charlie Street, Masoumeh Mansouri","doi":"10.1016/j.robot.2024.104773","DOIUrl":"10.1016/j.robot.2024.104773","url":null,"abstract":"<div><p>Multi-robot formations have numerous applications, such as cooperative object transportation in intelligent warehouses. In this context, robots are tasked with delivering objects in formation while avoiding intra- and inter-formation collisions. This necessitates the development of solutions for multi-robot task allocation, formation generation, rigid formation route planning, and formation coordination. In this paper, we present a cooperative formation object transportation system for heterogeneous multi-robot systems which captures robot dynamics and avoids inter-formation collisions. Accounting for heterogeneous formations expands the applicability of the proposed robotic transport system. For formation generation, we propose an approach based on conflict-based search, which integrates high-level path planning with low-level trajectory optimisation. For heterogeneous formation planning, we present a two-stage iterative trajectory optimisation framework which adheres to the kinematic constraints of our heterogeneous multi-robot system while retaining formation rigidity. For multi-formation coordination, we use a loosely-coupled algorithm which can guarantee collision-free and deadlock-free formation navigation under minimal assumptions. We demonstrate the efficacy of our approach in simulation.</p></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"180 ","pages":"Article 104773"},"PeriodicalIF":4.3,"publicationDate":"2024-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S092188902400157X/pdfft?md5=e74907924c3b480bce1601e46314e6dc&pid=1-s2.0-S092188902400157X-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141979648","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

Learning continuous multi-UAV controls with directed explorations for flood area coverage 学习多无人机的连续控制，进行洪水区域覆盖的定向探索

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-08-05 DOI: 10.1016/j.robot.2024.104774

Armaan Garg, Shashi Shekhar Jha

{"title":"Learning continuous multi-UAV controls with directed explorations for flood area coverage","authors":"Armaan Garg, Shashi Shekhar Jha","doi":"10.1016/j.robot.2024.104774","DOIUrl":"10.1016/j.robot.2024.104774","url":null,"abstract":"<div><p>Real time on-ground information is of critical value during any natural disaster such as floods. The disaster response teams require the latest ground information of the flooded areas to effectively plan and execute rescue operations. Unmanned Aerial Vehicles (UAVs) are increasingly becoming a tool to perform quick surveys of larger areas such as flood disasters. In this paper, we propose a method to perform critical area coverage of flood-struck regions using multiple autonomous UAVs. A Deep Reinforcement Learning algorithm is proposed to learn continuous multi-UAV controls, incorporating a directed exploration strategy for the DDPG’s target actor, which relies on the D-infinity (DINF) algorithm. The DINF water flow estimation technique utilizes surface elevation data to understand and predict the directed discharge of floodwater. Further, we introduce a Path scatter strategy for the multi-UAV system that inhibits the clustered formation of the UAVs over low-elevated regions. The performance of the proposed D3S (DDPG+DINF+Path Scatter) algorithm is evaluated using various performance metrics, such as average cumulative rewards, number of collisions, and UAVs’ spread observed over the environment. In comparison to the baseline algorithms and other prevalent approaches in the literature, the proposed method is found to be better placed as the results highlight a significantly improved performance by D3S across different metrics.</p></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"180 ","pages":"Article 104774"},"PeriodicalIF":4.3,"publicationDate":"2024-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141979647","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