Robotica最新文献_第10页

Editorial of the special issue: innovative robot design for special applications 特刊编辑：用于特殊应用的创新型机器人设计

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-01-30 DOI: 10.1017/s0263574724000158

Alessandro Gasparetto, Yukio Takeda, Giulio Rosati

引用次数: 0

Self-adaptive learning particle swarm optimization-based path planning of mobile robot using 2D Lidar environment 基于自适应学习粒子群优化的移动机器人二维激光雷达环境路径规划

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-01-26 DOI: 10.1017/s0263574723001819

Julius Fusic S., Sitharthan R.

{"title":"Self-adaptive learning particle swarm optimization-based path planning of mobile robot using 2D Lidar environment","authors":"Julius Fusic S., Sitharthan R.","doi":"10.1017/s0263574723001819","DOIUrl":"https://doi.org/10.1017/s0263574723001819","url":null,"abstract":"The loading and unloading operations of smart logistic application robots depend largely on their perception system. However, there is a paucity of study on the evaluation of Lidar maps and their SLAM algorithms in complex environment navigation system. In the proposed work, the Lidar information is finetuned using binary occupancy grid approach and implemented Improved Self-Adaptive Learning Particle Swarm Optimization (ISALPSO) algorithm for path prediction. The approach makes use of 2D Lidar mapping to determine the most efficient route for a mobile robot in logistical applications. The Hector SLAM method is used in the Robot Operating System (ROS) platform to implement mobile robot real-time location and map building, which is subsequently transformed into a binary occupancy grid. To show the path navigation findings of the proposed methodologies, a navigational model has been created in the MATLAB 2D virtual environment using 2D Lidar mapping point data. The ISALPSO algorithm adapts its parameters inertia weight, acceleration coefficients, learning coefficients, mutation factor, and swarm size, based on the performance of the generated path. In comparison to the other five PSO variants, the ISALPSO algorithm has a considerably shorter path, a quick convergence rate, and requires less time to compute the distance between the locations of transporting and unloading environments, based on the simulation results that was generated and its validation using a 2D Lidar environment. The efficiency and effectiveness of path planning for mobile robots in logistic applications are validated using Quanser hardware interfaced with 2D Lidar and operated in environment 3 using proposed algorithm for production of optimal path.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-01-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139579215","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, simulation, control of a hybrid pouring robot: enhancing automation level in the foundry industry 混合浇注机器人的设计、模拟和控制：提高铸造业的自动化水平

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-01-25 DOI: 10.1017/s0263574723001881

Wang Chengjun, Duan Hao, Li Long

{"title":"Design, simulation, control of a hybrid pouring robot: enhancing automation level in the foundry industry","authors":"Wang Chengjun, Duan Hao, Li Long","doi":"10.1017/s0263574723001881","DOIUrl":"https://doi.org/10.1017/s0263574723001881","url":null,"abstract":"Currently, workers in sand casting face harsh environments and the operation safety is poor. Existing pouring robots have insufficient stability and load-bearing capacity and cannot perform intelligent pouring according to the demand of pouring process. In this paper, a hybrid pouring robot is proposed to solve these limitations, and a vision-based hardware-in-the-loop (HIL) control technology is designed to achieve the real-time control problems of simulated pouring and pouring process. Firstly, based on the pouring mechanism and the motion demand of ladle, a hybrid pouring robot with a 2UPR-2RPU parallel mechanism as the main body is designed. And the equivalent hybrid kinematic model was established by using Eulerian method and differential motion. Subsequently, a motion control strategy based on HIL simulation technique was designed and presented. The working space of the robot was obtained through simulation experiments to meet the usage requirements. And the stability of the robot was tested through the key motion parameters of the robot joints. Based on the analysis of pouring quality and trajectory, optimal dynamic parameters for the experimental prototype are obtained through water simulation experiments, the pouring liquid height area is 35–40 cm, the average flow rate of pouring liquid is 112 cm3/s, and the ladle tilting speed is 0.0182 rad/s. Experimental results validate the reasonableness of the designed pouring robot structure. Its control system realizes the coordinated movement of each branch chain to complete the pouring tasks with different variable parameters. Consequently, the designed pouring robot will significantly enhance the automation level of the casting industry.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-01-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139560837","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 improved fuzzy inference strategy using reinforcement learning for trajectory-tracking of a mobile robot under a varying slip ratio 利用强化学习改进模糊推理策略，用于移动机器人在不同滑移率下的轨迹跟踪

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-01-25 DOI: 10.1017/s0263574724000134

Muhammad Qomaruz Zaman, Hsiu-Ming Wu

{"title":"An improved fuzzy inference strategy using reinforcement learning for trajectory-tracking of a mobile robot under a varying slip ratio","authors":"Muhammad Qomaruz Zaman, Hsiu-Ming Wu","doi":"10.1017/s0263574724000134","DOIUrl":"https://doi.org/10.1017/s0263574724000134","url":null,"abstract":"In this study, a fuzzy reinforcement learning control (FRLC) is proposed to achieve trajectory tracking of a differential drive mobile robot (DDMR). The proposed FRLC approach designs fuzzy membership functions to fuzzify the relative position and heading between the current position and a prescribed trajectory. Instead of fuzzy inference rules, the relationship between the fuzzy inputs and actuator voltage outputs is built using a reinforcement learning (RL) agent. Herein, the deep deterministic policy gradient (DDPG) methodology consisted of actor and critic neural networks is employed in the RL agent. Simulations are conducted with considering varying slip ratio disturbances, different initial positions, and two different trajectories in the testing environment. In the meantime, a comparison with the classical DDPG model is presented. The results show that the proposed FRLC is capable of successfully tracking different trajectories under varying slip ratio disturbances as well as having performance superiority to the classical DDPG model. Moreover, experimental results validate that the proposed FRLC is also applicable to real mobile robots.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-01-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139560839","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

One-shot sim-to-real transfer policy for robotic assembly via reinforcement learning with visual demonstration 通过视觉演示强化学习实现机器人装配的一次模拟到实际转移策略

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-01-24 DOI: 10.1017/s0263574724000092

Ruihong Xiao, Chenguang Yang, Yiming Jiang, Hui Zhang

{"title":"One-shot sim-to-real transfer policy for robotic assembly via reinforcement learning with visual demonstration","authors":"Ruihong Xiao, Chenguang Yang, Yiming Jiang, Hui Zhang","doi":"10.1017/s0263574724000092","DOIUrl":"https://doi.org/10.1017/s0263574724000092","url":null,"abstract":"Reinforcement learning (RL) has been successfully applied to a wealth of robot manipulation tasks and continuous control problems. However, it is still limited to industrial applications and suffers from three major challenges: sample inefficiency, real data collection, and the gap between simulator and reality. In this paper, we focus on the practical application of RL for robot assembly in the real world. We apply enlightenment learning to improve the proximal policy optimization, an on-policy model-free actor-critic reinforcement learning algorithm, to train an agent in Cartesian space using the proprioceptive information. We introduce enlightenment learning incorporated via pretraining, which is beneficial to reduce the cost of policy training and improve the effectiveness of the policy. A human-like assembly trajectory is generated through a two-step method with segmenting objects by locations and iterative closest point for pretraining. We also design a sim-to-real controller to correct the error while transferring to reality. We set up the environment in the MuJoCo simulator and demonstrated the proposed method on the recently established The National Institute of Standards and Technology (NIST) gear assembly benchmark. The paper introduces a unique framework that enables a robot to learn assembly tasks efficiently using limited real-world samples by leveraging simulations and visual demonstrations. The comparative experiment results indicate that our approach surpasses other baseline methods in terms of training speed, success rate, and efficiency.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139560997","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 contact parameter estimation method for multi-modal robot locomotion on deformable granular terrains 多模式机器人在可变形颗粒地形上运动的接触参数估计方法

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-01-24 DOI: 10.1017/s026357472300187x

Shipeng Lyu, Wenyao Zhang, Chen Yao, Zhengtao Liu, Yang Su, Zheng Zhu, Zhenzhong Jia

{"title":"A contact parameter estimation method for multi-modal robot locomotion on deformable granular terrains","authors":"Shipeng Lyu, Wenyao Zhang, Chen Yao, Zhengtao Liu, Yang Su, Zheng Zhu, Zhenzhong Jia","doi":"10.1017/s026357472300187x","DOIUrl":"https://doi.org/10.1017/s026357472300187x","url":null,"abstract":"In this paper, we consider the problem of contact parameters (slippage and sinkage) estimation for multi-modal robot locomotion on granular terrains. To describe the contact events in the same framework for robots operated at different modes (e.g., wheel, leg), we propose a unified description of contact parameters for multi-modal robots. We also provide a parameter estimation method for multi-modal robots based on CNN and DWT (discrete wavelet transformation) techniques and verify its effectiveness over different types of granular terrains. Besides motion modes, this paper also considers the influence of slope angles and the robot’s handing angles over contact parameters. Through comparison and analysis of the prediction results, our method can not only effectively predict the contact parameters of multi-modal robot locomotion on a granular medium (better than $96%$ accuracy) but also achieves the same or better performance when compared to other (direct) contact measurement methods designed for individual motion modes, that is, single-modal robots such as quadruped robots and mars rovers. Our proposed unified contact parameter estimation method can be useful for studying the interaction mechanics between multi-modal robots and granular terrains as well as terrain classification tasks due to its superior sensitivity which is analyzed in the experiments.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139561011","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 review of bioinspired locomotion in lower GI endoscopy 下消化道内窥镜生物启发运动综述

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-01-22 DOI: 10.1017/s0263574724000055

Jabed F. Ahmed, Enrico Franco, Ferdinando Rodriguez Y. Baena, Ara Darzi, Nisha Patel

{"title":"A review of bioinspired locomotion in lower GI endoscopy","authors":"Jabed F. Ahmed, Enrico Franco, Ferdinando Rodriguez Y. Baena, Ara Darzi, Nisha Patel","doi":"10.1017/s0263574724000055","DOIUrl":"https://doi.org/10.1017/s0263574724000055","url":null,"abstract":"Flexible endoscopy is the gold standard modality for diagnosis and therapeutic intervention of various colorectal conditions. A high bar is currently set for any new technology to replace the current modern colonoscope, but limitations do exist. For a robotic system to gain acceptance, ideally a clear advantage over the established standard needs to be demonstrated. The application of robotic technology inspired by locomotion observed in animals has been demonstrated in many fields including colonoscopy. A myriad of novel concepts has been proposed, which can overcome the anatomical and technical challenges.This review discusses novel and innovative examples of bioinspired robotic locomotion in the colon with a detailed comparison of studies alongside separating the discussion by animal sections of insect, marine and reptile locomotion. We also discuss the current advantages and challenges a bioinspired robot will bring to the colon.Bioinspired robotics in the colon is an exciting field of research with the potential to improve upon current existing high standards of practice in colonoscopy. By addressing areas that the conventional colonoscope is weaker in, studies are demonstrating improvement upon current limitations of standard practice and providing an insight into new methods of engineering and fabrication. Focus on the technological, mechanical and regulatory barriers is key to achieve acceptance into standard practice and will allow the aspiration of a safe, low discomfort, low cost and potentially fully autonomous robotic colonoscope to be not too distant in the future of colonoscopy.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-01-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139514833","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

Solving the inverse kinematics problem of discretely actuated hyper-redundant manipulators using the multi-module searching method 利用多模块搜索法解决离散致动超冗余机械手的逆运动学问题

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-01-22 DOI: 10.1017/s0263574723001893

Alireza Motahari

{"title":"Solving the inverse kinematics problem of discretely actuated hyper-redundant manipulators using the multi-module searching method","authors":"Alireza Motahari","doi":"10.1017/s0263574723001893","DOIUrl":"https://doi.org/10.1017/s0263574723001893","url":null,"abstract":"Hyper-redundant manipulators are produced by cascading several mechanisms on top of each other as modules. The discrete actuation makes their control easier because discrete actuators usually do not need any feedback to control. So far, several methods have been proposed to solve the inverse kinematic problem of discretely actuated, hyper-redundant manipulators. The two-by-two searching method is better than the other methods in terms of CPU time and error. In this article, the mentioned method is generalized by choosing an arbitrary number of modules as pending modules in each step of the solution instead of the necessary two. For validation, the proposed method is compared with nine meta-heuristic searching algorithms: simulated annealing, genetic algorithm, particle swarm optimization, ant colony optimization, gray wolf optimizer, stochastic fractal search, whale optimization algorithm, Giza pyramid construction, and flying fox optimization. Furthermore, the effect of the number of pending modules on CPU time and error is investigated. All the numerical problems have been solved for two case studies, one is planar and the other is spatial.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-01-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139515046","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

Image-based anti-interference robotic Chinese character writing system 基于图像的抗干扰机器人汉字书写系统

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-01-22 DOI: 10.1017/s0263574724000018

Xian Li, Chenguang Yang, Sheng Xu, Yongsheng Ou

{"title":"Image-based anti-interference robotic Chinese character writing system","authors":"Xian Li, Chenguang Yang, Sheng Xu, Yongsheng Ou","doi":"10.1017/s0263574724000018","DOIUrl":"https://doi.org/10.1017/s0263574724000018","url":null,"abstract":"This article designs a robotic Chinese character writing system that can resist random human interference. Firstly, an innovative stroke extraction method of Chinese characters was devised. A basic Chinese character stroke extraction method based on cumulative direction vectors is used to extract the components that make up the strokes of Chinese characters. The components are then stitched together into strokes based on the sequential base stroke joining method. To enable the robot to imitate handwriting Chinese character skills, we utilised stroke information as the demonstration and modelled the skills using dynamic movement primitives (DMPs). To suppress random human interference, this article combines improved DMPs and conductance control to adjust robot trajectories based on real-time visual measurements. The experimental results show that the proposed method can accurately extract the strokes of most Chinese characters. The designed trajectory adjustment method offers better smoothness and robustness than direct rotating and translating curves. The robot is able to adjust its posture and trajectory in real time to eliminate the negative impacts of human interference.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-01-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139514835","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

Enhancement of humanoid robot locomotion on slippery floors using an adaptive controller 利用自适应控制器增强仿人机器人在湿滑地面上的运动能力

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-01-17 DOI: 10.1017/s0263574724000080

Luís Almeida, Vítor Santos, João Ferreira

{"title":"Enhancement of humanoid robot locomotion on slippery floors using an adaptive controller","authors":"Luís Almeida, Vítor Santos, João Ferreira","doi":"10.1017/s0263574724000080","DOIUrl":"https://doi.org/10.1017/s0263574724000080","url":null,"abstract":"This paper presents a comprehensive strategy to improve the locomotion performance of humanoid robots on various slippery floors. The strategy involves the implementation and adaptation of a divergent component of motion (DCM) based control architecture for the humanoid NAO, and the introduction of an embedded yaw controller (EYC), which is based on a proportional-integral-derivative (PID) control algorithm. The EYC is designed not only to address the slip behavior of the robot on low-friction floors but also to tackle the issue of non-straight walking patterns that we observed in this humanoid, even on non-slippery floors. To fine-tune the PID gains for the EYC, a systematic trial-and-error approach is employed. We iteratively adjusted the P (Proportional), I (Integral), and D (Derivative) parameters while keeping the others fixed. This process allowed us to optimize the PID controller’s response to different walking conditions and floor types. A series of locomotion experiments are conducted in a simulated environment, where the humanoid step frequency and PID gains are varied for each type of floor. The effectiveness of the strategy is evaluated using metrics such as robot stability, energy consumption, and task duration. The results of the study demonstrate that the proposed approach significantly improves humanoid locomotion on different slippery floors, by enhancing stability and reducing energy consumption. The study has practical implications for designing more versatile and effective solutions for humanoid locomotion on challenging surfaces and highlights the adaptability of the existing controller for different humanoid robots.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139481561","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