Robotica最新文献_第6页

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":"29 1","pages":""},"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":"8 1","pages":""},"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

A visual SLAM-based lightweight multi-modal semantic framework for an intelligent substation robot 基于视觉 SLAM 的智能变电站机器人轻量级多模态语义框架

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-04-19 DOI: 10.1017/s0263574724000511

Shaohu Li, Jason Gu, Zhijun Li, Shaofeng Li, Bixiang Guo, Shangbing Gao, Feng Zhao, Yuwei Yang, Guoxin Li, Lanfang Dong

{"title":"A visual SLAM-based lightweight multi-modal semantic framework for an intelligent substation robot","authors":"Shaohu Li, Jason Gu, Zhijun Li, Shaofeng Li, Bixiang Guo, Shangbing Gao, Feng Zhao, Yuwei Yang, Guoxin Li, Lanfang Dong","doi":"10.1017/s0263574724000511","DOIUrl":"https://doi.org/10.1017/s0263574724000511","url":null,"abstract":"Visual simultaneous localisation and mapping (vSLAM) has shown considerable promise in positioning and navigating across a variety of indoor and outdoor settings, significantly enhancing the mobility of robots employed in industrial and everyday services. Nonetheless, the prevalent reliance of vSLAM technology on the assumption of static environments has led to suboptimal performance in practical implementations, particularly in unstructured and dynamically noisy environments such as substations. Despite advancements in mitigating the influence of dynamic objects through the integration of geometric and semantic information, existing approaches have struggled to strike an equilibrium between performance and real-time responsiveness. This study introduces a lightweight, multi-modal semantic framework predicated on vSLAM, designed to enable intelligent robots to adeptly navigate the dynamic environments characteristic of substations. The framework notably enhances vSLAM performance by mitigating the impact of dynamic objects through a synergistic combination of object detection and instance segmentation techniques. Initially, an enhanced lightweight instance segmentation network is deployed to ensure both the real-time responsiveness and accuracy of the algorithm. Subsequently, the algorithm’s performance is further refined by amalgamating the outcomes of detection and segmentation processes. With a commitment to maximising performance, the framework also ensures the algorithm’s real-time capability. Assessments conducted on public datasets and through empirical experiments have demonstrated that the proposed method markedly improves both the accuracy and real-time performance of vSLAM in dynamic environments.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"91 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140624918","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

Radial basis function neural networks for formation control of unmanned aerial vehicles 用于无人飞行器编队控制的径向基函数神经网络

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-04-19 DOI: 10.1017/s0263574724000559

Duy-Nam Bui, Manh Duong Phung

引用次数: 0

Design and singularity analysis of a parallel mechanism with origami-inspired reconfigurable 5R closed-loop linkages 受折纸启发的可重构 5R 闭环连杆并联机构的设计与奇异性分析

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-04-19 DOI: 10.1017/s0263574724000560

Yili Kuang, Haibo Qu, Xiao Li, Xiaolei Wang, Sheng Guo

{"title":"Design and singularity analysis of a parallel mechanism with origami-inspired reconfigurable 5R closed-loop linkages","authors":"Yili Kuang, Haibo Qu, Xiao Li, Xiaolei Wang, Sheng Guo","doi":"10.1017/s0263574724000560","DOIUrl":"https://doi.org/10.1017/s0263574724000560","url":null,"abstract":"The reconfigurable mechanisms can satisfy the requirements of changing environments, working conditions, and tasks on the function and performance of the mechanism and can be applied to machine tool manufacturing, space detection, etc. Inspired by the single-vertex fivefold origami pattern, a new reconfigurable parallel mechanism is proposed in this paper, which has special singular positions and stable motion due to replicating the stabilizing kinematic properties of origami. Through analyzing the topologic change of the folding process of the pattern and treating it as a reconfigurable joint, a new reconfigurable parallel mechanism with 3, 4, 5, or 6 degrees of freedom is obtained. Then, the kinematics solution, workspace, and singularity of the mechanism are calculated. The results indicate that the singular configuration of the origami-derived reconfigurable parallel mechanism is mainly located in a special plane, and the scope of the workspace is still large after the configuration change. The mechanism has the potential to adapt to multiple tasks and working conditions through the conversion among different configurations by folding reconfigurable joints on the branch chain.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"8 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140625035","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 welding seam tracking algorithm for automatic welding process of X-shaped tip of concrete piles using laser distance sensor 使用激光测距传感器的混凝土桩 X 型桩尖自动焊接过程中的焊缝跟踪算法研究

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-04-18 DOI: 10.1017/s0263574724000535

Cao Tri Huynh, Tri Cong Phung

{"title":"Research on welding seam tracking algorithm for automatic welding process of X-shaped tip of concrete piles using laser distance sensor","authors":"Cao Tri Huynh, Tri Cong Phung","doi":"10.1017/s0263574724000535","DOIUrl":"https://doi.org/10.1017/s0263574724000535","url":null,"abstract":"The manufacturing of the X-shaped tip of prestressed centrifugal concrete piles is nowadays done half automatically by combining the manual worker and the automatic welding robot. To make this welding process full automatically, the welding seam tracking algorithm is considered. There are many types of sensors that can be used to detect the welding seam such as vision sensor, laser vision sensor, arc sensor, or touch sensor. Each type of sensor has its advantages and disadvantages. In this paper, an algorithm for welding seam tracking using laser distance sensor is proposed. Firstly, the fundamental mathematics theory of the algorithm is presented. Next, the positioning table system supports the procedure is designed and manufactured. The object of this research is the fillet joint because of the characteristics of the X-shaped tip of the concrete piles. This paper proposes a new method to determine the welding trajectory of the tip using laser distance sensor. After that, the experimental results are received to verify the proposed idea. Finally, the improved proposal of the algorithm is considered to increase the accuracy of the suggested algorithm.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"2012 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140613478","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 optimal trajectory planning for robot manipulator attention to end-effector path limitation 关注末端执行器路径限制的机器人操纵器多目标优化轨迹规划

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-04-17 DOI: 10.1017/s0263574724000481

Jintao Ye, Lina Hao, Hongtai Cheng

{"title":"Multi-objective optimal trajectory planning for robot manipulator attention to end-effector path limitation","authors":"Jintao Ye, Lina Hao, Hongtai Cheng","doi":"10.1017/s0263574724000481","DOIUrl":"https://doi.org/10.1017/s0263574724000481","url":null,"abstract":"In the process of trajectory optimization for robot manipulator, the path that is generated may deviate from the intended path because of the adjustment of trajectory parameters, if there is limitation of end-effector path in Cartesian space for specific tasks, this phenomenon is dangerous. This paper proposes a methodology that is based on the Pareto front to address this issue, and the methodology takes into account both the multi-objective optimization of robotic arm and the quality of end-effector path. Based on dung beetle optimizer, this research proposes improved non-dominated sorting dung beetle optimizer. This paper interpolates manipulator trajectory with quintic B-spline curves, achieves multi-objective trajectory optimization that simultaneously optimizes traveling time, energy consumption, and mean jerk, proposes a trajectory selection strategy that is based on Pareto solution set by introducing the concept of Fréchet distance, and the strategy enables the end-effector to approach the desired path in Cartesian space. Simulation and experimental results validate the effectiveness and practicability of the proposed methodology on the Sawyer robot manipulator.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"4 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140613479","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

Multibody dynamics in robotics with focus on contact events 机器人多体动力学，重点关注接触事件

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-04-16 DOI: 10.1017/s026357472400050x

Mariana Rodrigues da Silva, Joana Coelho, Fernando Gonçalves, Francisco Novais, Paulo Flores

{"title":"Multibody dynamics in robotics with focus on contact events","authors":"Mariana Rodrigues da Silva, Joana Coelho, Fernando Gonçalves, Francisco Novais, Paulo Flores","doi":"10.1017/s026357472400050x","DOIUrl":"https://doi.org/10.1017/s026357472400050x","url":null,"abstract":"Multibody dynamics methodologies have been fundamental tools utilized to model and simulate robotic systems that experience contact conditions with the surrounding environment, such as in the case of feet and ground interactions. In addressing such problems, it is of paramount importance to accurately and efficiently handle the large body displacement associated with locomotion of robots, as well as the dynamic response related to contact-impact events. Thus, a generic computational approach, based on the Newton–Euler formulation, to represent the gross motion of robotic systems, is revisited in this work. The main kinematic and dynamic features, necessary to obtain the equations of motion, are discussed. A numerical procedure suitable to solve the equations of motion is also presented. The problem of modeling contacts in dynamical systems involves two main tasks, namely, the contact detection and the contact resolution, which take into account for the kinematics and dynamics of the contacting bodies, constituting the general framework for the process of modeling and simulating complex contact scenarios. In order to properly model the contact interactions, the contact kinematic properties are established based on the geometry of contacting bodies, which allow to perform the contact detection task. The contact dynamics is represented by continuous contact force models, both in terms of normal and tangential contact directions. Finally, the presented formulations are demonstrated by the application to several robotics systems that involve contact and impact events with surrounding environment. Special emphasis is put on the systems’ dynamic behavior, in terms of performance and stability.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"97 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140600010","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