Robotica最新文献_第5页

Robot base placement and tool mounting optimization based on capability map for robot-assistant camera holder 基于机器人辅助照相机支架能力图的机器人底座放置和工具安装优化

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-05-27 DOI: 10.1017/s0263574724000870

Amir Trabelsi, Juan Sandoval, Abdelfattah Mlika, Samir Lahouar, Said Zeghloul, Med Amine Laribi

{"title":"Robot base placement and tool mounting optimization based on capability map for robot-assistant camera holder","authors":"Amir Trabelsi, Juan Sandoval, Abdelfattah Mlika, Samir Lahouar, Said Zeghloul, Med Amine Laribi","doi":"10.1017/s0263574724000870","DOIUrl":"https://doi.org/10.1017/s0263574724000870","url":null,"abstract":"In the field of laparoscopic surgery, research is currently focusing on the development of new robotic systems to assist practitioners in complex operations, improving the precision of their medical gestures. In this context, the performance of these robotic platforms can be conditioned by various factors, such as the robot’s accessibility and dexterity in the task workspace. In this paper, we present a new strategy for improving the kinematic and dynamic performance of a 7-degrees of freedom robot-assisted camera-holder system for laparoscopic surgery. This approach involves the simultaneous optimization of the robot base placement and the laparoscope mounting orientation. To do so, a general robot capability representation approach is implemented in an innovative multiobjective optimization algorithm. The obtained results are first evaluated in simulation and then validated experimentally by comparing the robot’s performances implementing both the existing and the optimized solution. The optimization result led to a 2% improvement in the accessibility index and a 14% enhancement in manipulability. Furthermore, the dynamic performance criteria resulted in a substantial 43% reduction in power consumption.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"75 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141173088","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

Four-bar linkage reconfigurable robotic wheel: Design, kinematic analysis, and experimental validation for adaptive size modification 四杆联动可重构机器人轮：自适应尺寸调整的设计、运动学分析和实验验证

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-05-13 DOI: 10.1017/s026357472400078x

X. Yamile Sandoval-Castro, Sergio Muñoz-Gonzalez, Mario A. Garcia-Murillo, Pedro D. Ferrusca-Monroy, Maxiamiano F. Ruiz-Torres

{"title":"Four-bar linkage reconfigurable robotic wheel: Design, kinematic analysis, and experimental validation for adaptive size modification","authors":"X. Yamile Sandoval-Castro, Sergio Muñoz-Gonzalez, Mario A. Garcia-Murillo, Pedro D. Ferrusca-Monroy, Maxiamiano F. Ruiz-Torres","doi":"10.1017/s026357472400078x","DOIUrl":"https://doi.org/10.1017/s026357472400078x","url":null,"abstract":"This article presents the development of a robot capable of modifying its size through a wheel reconfiguration strategy. The reconfigurable wheel design is based on a four-bar retractable mechanism that achieves variation of the effective radius of the wheel. A reconfiguration index is introduced based on the number of retractable mechanisms that predicts the radius of configuration according to the number of mechanisms implemented in the wheel. The kinematics of the retractable mechanism is studied to determine the theoretical reconfiguration radius during the transformation process, it is also evaluated numerically with the help of the GeoGebra software, and it is validated experimentally by image analysis using the Tracker software. The transformation process of the robot is investigated through an analysis of forces that consider the wheel in contact with the obstacle, the calculation of the wheel torque and the height of the obstacle to be overcome are presented. On the other hand, the experimental validation of the robot reconfiguration process is presented through the percentage of success shown by the robot to overcome obstacles of 50, 75, 100 and 125 mm. In addition, measurements of energy consumption during the transformation process are reported. Reconfigurable wheels, capable of adapting their size, offer innovative solutions to various challenges across different applications such as robotic exploration and search and rescue missions to industrial settings. Some key issues that these wheels can address include terrain adaptability enhancing a robot’s mobility over uneven surfaces, or obstacles; enhanced robotic design; cost-effective design; space efficiency; and versatility in applications.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"66 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140926144","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

Multi-objective trajectory planning for industrial robots using a hybrid optimization approach 使用混合优化方法进行工业机器人多目标轨迹规划

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-05-10 DOI: 10.1017/s0263574724000766

Taha Chettibi

{"title":"Multi-objective trajectory planning for industrial robots using a hybrid optimization approach","authors":"Taha Chettibi","doi":"10.1017/s0263574724000766","DOIUrl":"https://doi.org/10.1017/s0263574724000766","url":null,"abstract":"In this paper, a hybrid approach organized in four phases is proposed to solve the multi-objective trajectory planning problem for industrial robots. In the first phase, a transcription of the original problem into a standard multi-objective parametric optimization problem is achieved by adopting an adequate parametrization scheme for the continuous robot configuration variables. Then, in the second phase, a global search is performed using a population-based search metaheuristic in order to build a first approximation of the Pareto front (PF). In the third phase, a local search is applied in the neighborhood of each solution of the PF approximation using a deterministic algorithm in order to generate new solutions. Finally, in the fourth phase, results of the global and local searches are gathered and postprocessed using a multi-objective direct search method to enhance the quality of compromise solutions and to converge toward the true optimal PF. By combining different optimization techniques, we intend not only to improve the overall search mechanism of the optimization strategy but also the resulting hybrid algorithm should keep the robustness of the population-based algorithm while enjoying the theoretical properties of convergence of the deterministic component. Also, the proposed approach is modular and flexible, and it can be implemented in different ways according to the applied techniques in the different phases. In this paper, we illustrate the efficiency of the hybrid framework by considering different techniques available in various numerical optimization libraries which are combined judiciously and tested on various case studies.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"45 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140942382","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 variable stiffness design method for soft robotic fingers based on grasping force compensation and linearization 基于抓取力补偿和线性化的软体机器人手指可变刚度设计方法

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-05-10 DOI: 10.1017/s026357472400081x

Xiaowei Shan, Litao Xu, Xuefei Li

{"title":"A variable stiffness design method for soft robotic fingers based on grasping force compensation and linearization","authors":"Xiaowei Shan, Litao Xu, Xuefei Li","doi":"10.1017/s026357472400081x","DOIUrl":"https://doi.org/10.1017/s026357472400081x","url":null,"abstract":"Soft fingers play an increasingly important role in robotic grippers to achieve adaptive grasping with variable stiffness features. Previous studies of soft finger design have primarily focused on the optimization of the structural parameters of existing finger structures, but limited efforts have been put into the design methodology from fundamental grasping mechanisms to finger structures with desired grasping force features. To this aim, a fundamental architecture of soft fingers is proposed for analyzing common soft finger features and the influence of the internal structures on the overall grasping performance. In addition, three general performance metrics are introduced to evaluate the grasping performance of soft finger designs. Then, a novel method is proposed to combine the variable stiffness structure with the fundamental architecture to compensate for the grasping force of the finger and linearization. Subsequently, an embodiment design is proposed with a cantilever spring-based variable stiffness (CSVS) mechanism based on the method, and a multi-objective optimization method is employed to optimize the design. Besides, the CSVS features are analyzed through finite element analysis (FEA), and by comparing the grasping performance between the V-shape finger and the CSVS finger, it is demonstrated that the design method can effectively shorten the pre-grasp stage and linearize the grasping force in the post-grasp stage while reducing the likelihood of sliding friction between the finger and the grasped object. Finally, experiments are conducted to validate the accuracy of the FEA model, the effectiveness of the design methodology, and the adaptability of the CSVS finger.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"42 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140942463","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

Co-designing versatile quadruped robots for dynamic and energy-efficient motions 共同设计多功能四足机器人，实现动态节能运动

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-05-09 DOI: 10.1017/s0263574724000730

Gabriele Fadini, Shivesh Kumar, Rohit Kumar, Thomas Flayols, Andrea Del Prete, Justin Carpentier, Philippe Souères

{"title":"Co-designing versatile quadruped robots for dynamic and energy-efficient motions","authors":"Gabriele Fadini, Shivesh Kumar, Rohit Kumar, Thomas Flayols, Andrea Del Prete, Justin Carpentier, Philippe Souères","doi":"10.1017/s0263574724000730","DOIUrl":"https://doi.org/10.1017/s0263574724000730","url":null,"abstract":"This paper presents a concurrent optimization approach for the design and motion of a quadruped in order to achieve energy-efficient cyclic behaviors. Computational techniques are applied to improve the development of a novel quadruped prototype. The scale of the robot and its actuators are optimized for energy efficiency considering the complete actuator model including friction, torque, and bandwidth limitations. This method and the optimal bounding trajectories are tested on the first (non-optimized) prototype design iteration showing that our formulation produces a trajectory that (i) can be easily replayed on the real robot and (ii) reduces the power consumption w.r.t. hand-tuned motion heuristics. Power consumption is then optimized for several periodic tasks with co-design. Our results include, but are not limited to, a bounding and backflip task. It appears that, for jumping forward, robots with longer thighs perform better, while, for backflips, longer shanks are better suited. To explore the tradeoff between these different designs, a Pareto set is constructed to guide the next iteration of the prototype. On this set, we find a new design, which will be produced in future work, showing an improvement of at least 52% for each separate task.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"21 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140926098","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

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":"96 1","pages":""},"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":"3 1","pages":""},"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":"30 1","pages":""},"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":"300 1","pages":""},"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