Robotica最新文献

{"title":"Safe and socially compliant robot navigation in crowds with fast-moving pedestrians via deep reinforcement learning","authors":"Zhen Feng, Bingxin Xue, Chaoqun Wang, Fengyu Zhou","doi":"10.1017/s0263574724000183","DOIUrl":"https://doi.org/10.1017/s0263574724000183","url":null,"abstract":"<p>Safe and socially compliant navigation in a crowded environment is essential for social robots. Numerous research efforts have shown the advantages of deep reinforcement learning techniques in training efficient policies, while most of them ignore fast-moving pedestrians in the crowd. In this paper, we present a novel design of safety measure, named Risk-Area, considering collision theory and motion characteristics of different robots and humans. The geometry of Risk-Area is formed based on the real-time relative positions and velocities of the agents in the environment. Our approach perceives risk in the environment and encourages the robot to take safe and socially compliant navigation behaviors. The proposed method is verified with three existing well-known deep reinforcement learning models in densely populated environments. Experiment results demonstrate that our approach combined with the reinforcement learning techniques can efficiently perceive risk in the environment and navigate the robot with high safety in the crowds with fast-moving pedestrians.</p>","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"8 4 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139969082","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}

{"title":"Vision-based food handling system for high-resemblance random food items","authors":"Yadan Zeng, Yee Seng Teoh, Guoniu Zhu, Elvin Toh, I-Ming Chen","doi":"10.1017/s0263574724000122","DOIUrl":"https://doi.org/10.1017/s0263574724000122","url":null,"abstract":"The rise in the number of automated robotic kitchens accelerated the need for advanced food handling system, emphasizing food analysis including ingredient classification pose recognition and assembling strategy. Selecting the optimal piece from a pile of similarly shaped food items is a challenge to automated meal assembling system. To address this, we present a constructive assembling algorithm, introducing a unique approach for food pose detection–Fast Image to Pose Detection (FI2PD), and a closed-loop packing strategy. Powered by a convolutional neural network (CNN) and a pose retrieval model, FI2PD is adept at constructing a 6D pose from only RGB images. The method employs a coarse-to-fine approach, leveraging the CNN to pinpoint object orientation and position, alongside a pose retrieval process for target selection and 6D pose derivation. Our closed-loop packing strategy, aided by the Item Arrangement Verifier, ensures precise arrangement and system robustness. Additionally, we introduce our <jats:italic>FdIngred328</jats:italic> dataset of nine food categories ranging from fake foods to real foods, and the automatically generated data based on synthetic techniques. The performance of our method for object recognition and pose detection has been demonstrated to achieve a success rate of 97.9%. Impressively, the integration of a closed-loop strategy into our meal-assembly process resulted in a notable success rate of 90%, outperforming the results of systems lacking the closed-loop mechanism.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"5 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-02-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139927223","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}

{"title":"Oscillation-free point-to-point motions of planar differentially flat under-actuated robots: a Laplace transform method","authors":"Michele Tonan, Alberto Doria, Matteo Bottin, Giulio Rosati","doi":"10.1017/s0263574724000249","DOIUrl":"https://doi.org/10.1017/s0263574724000249","url":null,"abstract":"Differentially flat under-actuated robots are characterized by more degrees of freedom (DOF) than actuators: this makes possible the design of lightweight cheap robots with high dexterity. The main issue of such robots is the control of the passive joint, which requires accurate dynamic modeling of the robot. Friction is usually discarded to simplify the models, especially in the case of low-speed trajectories. However, this simplification leads to oscillations of the end-effector about the final position, which are incompatible with fast and accurate motions. This paper focuses on planar <jats:inline-formula> <jats:alternatives> <jats:inline-graphic xmlns:xlink=\"http://www.w3.org/1999/xlink\" mime-subtype=\"png\" xlink:href=\"S0263574724000249_inline1.png\" /> <jats:tex-math> $n$ </jats:tex-math> </jats:alternatives> </jats:inline-formula>-DOF serial robotic arms with <jats:inline-formula> <jats:alternatives> <jats:inline-graphic xmlns:xlink=\"http://www.w3.org/1999/xlink\" mime-subtype=\"png\" xlink:href=\"S0263574724000249_inline2.png\" /> <jats:tex-math> $n-1$ </jats:tex-math> </jats:alternatives> </jats:inline-formula> actuated rotational joints plus one final passive rotational joint with stiffness and friction properties. These robots, if properly balanced, are differentially flat. When the non-actuated joint can be considered frictionless, differentially flat robots can be controlled in open loop, calculating the motor torques demanded by point-to-point motions. This paper extends the open-loop control to robots with a passive joint with viscous friction adopting a Laplace transform method. This method can be adopted by exploiting the particular structure of the equations of motion of differentially flat under-actuated robots in which the last equations are linear. Analytical expressions of the motor torques are obtained. The work is enriched by an experimental validation of a <jats:inline-formula> <jats:alternatives> <jats:inline-graphic xmlns:xlink=\"http://www.w3.org/1999/xlink\" mime-subtype=\"png\" xlink:href=\"S0263574724000249_inline3.png\" /> <jats:tex-math> $2$ </jats:tex-math> </jats:alternatives> </jats:inline-formula>-DOF under-actuated robot and by numerical simulations of the <jats:inline-formula> <jats:alternatives> <jats:inline-graphic xmlns:xlink=\"http://www.w3.org/1999/xlink\" mime-subtype=\"png\" xlink:href=\"S0263574724000249_inline4.png\" /> <jats:tex-math> $2$ </jats:tex-math> </jats:alternatives> </jats:inline-formula>- and <jats:inline-formula> <jats:alternatives> <jats:inline-graphic xmlns:xlink=\"http://www.w3.org/1999/xlink\" mime-subtype=\"png\" xlink:href=\"S0263574724000249_inline5.png\" /> <jats:tex-math> $4$ </jats:tex-math> </jats:alternatives> </jats:inline-formula>-DOF robots showing the suppression of unwanted oscillations.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"47 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139927989","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}

{"title":"End-to-end deep learning-based framework for path planning and collision checking: bin-picking application","authors":"Mehran Ghafarian Tamizi, Homayoun Honari, Aleksey Nozdryn-Plotnicki, Homayoun Najjaran","doi":"10.1017/s0263574724000109","DOIUrl":"https://doi.org/10.1017/s0263574724000109","url":null,"abstract":"Real-time and efficient path planning is critical for all robotic systems. In particular, it is of greater importance for industrial robots since the overall planning and execution time directly impact the cycle time and automation economics in production lines. While the problem may not be complex in static environments, classical approaches are inefficient in high-dimensional environments in terms of planning time and optimality. Collision checking poses another challenge in obtaining a real-time solution for path planning in complex environments. To address these issues, we propose an end-to-end learning-based framework viz., Path Planning and Collision checking Network (PPCNet). The PPCNet generates the path by computing waypoints sequentially using two networks: the first network generates a waypoint, and the second one determines whether the waypoint is on a collision-free segment of the path. The end-to-end training process is based on imitation learning that uses data aggregation from the experience of an expert planner to train the two networks, simultaneously. We utilize two approaches for training a network that efficiently approximates the exact geometrical collision checking function. Finally, the PPCNet is evaluated in two different simulation environments and a practical implementation on a robotic arm for a bin-picking application. Compared to the state-of-the-art path-planning methods, our results show significant improvement in performance by greatly reducing the planning time with comparable success rates and path lengths.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"145 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139771165","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}

{"title":"Reinforcement learning-based motion control for snake robots in complex environments","authors":"Dong Zhang, Renjie Ju, Zhengcai Cao","doi":"10.1017/s0263574723001613","DOIUrl":"https://doi.org/10.1017/s0263574723001613","url":null,"abstract":"Snake robots can move flexibly due to their special bodies and gaits. However, it is difficult to plan their motion in multi-obstacle environments due to their complex models. To solve this problem, this work investigates a reinforcement learning-based motion planning method. To plan feasible paths, together with a modified deep Q-learning algorithm, a Floyd-moving average algorithm is proposed to ensure smoothness and adaptability of paths for snake robots’ passing. An improved path integral algorithm is used to work out gait parameters to control snake robots to move along the planned paths. To speed up the training of parameters, a strategy combining serial training, parallel training, and experience replaying modules is designed. Moreover, we have designed a motion planning framework consists of path planning, path smoothing, and motion planning. Various simulations are conducted to validate the effectiveness of the proposed algorithms.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"1 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-02-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139761320","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}

{"title":"IFE-net: improved feature enhancement network for weak feature target recognition in autonomous underwater vehicles","authors":"Lei Cai, Bingyuan Zhang, Yuejun Li, Haojie Chai","doi":"10.1017/s0263574724000195","DOIUrl":"https://doi.org/10.1017/s0263574724000195","url":null,"abstract":"The recognizing underwater targets is a crucial component of autonomous underwater vehicle patrols and detection efforts. In the process of visual image recognition in real underwater environment, the spatial and semantic features of the target often appear to different degrees of loss, and the scarcity of specific types of underwater samples leads to unbalanced data on categories. This kind of problem makes the target features appear weak and seriously affects the accuracy of underwater target recognition. Traditional deep learning methods based on data and feature enhancement cannot achieve ideal recognition effect. Based on the above difficulties, this paper proposes an improved feature enhancement network for weak feature target recognition. Firstly, a multi-scale spatial and semantic feature enhancement module is constructed to extract the feature information of the extraction target accurately. Secondly, this paper solves the influence of target feature distortion on classification through multi-scale feature comparison of positive and negative samples. Finally, the Rank &amp; Sort Loss function was used to train the depth target detection to solve the problem of recognition accuracy under highly unbalanced sample data. Experimental results show that the recognition accuracy of the proposed method is 2.28% and 3.84% higher than that of the existing algorithms in the recognition of underwater fuzzy and distorted target images, which demonstrates the effectiveness and superiority of the proposed method.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"1 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-02-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139761234","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}

{"title":"Design and analysis of a wall-climbing robot with passive compliant mechanisms to adapt variable curvatures walls","authors":"Yifeng Song, Zhenyu Yang, Yong Chang, Hui Yuan, Song Lin","doi":"10.1017/s026357472300173x","DOIUrl":"https://doi.org/10.1017/s026357472300173x","url":null,"abstract":"<p>Motivated by practical applications of inspection and maintenance, we have developed a wall-climbing robot with passive compliant mechanisms that can autonomously adapt to curved surfaces. At first, this paper presents two failure modes of the traditional wall-climbing robot on the variable curvature wall surface and further introduces the designed passive compliant wall-climbing robot in detail. Then, the motion mechanism of the passive compliant wall-climbing robot on the curved surface is analyzed from stable adsorption conditions, parameter design process, and force analysis. At last, a series of experiments have been carried out on load capability and curved surface adaptability based on a developed principle prototype. The experimental results indicated that the wall-climbing robot with passive compliant mechanisms can effectively promote both adsorption stability and adaptability to variable curvatures.</p>","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"4 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139690336","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}

{"title":"Panoramic visual system for spherical mobile robots","authors":"Muhammad Affan Arif, Aibin Zhu, Han Mao, Yao Tu","doi":"10.1017/s0263574724000043","DOIUrl":"https://doi.org/10.1017/s0263574724000043","url":null,"abstract":"<p>Aimed at the challenges of wide-angle mobile robot visual perception for diverse field applications, we present the spherical robot visual system that uses a 360° field of view (FOV) for realizing real-time object detection. The spherical robot image acquisition system model is developed with optimal parameters, including camera spacing, camera axis angle, and the distance of the target image plane. Two 180<span><span><img data-mimesubtype=\"png\" data-type=\"\" src=\"https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20240203031027772-0638:S0263574724000043:S0263574724000043_inline1.png\"><span data-mathjax-type=\"texmath\"><span>$^{circ}$</span></span></img></span></span>-wide panoramic FOVs, front and rear view, are formed using four on-board cameras. The speed of the SURF algorithm is increased for feature extraction and matching. For seamless fusion of the images, an improved fade-in and fade-out algorithm is used, which not only improves the seam quality but also improves object detection performance. The speed of the dynamic image stitching is significantly enhanced by using a cache-based sequential image fusion method. On top of the acquired panoramic wide FOVs, the YOLO algorithm is used for real-time object detection. The panoramic visual system for the spherical robot is then tested in real time, which outputs panoramic views of the scene at an average frame rate of 21.69 fps and panoramic views with object detection at an average of 15.39 fps.</p>","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"29 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139690174","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}

{"title":"Design and control of a compliant robotic actuator with parallel spring-damping transmission","authors":"Peikang Yuan, Jianbin Liu, David T. Branson, Zhibin Song, Shuai Wu, Jian S. Dai, Rongjie Kang","doi":"10.1017/s0263574724000110","DOIUrl":"https://doi.org/10.1017/s0263574724000110","url":null,"abstract":"<p>Physically compliant actuator brings significant benefits to robots in terms of environmental adaptability, human–robot interaction, and energy efficiency as the introduction of the inherent compliance. However, this inherent compliance also limits the force and position control performance of the actuator system due to the induced oscillations and decreased mechanical bandwidth. To solve this problem, we first investigate the dynamic effects of implementing variable physical damping into a compliant actuator. Following this, we propose a structural scheme that integrates a variable damping element in parallel to a conventional series elastic actuator. A damping regulation algorithm is then developed for the parallel spring-damping actuator (PSDA) to tune the dynamic performance of the system while remaining sufficient compliance. Experimental results show that the PSDA offers better stability and dynamic capability in the force and position control by generating appropriate damping levels.</p>","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"70 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139690289","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}

{"title":"Path planning for robots in preform weaving based on learning from demonstration","authors":"Zhuo Meng, Shuo Li, Yujing Zhang, Yize Sun","doi":"10.1017/s0263574724000146","DOIUrl":"https://doi.org/10.1017/s0263574724000146","url":null,"abstract":"<p>A collision-free path planning method is proposed based on learning from demonstration (LfD) to address the challenges of cumbersome manual teaching operations caused by complex action of yarn storage, variable mechanism positions, and limited workspace in preform weaving. First, by utilizing extreme learning machines (ELM) to autonomously learn the teaching data of yarn storage, the mapping relationship between the starting and ending points and the teaching path points is constructed to obtain the imitation path with similar storage actions under the starting and ending points of the new task. Second, an improved rapidly expanding random trees (IRRT) method with adaptive direction and step size is proposed to expand path points with high quality. Finally, taking the spatical guidance point of imitation path as the target direction of IRRT, the expansion direction is biased toward the imitation path to obtain a collision-free path that meets the action yarn storage. The results of different yarn storage examples show that the ELM-IRRT method can plan the yarn storage path within 2s–5s when the position of the mechanism changes in narrow spaces, avoiding tedious manual operations that program the robot movements, which is feasible and effective.</p>","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"4 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139657078","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}