Robotica最新文献_第4页

Biofusion design and parameter optimization for a novel passive assisted knee exoskeleton robot based on eight-bar mechanism 基于八杆机构的新型被动辅助膝关节外骨骼机器人的生物融合设计与参数优化

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-05-09 DOI: 10.1017/s0263574724000699

Jun Wei, Shizhao Zhang, Jianjun Zhang

{"title":"Biofusion design and parameter optimization for a novel passive assisted knee exoskeleton robot based on eight-bar mechanism","authors":"Jun Wei, Shizhao Zhang, Jianjun Zhang","doi":"10.1017/s0263574724000699","DOIUrl":"https://doi.org/10.1017/s0263574724000699","url":null,"abstract":"In an effort to alleviate the issue of knee joint fatigue and injury during lower limb ambulation, a novel passive assisted exoskeleton robot with human–machine interaction is investigated to assist the movement of the human knee joint. The design of the exoskeleton configuration takes into consideration the physiological structure and gait function of the knee joint, ensuring that it satisfies the requirements for motion, force, and gait function of the knee joint. To explore the interaction between the wearer and the exoskeleton, a human–machine kinematic model after wearing exoskeleton is established, which is instrumental in analyzing the integration motion of the wearer and exoskeleton. In addition, the dynamic and static models of the knee joint after wearing the exoskeleton are established, utilizing the Newton–Euler method and force polygon method, respectively, to evaluate the effectiveness of the exoskeleton. Moreover, the size parameters and spring stiffness of the exoskeleton are optimized, using both human body kinematic model and mechanic model. Furthermore, the effectiveness of the exoskeleton in proving assistance is evaluated through human body simulation, using OpenSim. The results indicate that the exoskeleton significantly reduces the knee joint torque by 48.42%.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140926317","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

Vision-based adaptive LT sliding mode admittance control for collaborative robots with actuator saturation 基于视觉的自适应 LT 滑动模式导纳控制，用于执行器饱和的协作机器人

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-05-09 DOI: 10.1017/s0263574724000729

Cong Huang, Minglei Zhu, Shijie Song, Yuyang Zhao, Jinmao Jiang

{"title":"Vision-based adaptive LT sliding mode admittance control for collaborative robots with actuator saturation","authors":"Cong Huang, Minglei Zhu, Shijie Song, Yuyang Zhao, Jinmao Jiang","doi":"10.1017/s0263574724000729","DOIUrl":"https://doi.org/10.1017/s0263574724000729","url":null,"abstract":"In this paper, we propose a novel vision-based adaptive leakage-type (LT) sliding mode admittance control for actuator-constrained collaborative robots to realize the synchronous control of the precise path following and compliant interaction force. Firstly, we develop a vision-admittance-based model to couple the visual feedback and force sensing in the image feature space so that a reference image feature trajectory can be obtained concerning the contact force command and predefined trajectory. Secondly, considering the system uncertainty, external disturbance, and torque constraints of collaborative robots in reality, we propose an adaptive sliding mode controller in the image feature space to perform precise trajectory tracking. This controller employs a leakage-type (LT) adaptive control law to reduce the side effects of system uncertainties without knowing the upper bound of system uncertainties. Moreover, an auxiliary dynamic is considered in this controller to overcome the joint torque constraints. Finally, we prove the convergence of the tracking error with the Lyapunov stability analysis and operate various semi-physical simulations compared to the conventional adaptive sliding mode and parallel vision/force controller to demonstrate the efficacy of the proposed controller. The simulation results show that compared with the controller mentioned above, the path following accuracy and interaction force control precision of the proposed controller increased by 50% and achieved faster convergence.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140926314","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

Autonomous navigation and steering control based on wireless non-wheeled snake robot 基于无线非轮式蛇形机器人的自主导航和转向控制

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-05-08 DOI: 10.1017/s0263574724000638

Liming Bao, Yongjun Sun, Zongwu Xie

引用次数: 0

A virtual reality-based dual-mode robot teleoperation architecture 基于虚拟现实的双模式机器人远程操作架构

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-05-07 DOI: 10.1017/s0263574724000663

Marco Gallipoli, Sara Buonocore, Mario Selvaggio, Giuseppe Andrea Fontanelli, Stanislao Grazioso, Giuseppe Di Gironimo

{"title":"A virtual reality-based dual-mode robot teleoperation architecture","authors":"Marco Gallipoli, Sara Buonocore, Mario Selvaggio, Giuseppe Andrea Fontanelli, Stanislao Grazioso, Giuseppe Di Gironimo","doi":"10.1017/s0263574724000663","DOIUrl":"https://doi.org/10.1017/s0263574724000663","url":null,"abstract":"This paper proposes a virtual reality-based dual-mode teleoperation architecture to assist human operators in remotely operating robotic manipulation systems in a safe and flexible way. The architecture, implemented via a finite state machine, enables the operator to switch between two operational modes: the Approach mode, where the operator indirectly controls the robotic system by specifying its target configuration via the immersive virtual reality (VR) interface, and the Telemanip mode, where the operator directly controls the robot end-effector motion via input devices. The two independent control modes have been tested along the task of reaching a glass on a table by a sample population of 18 participants. Two working groups have been considered to distinguish users with previous experience with VR technologies from the novices. The results of the user study presented in this work show the potential of the proposed architecture in terms of usability, both physical and mental workload, and user satisfaction. Finally, a statistical analysis showed no significant differences along these three metrics between the two considered groups demonstrating ease of use of the proposed architecture by both people with and with no previous experience in VR.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140887295","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 multi-stage localization framework for accurate and precise docking of autonomous mobile robots (AMRs) 用于自主移动机器人（AMR）精确对接的多级定位框架

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-05-03 DOI: 10.1017/s0263574724000602

Abdurrahman Yilmaz, Hakan Temeltas

{"title":"A multi-stage localization framework for accurate and precise docking of autonomous mobile robots (AMRs)","authors":"Abdurrahman Yilmaz, Hakan Temeltas","doi":"10.1017/s0263574724000602","DOIUrl":"https://doi.org/10.1017/s0263574724000602","url":null,"abstract":"Autonomous navigation has been a long-standing research topic, and researchers have worked on many challenging problems in indoor and outdoor environments. One application area of navigation solutions is material handling in industrial environments. With Industry 4.0, the simple problem in traditional factories has evolved into the use of autonomous mobile robots within flexible production islands in a self-decision-making structure. Two main stages of such a navigation system are safe transportation of the vehicle from one point to another and reaching destinations at industrial standards. The main concern in the former is roughly determining the vehicle’s pose to follow the route, while the latter aims to reach the target with high accuracy and precision. Often, it may not be possible or require extra effort to satisfy requirements with a single localization method. Therefore, a multi-stage localization approach is proposed in this study. Particle filter-based large-scale localization approaches are utilized during the vehicle’s movement from one point to another, while scan-matching-based methods are used in the docking stage. The localization system enables the appropriate approach based on the vehicle’s status and task through a decision-making mechanism. The decision-making mechanism uses a similarity metric obtained through the correntropy criterion to decide when and how to switch from large-scale localization to precise localization. The feasibility and performance of the developed method are corroborated through field tests. These evaluations demonstrate that the proposed method accomplishes tasks with sub-centimeter and sub-degree accuracy and precision without affecting the operation of the navigation algorithms in real time.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140836728","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

Compliant variable admittance adaptive fixed-time sliding mode control for trajectory tracking of robotic manipulators 用于机器人操纵器轨迹跟踪的顺应式可变导纳自适应固定时间滑动模式控制

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-05-02 DOI: 10.1017/s0263574724000468

Hang Gao, Chao Ma, Xiaodong Zhang, Cheng Zhou

引用次数: 0

Learning vision-based robotic manipulation tasks sequentially in offline reinforcement learning settings 在离线强化学习设置中按顺序学习基于视觉的机器人操纵任务

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-05-02 DOI: 10.1017/s0263574724000389

Sudhir Pratap Yadav, Rajendra Nagar, Suril V. Shah

{"title":"Learning vision-based robotic manipulation tasks sequentially in offline reinforcement learning settings","authors":"Sudhir Pratap Yadav, Rajendra Nagar, Suril V. Shah","doi":"10.1017/s0263574724000389","DOIUrl":"https://doi.org/10.1017/s0263574724000389","url":null,"abstract":"With the rise of deep reinforcement learning (RL) methods, many complex robotic manipulation tasks are being solved. However, harnessing the full power of deep learning requires large datasets. Online RL does not suit itself readily into this paradigm due to costly and time-consuming agent-environment interaction. Therefore, many offline RL algorithms have recently been proposed to learn robotic tasks. But mainly, all such methods focus on a single-task or multitask learning, which requires retraining whenever we need to learn a new task. Continuously learning tasks without forgetting previous knowledge combined with the power of offline deep RL would allow us to scale the number of tasks by adding them one after another. This paper investigates the effectiveness of regularisation-based methods like synaptic intelligence for sequentially learning image-based robotic manipulation tasks in an offline-RL setup. We evaluate the performance of this combined framework against common challenges of sequential learning: catastrophic forgetting and forward knowledge transfer. We performed experiments with different task combinations to analyse the effect of task ordering. We also investigated the effect of the number of object configurations and the density of robot trajectories. We found that learning tasks sequentially helps in the retention of knowledge from previous tasks, thereby reducing the time required to learn a new task. Regularisation-based approaches for continuous learning, like the synaptic intelligence method, help mitigate catastrophic forgetting but have shown only limited transfer of knowledge from previous tasks.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-05-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140836454","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

Modeling, simulations and experiments with generally routed cable-driven continuum robots and their application to three-fingered grippers 一般线缆驱动连续机器人的建模、模拟和实验及其在三指抓手中的应用

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-04-30 DOI: 10.1017/s0263574724000651

Soumya Kanti Mahapatra, Ashitava Ghosal

引用次数: 0

An asymmetric S-curve trajectory planning based on an improved jerk profile 基于改进的颠簸曲线的非对称 S 曲线轨迹规划

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-04-29 DOI: 10.1017/s0263574724000031

Chol Jun Han, Kwang Rim Song, Un-Ryong Rim

{"title":"An asymmetric S-curve trajectory planning based on an improved jerk profile","authors":"Chol Jun Han, Kwang Rim Song, Un-Ryong Rim","doi":"10.1017/s0263574724000031","DOIUrl":"https://doi.org/10.1017/s0263574724000031","url":null,"abstract":"In this paper, a method of planning the expanded S-curve trajectory of robotic manipulators is proposed to minimize the execution time as well as to achieve the smoother trajectory generation in the deceleration stage for point-to-point motions. An asymmetric parameter is added to the piecewise sigmoid function for an improved jerk profile. This asymmetric profile is continuous and infinitely differentiable. Based on this profile, two analytical algorithms are presented. One is applied to determine the suitable time intervals of trajectory satisfying the time optimality under the kinematic constraints, and the other is to determine the asymmetric parameter generating the minimum execution time. Also, the calculation procedure for the time-scaled synchronization for all joints is given to decrease unnecessary loads onto the actuators. The velocity, acceleration, jerk and snap (the derivative of jerk) of the joints and the end-effector are equal to zero at two end points of motion. The simulation results through 3 DOF and 6 DOF robotic manipulators show that our approach reduces the jerk and snap of the deceleration stage effectively while decreasing the total execution time. Also, the analysis for a single DOF mass-spring-damper system indicates that the residual vibration could be reduced to 10% more than the benchmark techniques in case velocity, acceleration and jerk are limited to 1.24 m/s, 6 m/s2 and 80 m/s3, respectively and displacement is set to 0.8m. These results manifest that the performance of reducing residual vibrations is good and demonstrate an important characteristic of the proposed profile suitable for point-to-point motion.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140811527","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

Real-time adaptive super twisting algorithm based on PSO algorithm: application for an exoskeleton robot 基于 PSO 算法的实时自适应超级扭转算法：在外骨骼机器人中的应用

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-04-24 DOI: 10.1017/s0263574724000547

Hichame Tiaiba, M. E. Daâchi, Tarek Madani

{"title":"Real-time adaptive super twisting algorithm based on PSO algorithm: application for an exoskeleton robot","authors":"Hichame Tiaiba, M. E. Daâchi, Tarek Madani","doi":"10.1017/s0263574724000547","DOIUrl":"https://doi.org/10.1017/s0263574724000547","url":null,"abstract":"\u0000 In this paper, an online adaptive super twisting sliding mode controller is proposed for a non-linear system. The adaptive controller has been designed in order to deal with the unknown dynamic uncertainties and give the best trajectory tracking. The adaptation is based on an optimal Particle Swarm Optimization (PSO) algorithm whose goal is online tuning the parameters through focusing on decreasing the objective function. The novelty of this study is online handling parameters setting in the conventional super twisting algorithm, bypass heavy offline calculation, and also avoid the instability and abrupt changing of the controller’s parameters for better actuators lifetime. This novel approach has been applied on an upper limb exoskeleton robot for arm rehabilitation. Despite the changes of the dynamic model of the system which defers from one patient to another due to the direct interactions between the wearer and the exoskeleton, this control technique preserves its robustness with respect to bounded external disturbances. The effectiveness of the proposed adaptive controller has been proved in simulation and then in real-time experiment with two human subjects. A comparison between the proposed approach and classic super twisting algorithm has been conducted. The obtained results show the performance and efficiency of the proposed controller.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140664766","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