International Journal of Advanced Robotic Systems最新文献_第7页

Cloth manipulation based on category classification and landmark detection 基于类别分类和地标检测的布料操作

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-07-01 DOI: 10.1177/17298806221110445

Oscar Gustavsson, Thomas Ziegler, Michael C. Welle, Judith Bütepage, Anastasiia Varava, D. Kragic

引用次数: 2

Intelligent Carom Billiards Assistive System for automatic solution path generation and actual path prediction with principal component analysis-based ball motion detection 基于主成分分析的球运动检测智能卡罗姆台球辅助系统的自动解路径生成和实际路径预测

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-07-01 DOI: 10.1177/17298806221118865

Jungjin Park, Jaebyung Park

{"title":"Intelligent Carom Billiards Assistive System for automatic solution path generation and actual path prediction with principal component analysis-based ball motion detection","authors":"Jungjin Park, Jaebyung Park","doi":"10.1177/17298806221118865","DOIUrl":"https://doi.org/10.1177/17298806221118865","url":null,"abstract":"This article proposes an Intelligent Carom Billiards Assistive System for a novice at Carom Billiards. Since a novice player is very difficult to find the solution paths of the cue ball, the ICBAS automatically calculates the solution paths for given ball configuration which is detected by a monocular vision and displays them in a guidance monitor. For rapid and systematically calculating the solution paths, the five and half system that is the most representative method in the field of billiard is implemented. In addition, the paths of the cue ball changed by the direction of the cue stick are predicted in real time and projected onto the pool table bed. By comparing the solution paths of the cue ball with the projected paths, a player can hit the cue ball easily and successfully. For automatically providing the solution paths and the predicted paths during billiard game, the ball movement is detected by the principal component analysis under linear motion constraints robustly against image noise, occlusion, and so on. Whenever all of the balls stop, both paths are newly calculated and provided for a player. For verifying the feasibility of the proposed Intelligent Carom Billiards Assistive System, the experiments are conducted with the real pool table.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":"19 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"65474913","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 snake-inspired path planning algorithm based on reinforcement learning and self-motion for hyper-redundant manipulators 基于强化学习和自运动的超冗余度机械手蛇形路径规划算法

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-07-01 DOI: 10.1177/17298806221110022

Yue Lin, Jianming Wang, Xuan Xiao, Ji Qu, Fatao Qin

{"title":"A snake-inspired path planning algorithm based on reinforcement learning and self-motion for hyper-redundant manipulators","authors":"Yue Lin, Jianming Wang, Xuan Xiao, Ji Qu, Fatao Qin","doi":"10.1177/17298806221110022","DOIUrl":"https://doi.org/10.1177/17298806221110022","url":null,"abstract":"Redundant manipulators are flexible enough to adapt to complex environments, but their controller is also required to be specific for their extra degrees of freedom. Inspired by the morphology of snakes, we propose a path planning algorithm named Swinging Search and Crawling Control, which allows the snake-like redundant manipulators to explore in complex pipeline environments without collision. The proposed algorithm consists of the Swinging Search and the Crawling Control. In Swinging Search, a collision-free manipulator configuration that of the end-effector in the target point is found by applying reinforcement learning to self-motion, instead of designing joint motion. The self-motion narrows the search space to the null space, and the reinforcement learning makes the algorithm use the information of the environment, instead of blindly searching. Then in Crawling Control, the manipulator is controlled to crawl to the target point like a snake along the collision-free configuration. It only needs to search for a collision-free configuration for the manipulator, instead of searching collision-free configurations throughout the process of path planning. Simulation experiments show that the algorithm can complete path planning tasks of hyper-redundant manipulators in complex environments. The 16 degrees of freedom and 24 degrees of freedom manipulators can achieve 83.3% and 96.7% success rates in the pipe, respectively. In the concentric pipe, the 24 degrees of freedom manipulator has a success rate of 96.1%.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44540547","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

Error allocation model and coordination control for stringer–skin T-shape structure welding robot with multiple manipulators 多机械手弦蒙皮t型焊接机器人误差分配模型及协调控制

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-07-01 DOI: 10.1177/17298806221109706

Qingfei Zeng, X. Liu, Ziru Liu

{"title":"Error allocation model and coordination control for stringer–skin T-shape structure welding robot with multiple manipulators","authors":"Qingfei Zeng, X. Liu, Ziru Liu","doi":"10.1177/17298806221109706","DOIUrl":"https://doi.org/10.1177/17298806221109706","url":null,"abstract":"A new kind of 18 degrees of freedom gantry robot with multiple manipulators could be used to complete the double-sided laser beam welding of stringer–skin T-shape structure for aircraft skin. The coordination control combined with error allocation model analysis is proposed to improve the stability and accuracy of the robot in this article. Firstly, the error model of the stringer–skin T-shape structure welding robot end effectors is analyzed. The score of the robot end effectors position error caused by each joint is obtained. Secondly, according to the path-points transformation matrix of the local coordinate system relative to the base coordinate system, the desired position of stringer–skin T-shape structure welding robot end effectors is calculated to be the input of the control model aiming at the dual-beam laser welding process. Then, the double closed-loop control strategy is proposed for stringer–skin T-shape structure welding robot coordinated motion on the basis of the end error analysis results and proportional-integralderivative (PID) method. Finally, ADAMS and MATLAB are used to establish a co-simulation platform to verify the effectiveness of the proposed coordination control strategy.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45898457","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 coverage path planning approach for autonomous radiation mapping with a mobile robot 移动机器人自主辐射地图覆盖路径规划方法

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-07-01 DOI: 10.1177/17298806221116483

Nur Aira Abd Rahman, K. Sahari, N. A. Hamid, Yew Cheong Hou

{"title":"A coverage path planning approach for autonomous radiation mapping with a mobile robot","authors":"Nur Aira Abd Rahman, K. Sahari, N. A. Hamid, Yew Cheong Hou","doi":"10.1177/17298806221116483","DOIUrl":"https://doi.org/10.1177/17298806221116483","url":null,"abstract":"In nuclear and radiation-related industries, it is crucial to ensure that the radiation dose exposure to the radiation worker is maintained below the permissible dose limit. A radiation map is a useful tool for visualizing the radiation distribution across the work area and for coordinating activities involving the hotspots (high radiation areas). The goal of this work was to design and implement a coverage path planning approach for autonomous radiation mapping carried out by a mobile robot. Given a 2D occupancy map, a method to generate uniformly distributed sampling points was proposed. The geometry of the region of interest, the radiation detector module, and the radiation measurement parameters were considered in formulating the sampling positions. Next, the coverage path planning planner integrates the nearest neighbor and depth-first search algorithms to create a continuous path that enables the robot to visit all the sampling points. The K-means clustering algorithm is added for systematic coverage of a large number of sampling points. The clustering provides options to partition the region of interest into smaller spaces, where the robot would perform the mapping cluster by cluster. Finally, the method of building the radiation map from the acquired data was also presented. The approach was implemented in ROS using a commercial mobile robot equipped with a Geiger–Muller detector. The performance and reliability of the proposed approach were evaluated with a series of simulations and real-world experiments. The results showed that the robot is able to perform autonomous radiation mapping at various target areas. The accuracy of the generated radiation map and the hotspots classifications were also compared and evaluated with conventional manual measurements. Overall, the theoretical frameworks and experiments have provided convincing results in the automation of hazardous work and subsequently toward improving the occupational safety of radiation workers.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48698934","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: 7

A novel end-effector upper limb rehabilitation robot: Kinematics modeling based on dual quaternion and low-speed spiral motion tracking control 一种新型末端执行器上肢康复机器人：基于双四元数和低速螺旋运动跟踪控制的运动学建模

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-07-01 DOI: 10.1177/17298806221118855

Liaoyuan Li, Jianhai Han, Xiangpan Li, Bingjing Guo, Xinjie Wang, Ganqin Du

{"title":"A novel end-effector upper limb rehabilitation robot: Kinematics modeling based on dual quaternion and low-speed spiral motion tracking control","authors":"Liaoyuan Li, Jianhai Han, Xiangpan Li, Bingjing Guo, Xinjie Wang, Ganqin Du","doi":"10.1177/17298806221118855","DOIUrl":"https://doi.org/10.1177/17298806221118855","url":null,"abstract":"For patients with upper limb dysfunction after stroke, robot-assisted rehabilitation training plays an important role in functional recovery. The existing upper limb rehabilitation robots have some problems, such as complex mechanisms, insufficient compliance, and can only realize the rehabilitation training of shoulder and elbow joints in the horizontal plane. This research proposes a novel end-effector upper limb rehabilitation robot with three degrees of freedom. Two horizontal rotation freedoms are driven by motors and one vertical translation freedom is driven by a pneumatic cylinder. So it can realize the spatial rehabilitation training of shoulder and elbow joints. The rotation and translation transformation of the robot can be represented by a dual quaternion, which is concise in form and clear in the physical meaning. Therefore, this article adopts dual quaternions to complete the robot’s kinematics modeling, inverse kinematics calculation, and terminal spiral motion trajectory planning. To improve the low-speed moving performance of the spiral motion, a sliding mode control strategy plus feedforward compensation is employed to control the displacement of the cylinder. Experiments show that the robot can realize proximal joints training and has good position tracking accuracy (tracking error is within 2 mm) with smoothness under the proposed control strategy, which can guarantee the accuracy and comfort of passive rehabilitation training, contributing to restoring the function of the impairment upper limbs.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46342861","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

Active obstacle avoidance method of autonomous vehicle based on improved artificial potential field 基于改进人工势场的自动驾驶汽车主动避障方法

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-07-01 DOI: 10.1177/17298806221115984

Yijian Duan, Changbo Yang, Jihong Zhu, Yanmei Meng, Xin Liu

{"title":"Active obstacle avoidance method of autonomous vehicle based on improved artificial potential field","authors":"Yijian Duan, Changbo Yang, Jihong Zhu, Yanmei Meng, Xin Liu","doi":"10.1177/17298806221115984","DOIUrl":"https://doi.org/10.1177/17298806221115984","url":null,"abstract":"Aiming at the local minimum point problem in an artificial potential field based on a safe distance model, this article proposes an algorithm for active obstacle avoidance path planning and tracking of autonomous vehicles using an improved artificial potential field. First, a possible road operating condition in which the artificial potential field based on the safety-distance model falls into a local minimum point is studied. Subsequently, an improved artificial potential field method is proposed by introducing the second virtual target attraction potential field, which successfully overcomes the local minimum point problem. Second, a model for autonomous vehicle active obstacle avoidance path planning and tracking based on the improved artificial potential field is established. Finally, MATLAB/CarSim co-simulations were performed under the road conditions of constant- and variable-velocity obstacle vehicles. The simulation results demonstrate that the improved artificial potential field method can effectively solve the local minimum point problem of the artificial potential field based on the safe distance model. Additionally, the safety and stability of autonomous vehicle active obstacle avoidance are improved.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45852948","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: 8

Upgraded trajectory planning method deployed in autonomous exploration for unmanned aerial vehicle 用于无人机自主探测的升级轨迹规划方法

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-07-01 DOI: 10.1177/17298806221109697

T. Zhang, Jiajie Yu, Jiaqi Li, Jianli Wei

引用次数: 1

Posture algorithm for mobile robot based on ultrawide band 基于超宽带的移动机器人姿态算法

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-07-01 DOI: 10.1177/17298806221115285

Jing Sun, Bin Xie, Wei Xiong, Qiaolong Zhang, Zhenyu Zhao

引用次数: 0

A quadruped robot obstacle avoidance and personnel following strategy based on ultra-wideband and three-dimensional laser radar 基于超宽带三维激光雷达的四足机器人避障与人员跟随策略

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-07-01 DOI: 10.1177/17298806221114705

Zhi Li, Bin Li, Qixing Liang, Weilong Liu, Landong Hou, Xuewen Rong

{"title":"A quadruped robot obstacle avoidance and personnel following strategy based on ultra-wideband and three-dimensional laser radar","authors":"Zhi Li, Bin Li, Qixing Liang, Weilong Liu, Landong Hou, Xuewen Rong","doi":"10.1177/17298806221114705","DOIUrl":"https://doi.org/10.1177/17298806221114705","url":null,"abstract":"To improve the human–computer interaction ability and environmental adaptability of the quadruped robot, especially the ability of the quadruped robot to follow people and avoid obstacles. In this article, the fusion of ultra-wideband positioning technology and three-dimensional laser radar is applied to a quadruped robot. The core is to scan the surrounding obstacle information through three-dimensional laser radar, locate the position of both the quadruped robot and the target person, complete the obstacle avoidance, and follow the task of the quadruped robot through an efficient path planning algorithm. To meet the high-precision positioning requirements, the ultra-wideband positioning system is used in this article. When calculating the coordinates, we propose a three-sided weighted least squares positioning algorithm. To improve the efficiency and stability of the quadruped robot in path search, based on the A* algorithm, this article improves and proposes an incremental A* algorithm based on a sliding window. The feasibility and effectiveness of our method are verified by computer simulation analysis and real experiments of the quadruped robot.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48182286","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