IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-13 DOI: 10.1017/s0263574724001085

Jiatong Bao, Sultan Mamun, Jiawei Bao, Wenbing Zhang, Yuequan Yang, Aiguo Song

{"title":"Combining spatial clustering and tour planning for efficient full area exploration","authors":"Jiatong Bao, Sultan Mamun, Jiawei Bao, Wenbing Zhang, Yuequan Yang, Aiguo Song","doi":"10.1017/s0263574724001085","DOIUrl":"https://doi.org/10.1017/s0263574724001085","url":null,"abstract":"Autonomous exploration in unknown environments has become a critical capability of mobile robots. Many methods often suffer from problems such as exploration goal selection based solely on information gain and inefficient tour optimization. Recent reinforcement learning-based methods do not consider full area coverage and the performance of transferring learned policy to new environments cannot be guaranteed. To address these issues, a dual-stage exploration method has been proposed, which combines spatial clustering of possible exploration goals and Traveling Salesman Problem (TSP) based tour planning on both local and global scales, aiming for efficient full-area exploration in highly convoluted environments. Our method involves two stages: exploration and relocation. During the exploration stage, we introduce to generate local navigation goal candidates straight from clusters of all possible local exploration goals. The local navigation goal is determined through tour planning, utilizing the TSP framework. Moreover, during the relocation stage, we suggest clustering all possible global exploration goals and applying TSP-based tour planning to efficiently direct the robot toward previously detected but yet-to-be-explored areas. The proposed method is validated in various challenging simulated and real-world environments. Experimental results demonstrate its effectiveness and efficiency. Videos and code are available at https://github.com/JiatongBao/exploration.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186162","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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 online payload identification method based on parameter difference for industrial robots 基于参数差异的工业机器人在线有效载荷识别方法

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-13 DOI: 10.1017/s026357472400105x

Tian Xu, Hua Tuo, Qianqian Fang, Jie Chen, Jizhuang Fan, Debin Shan, Jie Zhao

{"title":"An online payload identification method based on parameter difference for industrial robots","authors":"Tian Xu, Hua Tuo, Qianqian Fang, Jie Chen, Jizhuang Fan, Debin Shan, Jie Zhao","doi":"10.1017/s026357472400105x","DOIUrl":"https://doi.org/10.1017/s026357472400105x","url":null,"abstract":"Accurate online estimation of the payload parameters benefits robot control. In the existing approaches, however, on the one hand, only the linear friction model was used for online payload identification, which reduced the online estimation accuracy. On the other hand, the estimation models contain much noise because of using actual joint trajectory signals. In this article, a new estimation algorithm based on parameter difference for the payload dynamics is proposed. This method uses a nonlinear friction model for the online payload estimation instead of the traditionally linear one. In addition, it considers the commanded joint trajectory signals as the computation input to reduce the model noise. The main contribution of this article is to derive a symbolic relationship between the parameter difference and the payload parameters and then apply it to the online payload estimation. The robot base parameters without payload were identified offline and regarded as the prior information. The one with payload can be solved online by the recursive least squares method. The dynamics of the payload can be then solved online based on the numerical difference of the two parameter sets. Finally, experimental comparisons and a manual guidance application experiment are shown. The results confirm that our algorithm can improve the online payload estimation accuracy (especially the payload mass) and the manual guidance comfort.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186186","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Design of a robotic gripper for casting sorting robots with rigid–flexible coupling structures 为具有刚柔耦合结构的浇铸分拣机器人设计机器人抓手

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-13 DOI: 10.1017/s0263574724001000

Cheng-jun Wang, Biao Cheng

{"title":"Design of a robotic gripper for casting sorting robots with rigid–flexible coupling structures","authors":"Cheng-jun Wang, Biao Cheng","doi":"10.1017/s0263574724001000","DOIUrl":"https://doi.org/10.1017/s0263574724001000","url":null,"abstract":"In order to solve the problem of the insufficient adaptability of the current small- and medium-sized casting sorting robot gripper, we have designed a casting sorting robot bionic gripper with rigid–flexible coupling structures based on the robot topology theory. The second-order Yeoh model was used to statically model the clamping belt in the gripper to derive the relationship between the external input air pressure and the bending angle of the driving layer, and the feasibility of multiangle bending of the driving layer was verified by finite element analysis. The maximum gripping diameter of the gripper is 140 mm, and in order to test the adaptive gripping ability of the gripper, a prototype of the casting sorting robot gripper is prepared, and the pneumatic control system and human–machine interface of the gripper are designed. After several experimental analyses, the designed casting sorting robot gripper is characterized by strong adaptability and high robustness, with a maximum load capacity of 930 g and a maximum wrap angle of 296°, which can complete the gripping operation within 1 s, and the comprehensive gripping success rate reaches 96.4%. The casting sorting robot gripper designed in the paper can provide a reference for the design and optimization of various types of shaped workpiece gripping manipulators.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186163","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

DDPG-based path planning for cable-driven manipulators in multi-obstacle environments 多障碍物环境中基于 DDPG 的缆索驱动机械手路径规划

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-13 DOI: 10.1017/s0263574724001048

Dong Zhang, Renjie Ju, Zhengcai Cao

引用次数: 0

Configuration design of movable heavy-duty reconfigurable posture adjustment platform with dual motion modes 具有双运动模式的可移动重型可重构姿势调整平台的配置设计

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-12 DOI: 10.1017/s026357472400064x

Rui Wang, Xiaoyan Xiong, Jinzhu Zhang, Ruilin Yuan

{"title":"Configuration design of movable heavy-duty reconfigurable posture adjustment platform with dual motion modes","authors":"Rui Wang, Xiaoyan Xiong, Jinzhu Zhang, Ruilin Yuan","doi":"10.1017/s026357472400064x","DOIUrl":"https://doi.org/10.1017/s026357472400064x","url":null,"abstract":"The existing single-mode posture adjustment equipment for solar wing docking is only suitable for a limited number of satellite dimensions; it could not meet the diverse development trends of satellite models. The working range requirements are different when different-sized satellites dock with the solar wing, and the docking process is divided into two stages in this paper. While the DOFs required for the two stages are different, a movable heavy-load reconfigurable redundant posture adjustment platform (RrPAP) with dual motion modes is proposed in this paper. The RrPAP consists of a wheeled mobile platform and a reconfigurable parallel posture adjustment mechanism (PAM). The micro-motion PAM limb types are synthesized, and the comprehensive load-bearing index is proposed to select the mechanism types for heavy-load conditions. A decentralized four-limb six-degree-of-freedom (6-DOF) parallel micro-motion PAM is designed. In the macro-motion stage, for the PAM to still have a defined motion after being released from ground constraints, a serial coupling sub-chain is designed between adjacent limbs to restrict relative movement between them. A type synthesis method for symmetrically coupled mechanisms based on mechanism decoupling and motion distribution is proposed. Four types of symmetrically coupled mechanisms with multi-loop consisting of serial coupling sub-chains are synthesized by using this method. The feasibility of the proposed method is demonstrated through an example using the constraint synthesis method based on screw theory. This work provides a foundation for subsequent refinement and expansion of type synthesis theories and the selection of new types of mechanisms.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186165","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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 local collision-free motion planning strategy for hyper-redundant manipulators based on dynamic safety envelopes 基于动态安全包络的超冗余机械手局部无碰撞运动规划策略

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-12 DOI: 10.1017/s0263574724000791

Renjie Ju, Dong Zhang, Yan Gai, Zhengcai Cao

{"title":"A local collision-free motion planning strategy for hyper-redundant manipulators based on dynamic safety envelopes","authors":"Renjie Ju, Dong Zhang, Yan Gai, Zhengcai Cao","doi":"10.1017/s0263574724000791","DOIUrl":"https://doi.org/10.1017/s0263574724000791","url":null,"abstract":"Hyper-redundant manipulators (HRMs) exhibit promising adaptability and superior dexterity in cavity detection tasks, owing to their snake-like segmented backbones. Due to the safety concern in contactless operating tasks, reliable motion planning in a confined environment for HRMs is very challenging. However, existing expanding-based obstacle avoidance methods are not feasible in narrow environments, as they will excessively occupy free spaces required for maneuvering. In this work, a local collision-free motion planning strategy based on dynamic safety envelope (DSE) is proposed for HRMs. First, the local motion of HRMs is analyzed in detail, and DSE is proposed for the first time to describe the boundary of the collision-free area. Then, to maximize the efficient utilization of narrow spaces, a reference trajectory for HRM is roughly planned without expanding obstacles. Further, a tip-guided trajectory tracking method based on configuration prediction is proposed by considering the discrete characteristics of rigid links to avoid obstacles. During the tracking process, DSEs are applied to evaluate collision risk and optimize the configuration. Finally, to validate the effectiveness of our proposed method, simulations are conducted, followed by experiments by using a 18-degrees of freedom mobile HRM prototype system.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186169","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Trace inequalities and kinematic metrics 迹不等式和运动学度量

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-12 DOI: 10.1017/s0263574724000778

Yuwei Wu, Gregory S. Chirikjian

{"title":"Trace inequalities and kinematic metrics","authors":"Yuwei Wu, Gregory S. Chirikjian","doi":"10.1017/s0263574724000778","DOIUrl":"https://doi.org/10.1017/s0263574724000778","url":null,"abstract":"Kinematics remains one of the cornerstones of robotics, and over the decade, Robotica has been one of the venues in which groundbreaking work in kinematics has always been welcome. A number of works in the kinematics community have addressed metrics for rigid-body motions in multiple different venues. An essential feature of any distance metric is the triangle inequality. Here, relationships between the triangle inequality for kinematic metrics and so-called trace inequalities are established. In particular, we show that the Golden-Thompson inequality (a particular trace inequality from the field of statistical mechanics) which holds for Hermitian matrices remarkably also holds for restricted classes of real skew-symmetric matrices. We then show that this is related to the triangle inequality for <img data-mimesubtype=\"png\" data-type=\"\" src=\"https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20240911135946881-0491:S0263574724000778:S0263574724000778_inline1.png\">$SO(3)$</img> and <img data-mimesubtype=\"png\" data-type=\"\" src=\"https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20240911135946881-0491:S0263574724000778:S0263574724000778_inline2.png\">$SO(4)$</img> metrics.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186167","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Adaptive integral terminal sliding mode control of unmanned bicycle via ELM and barrier function 通过 ELM 和障碍函数实现无人驾驶自行车的自适应积分终端滑动模式控制

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-12 DOI: 10.1017/s0263574724000997

Long Chen, Zhihui Jin, Ke Shao, Guangyi Wang, Shuping He, Vladimir Stojanovic, Parisa Arabzadeh Bahri, Hai Wang

{"title":"Adaptive integral terminal sliding mode control of unmanned bicycle via ELM and barrier function","authors":"Long Chen, Zhihui Jin, Ke Shao, Guangyi Wang, Shuping He, Vladimir Stojanovic, Parisa Arabzadeh Bahri, Hai Wang","doi":"10.1017/s0263574724000997","DOIUrl":"https://doi.org/10.1017/s0263574724000997","url":null,"abstract":"In this paper, an unmanned bicycle (UB) with a reaction wheel is designed, and a second-order mathematical model with uncertainty is established. In order to achieve excellent balancing performance of the UB system, an adaptive controller is designed, which is composed of nominal feedback control, compensating control using extreme learning machine observer and reaching control via integral terminal sliding mode (ITSM) and barrier function (BF)-based adaptive law. Owing to the features of BF-based ITSM (BFITSM), not only any uncertainty or disturbance upper bound is not needed any longer but also the finite-time convergence of the closed-loop system can be ensured with a predefined error bound. Moreover, the BF-based control gain can be adaptively adjusted according to the update of the lumped uncertainty such that the overestimation is removed. The stability analysis of the closed-loop system is given according to Lyapunov theory. Comparable experimental results on an actual UB are carried out to validate the superior balancing performance of the proposed controller.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186164","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Joint angle synergy-based humanoid robot motion generation with fascia-inspired nonlinear constraints 利用筋膜启发的非线性约束生成基于关节角度协同作用的仿人机器人动作

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-12 DOI: 10.1017/s0263574724000961

Shiqi Yu, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro

{"title":"Joint angle synergy-based humanoid robot motion generation with fascia-inspired nonlinear constraints","authors":"Shiqi Yu, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro","doi":"10.1017/s0263574724000961","DOIUrl":"https://doi.org/10.1017/s0263574724000961","url":null,"abstract":"When generating simultaneous joint movements of a humanoid with multiple degrees of freedom to replicate human-like movements, the approach of joint synergy can facilitate the generation of whole-body robotic movement with a reduced number of control inputs. However, the trade-off of minimizing control inputs and keeping characteristics of movements makes it difficult to improve movement performance in a simple control manner. In this paper, we introduce an approach by connecting and constraining these joints. It is inspired by the fascia network of the human body, which constrains the whole-body movements of a human. Compared to when only joint synergy is used, the effectiveness of the proposed method is verified by calculating the errors of joint positions of generated movements and human movements. The paper provides a detailed exploration of the proposed method, presenting simulation-experimental results that affirm its effectiveness in generated movements that closely resemble human movements. Furthermore, we provide one possible method on how these concepts can be implemented in actual robotic hardware, offering a pathway to improve movement control in humanoid robots within their mechanical limitations.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186166","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Research on the biomimetic quadruped jumping robot based on an efficient energy storage structure 基于高效储能结构的仿生四足跳跃机器人研究

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-12 DOI: 10.1017/s026357472400095x

Tianyu Zhang, Jieliang Zhao, Chenyang Zhang, Qun Niu, Shaoze Yan

{"title":"Research on the biomimetic quadruped jumping robot based on an efficient energy storage structure","authors":"Tianyu Zhang, Jieliang Zhao, Chenyang Zhang, Qun Niu, Shaoze Yan","doi":"10.1017/s026357472400095x","DOIUrl":"https://doi.org/10.1017/s026357472400095x","url":null,"abstract":"The ability of quadruped robots to overcome obstacles is a critical factor that limits their practical application. Here, a design concept and a control algorithm are presented that aim at enhancing the explosive force of quadruped robots during jumping by utilizing elastic energy storage components. The hind legs of the quadruped robot are designed as energy storage units. Tension springs are utilized as components for storing energy and are installed in a parallel structure on the hind leg. Energy is stored during the compression process of the robot’s torso and released during the jumping phase. The optimal foot force is calculated using a single rigid body model. The mapping relationship between the force applied to the foot and the resulting joint torque is established by developing a dynamic model of the hind legs. Simulation experiments were conducted using the Webots physics engine to compare the impact of varying spring stiffness on joint torque during the jumping process. This study determined the optimal spring stiffness under specific conditions. The hind legs’ torque saving ratio reaches 19%, and the energy-saving ratio reaches 13%, which validates the effectiveness and feasibility of integrating elastic energy storage components.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186170","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

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