International Journal of Advanced Robotic Systems最新文献_第5页

Thermal error compensation method of truss robot beam structure based on mechanism and data drive 基于机构和数据驱动的桁架机器人梁结构热误差补偿方法

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-03-01 DOI: 10.1177/17298806231160878

Long Li, Binyang Chen, Dang Sha, Chengjun Wang

{"title":"Thermal error compensation method of truss robot beam structure based on mechanism and data drive","authors":"Long Li, Binyang Chen, Dang Sha, Chengjun Wang","doi":"10.1177/17298806231160878","DOIUrl":"https://doi.org/10.1177/17298806231160878","url":null,"abstract":"As the main supporting component of the truss robot, the thermal deformation of the beam often has a great influence on the overall thermal error of the truss robot due to its large span. In order to improve the thermal error prediction accuracy of long-span truss robot, a thermal error prediction method based on multiple linear regression and long short-term memory network is proposed based on mechanism and data drive. Firstly, the multiple linear regression model is used to predict the thermal error, and the prediction error data processing. Secondly, the long short-term memory network is established. In order to improve the performance of the long short-term memory network more effectively, an improved particle swarm optimization algorithm is proposed to optimize the hyper-parameters of the long short-term memory network. Finally, the improved particle swarm optimization–long short-term memory network is used to correct the prediction error of the multiple linear regression model. The experimental results show that the combined thermal error prediction model based on multiple linear regression and improved particle swarm optimization–long short-term memory algorithm has higher prediction accuracy than multiple linear regression model and long short-term memory network. The method has stable prediction accuracy and can provide a basis for thermal error compensation.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43361953","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 vehicle speed identification method based on time interpolation method and feature point recognition 基于时间插值法和特征点识别的车速识别方法研究

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-01-01 DOI: 10.1177/17298806231153726

Lili Zhao, Yangshan Tang, Leilei Wang

引用次数: 0

Kinematic analysis and development of cable-driven rehabilitation robot for cerebral palsy patients 电缆驱动脑瘫康复机器人的运动学分析与研制

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-01-01 DOI: 10.1177/17298806231157342

H. P. Aria, M. Ahrabi, F. Allahverdi, M. Korayem

{"title":"Kinematic analysis and development of cable-driven rehabilitation robot for cerebral palsy patients","authors":"H. P. Aria, M. Ahrabi, F. Allahverdi, M. Korayem","doi":"10.1177/17298806231157342","DOIUrl":"https://doi.org/10.1177/17298806231157342","url":null,"abstract":"This study aimed to analyze the kinematic development of a rehabilitation cable robot for patients with cerebral palsy problems. For this purpose, the walking pattern of a healthy person was analyzed in the robot by extracting his kinematic model. Therefore, a seven-link model was considered, and changes in the mass center of the links and then movements during the gait cycle were obtained with the angles related to joint changes. Next, the person’s integration with the rehabilitation cable robot was investigated with the resolution of the direct kinematic problem. In addition, the change-related outputs of the cables were obtained by the person’s movement and the attached belt. The robot was further proposed because the specific change diagram of the cables facilitates understanding how much motor torque is needed to change the length of the cable. It is noteworthy that the static person balance is provided in the existing rehabilitation robots. However, in this structure, the balance is done by the six degrees of freedom robot so that the robot can return the person to the original path when he loses his balance. Cable systems for the lower limbs (thighs and shanks) are also simulated to rehabilitate the patient. The obtained results from the simulation and the obtained output from kinematic equations for lower limb movements were also compared, and the highest deference was 2.2, 1.8, 1.8, and 1.5% for shank-back, shank-front, thigh-back, and thigh-front of the leg in the corresponding points in the outputs of both software, respectively.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44513845","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

Fish peduncle response during forward and backward propulsion 前后推进过程中的鱼脚反应

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-01-01 DOI: 10.1177/17298806231151792

M. Alam

引用次数: 0

Engineering design strategies for force augmentation exoskeletons: A general review 力增强外骨骼的工程设计策略:综述

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-01-01 DOI: 10.1177/17298806221149473

AJ Martínez-Mata, A. Blanco-Ortega, CH Guzmán-Valdivia, A. Abúndez-Pliego, MA García-Velarde, A. Magadán-Salazar, R. Osorio-Sánchez

{"title":"Engineering design strategies for force augmentation exoskeletons: A general review","authors":"AJ Martínez-Mata, A. Blanco-Ortega, CH Guzmán-Valdivia, A. Abúndez-Pliego, MA García-Velarde, A. Magadán-Salazar, R. Osorio-Sánchez","doi":"10.1177/17298806221149473","DOIUrl":"https://doi.org/10.1177/17298806221149473","url":null,"abstract":"In the industrial and military sector, work activities are required transporting or supporting heavy loads manually, affecting this the human spinal column due to the weight of the loads or the repetition of this labor. In this regard, the use of force-enhancing exoskeletons is a potential solution to this issue. Therefore, this article summarizes the state of the art in relevant contributions to structural design, control systems, actuators, and performance metrics to evaluate the proper functioning of exoskeletons used for load support and transfer. This is essential to address current and new open problems in these applications, and this includes reducing the metabolic cost and enhancing the loading force in exoskeletons, in which challenges such as structural design and kinetic interactions between the human and the robot are presented. The systematic review of the strategies found in the literature helps addressing these challenges in an orderly way. The proposal of some alternative solutions could help to solving some of the challenges mentioned above, as well as further research to improve the design of these devices is necessary.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41880746","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

Sheep face recognition and classification based on an improved MobilenetV2 neural network 基于改进的MobilenetV2神经网络的绵羊人脸识别与分类

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-01-01 DOI: 10.1177/17298806231152969

Yue Pang, Wenbo Yu, Yongan Zhang, Chuanzhong Xuan, Pei Wu

{"title":"Sheep face recognition and classification based on an improved MobilenetV2 neural network","authors":"Yue Pang, Wenbo Yu, Yongan Zhang, Chuanzhong Xuan, Pei Wu","doi":"10.1177/17298806231152969","DOIUrl":"https://doi.org/10.1177/17298806231152969","url":null,"abstract":"Large-scale sheep farming has conventionally relied on barcodes and ear tags, devices that can be difficult to implement and maintain, for sheep identification and tracking. Biological data have also been used for tracking in recent years but have not been widely adopted due to the difficulty and high costs of data collection. To address these issues, a noncontact facial recognition technique is proposed in this study, in which training data were acquired in natural conditions using a series of video cameras, as Dupo sheep walked freely through a gate. A key frame extraction algorithm was then applied to automatically generate sheep face data sets representing various poses. An improved MobilenetV2 framework, termed Order-MobilenetV2 (O-MobilenetV2), was developed from an existing advanced convolutional neural network and used to improve the performance of feature extraction. In addition, O-MobilenetV2 includes a unique conv3x3 deep convolution module, which facilitated higher accuracy while reducing the number of required calculations by approximately two-thirds. A series of validation tests were performed in which the algorithm identified individual sheep using facial features, with the proposed model achieving the highest accuracy (95.88%) among comparable algorithms. In addition to high accuracy and low processing times, this approach does not require significant data pre-processing, which is common among other models and prohibitive for large sheep populations. This combination of simple operation, low equipment costs, and high robustness to variable sheep postures and environmental conditions makes our proposed technique a viable new strategy for sheep facial recognition and tracking.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44482233","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: 2

Dynamic movement primitives based on positive and negative demonstrations 基于正负演示的动态运动原语

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-01-01 DOI: 10.1177/17298806231152997

Shuai Dong, Zhihua Yang, Weixi Zhang, Kun Zou

{"title":"Dynamic movement primitives based on positive and negative demonstrations","authors":"Shuai Dong, Zhihua Yang, Weixi Zhang, Kun Zou","doi":"10.1177/17298806231152997","DOIUrl":"https://doi.org/10.1177/17298806231152997","url":null,"abstract":"Dynamic motion primitive has been the most prevalent model-based imitation learning method in the last few decades. Gaussian mixed regression dynamic motion primitive, which draws upon the strengths of both the motion model and the probability model to cope with multiple demonstrations, is a very practical and conspicuous branch in the dynamic motion primitive family. As Gaussian mixed regression dynamic motion primitive only learns from expert demonstrations and requires full environmental information, it is incapable of handling tasks with unmodeled obstacles. Aiming at this problem, we proposed the positive and negative demonstrations-based dynamic motion primitive, for which the introduction of negative demonstrations can bring additional flexibility. Positive and negative demonstrations-based dynamic motion primitive extends Gaussian mixed regression dynamic motion primitive in three aspects. The first aspect is a new maximum log-likelihood function that balances the probabilities on positive and negative demonstrations. The second one is the positive and negative demonstrations-based expectation–maximum, which involves iteratively calculating the lower bound of a new Q-function. And the last is the application framework of data set aggregation for positive and negative demonstrations-based dynamic motion primitive to handle unmodeled obstacles. Experiments on several typical robot manipulating tasks, which include letter writing, obstacle avoidance, and grasping in a grid box, are conducted to validate the performance of positive and negative demonstrations-based dynamic motion primitive.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44131903","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: 1

Dynamic analysis and design of a multipurpose lower limb exoskeleton for rehabilitation 康复用多功能下肢外骨骼的动力学分析与设计

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-11-01 DOI: 10.1177/17298806221135140

Gang Li, Qiying Su, Wenqiu Xi, Zhendong Song, Renren Bao, Z. Du

{"title":"Dynamic analysis and design of a multipurpose lower limb exoskeleton for rehabilitation","authors":"Gang Li, Qiying Su, Wenqiu Xi, Zhendong Song, Renren Bao, Z. Du","doi":"10.1177/17298806221135140","DOIUrl":"https://doi.org/10.1177/17298806221135140","url":null,"abstract":"To solve some defects of exoskeleton robot at present, this article establishes the dynamic model of human lower limb. The torque curves for hip joint and knee joint are obtained. A dynamics simulation is conducted in ADAMS which will guide the selection of motors and reducers for exoskeleton joints. Three structural design projects for leg and an integrated joint with the function of force perception are proposed. Then a lightweight exoskeleton is put forward and a kinematics simulation of man–machine coupling system is carried out in ADAMS. This article sets up a 24-V low-voltage control electrical system and a rehabilitation training expert system. Some performance tests and clinical experiments are carried out by an experimental prototype. The results show that the joints have sufficient driving torque. Leg structure has large adjustment range and self-locking function. The exoskeleton has lightweight and does not interfere with human body during movement. The expert system has a friendly operation interface and abundant functions. Clinical experimental results show that lower limb exoskeleton has good rehabilitation effect for some diseases.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2022-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49116689","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

Discrete open-closed-loop PID-type iterative learning control for trajectory tracking of tracked mobile robots 履带式移动机器人轨迹跟踪的离散开闭环pid迭代学习控制

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-11-01 DOI: 10.1177/17298806221137247

Xinghua Li, Xiaoping Liu, G. Wang, Kaiqi Gu, H. Che

引用次数: 1

ROMERIN: A new concept of a modular autonomous climbing robot ROMERIN:模块化自主攀爬机器人的新概念

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-09-01 DOI: 10.1177/17298806221123416

M. Hernando, E. Gambao, C. Prados, Daniel Brito, A. Brunete

{"title":"ROMERIN: A new concept of a modular autonomous climbing robot","authors":"M. Hernando, E. Gambao, C. Prados, Daniel Brito, A. Brunete","doi":"10.1177/17298806221123416","DOIUrl":"https://doi.org/10.1177/17298806221123416","url":null,"abstract":"Climbing robots play an essential role in performing inspection work in civil infrastructures. These tasks require autonomous robots with competitive costs and the ability to adapt to different types of environments. This article presents ROMERIN, a new concept of a modular legged climbing robot where each leg is an autonomous robotic module in terms of processing capacity, control, and energy. The legs are equipped with suction cups that allow the robot to adhere to different types of surfaces. The proposed design allows the creation of climbing robots with a different number of legs to perform specific inspection tasks. Although each of the legs acts as an independent robot, they have the ability to share information and energy. The proposed control concept enables the development of climbing robots with the ability to adapt to different types of inspection tasks and with resilience characteristics. This article includes a description of the mechatronic design, the kinematics of the seven degree-of-freedom robotic legs, including the adhesion system, and the architecture of the control and simulation system. Finally, we present experimental results to test the modularity concept, mechanical design, and electronics using a four-legged robot configuration. We analyze the performance of the gripping system in different situations on four different surfaces and the behavior of the control architecture for two different robot body trajectories.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42196228","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: 3