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Journal of Robotics最新文献

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Nonlinear Attitude and Altitude Trajectory Tracking Control of a Bicopter UAV in Geometric Framework 几何框架下双翼无人机的非线性姿态和高度轨迹跟踪控制
IF 1.8
Journal of Robotics Pub Date : 2024-05-17 DOI: 10.1155/2024/5552493
Vijay Reddy Vundela, Vijay Muralidharan
{"title":"Nonlinear Attitude and Altitude Trajectory Tracking Control of a Bicopter UAV in Geometric Framework","authors":"Vijay Reddy Vundela, Vijay Muralidharan","doi":"10.1155/2024/5552493","DOIUrl":"https://doi.org/10.1155/2024/5552493","url":null,"abstract":"In this paper, we deal with a Bicopter drone that has two thrusters and two tilting servos. Both the position and attitude dynamics of Bicopter are globally expressed on the Special Euclidean group SE3. A simple control allocation method is proposed to map between the control wrench and actuator inputs for the Bicopter. A geometric nonlinear attitude and altitude tracking controller is developed for the Bicopter and the asymptotic stability analysis is performed using the Lyapunov method for the closed-loop nonlinear system. The performance of the proposed altitude and attitude stabilization controller is validated through experimental hardware developed in-house. The attitude controller performance is validated through simulations and shown to be comparable against an linear matrix inequality-based control law.","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140965362","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Dynamic Modeling of Unmanned Underwater Vehicles with Online Disturbance Compensation Scheme 采用在线干扰补偿方案对无人潜航器进行动态建模
IF 1.8
Journal of Robotics Pub Date : 2024-03-14 DOI: 10.1155/2024/1996159
S. Azid, Utkal Mehta, Adarsh Kuar, Zahid Ali
{"title":"Dynamic Modeling of Unmanned Underwater Vehicles with Online Disturbance Compensation Scheme","authors":"S. Azid, Utkal Mehta, Adarsh Kuar, Zahid Ali","doi":"10.1155/2024/1996159","DOIUrl":"https://doi.org/10.1155/2024/1996159","url":null,"abstract":"With the advancement in robotics technology over the recent years, underwater robots’ design and development are gaining interest. Unmanned underwater vehicles (UUVs) have many applications in aquaculture, deep-sea exploration, research, and enhanced rescue tasks. However, various factors must be considered when developing any underwater vehicle system to explore the deep ends of the underwater world. In this paper, we develop the most suitable model for understanding various system parameters. The new mathematical model considers certain constraints and external disturbances exerted on the system. Also, a control strategy is suggested for the UUV’s stability and robustness. The suggested observer and model are simple, allowing for accurate estimations of all system states and the global impacts of unknown limped perturbations with a minimal computational cost.","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140243578","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Hierarchical Stabilization and Tracking Control of a Flexible-Joint Bipedal Robot Based on Anti-Windup and Adaptive Approximation Control 基于防缠绕和自适应逼近控制的柔性关节双足机器人的分层稳定和跟踪控制
IF 1.8
Journal of Robotics Pub Date : 2024-03-13 DOI: 10.1155/2024/6692666
H. Al-Shuka, Ahmed H. Kaleel, Basim A. R. Al-Bakri
{"title":"Hierarchical Stabilization and Tracking Control of a Flexible-Joint Bipedal Robot Based on Anti-Windup and Adaptive Approximation Control","authors":"H. Al-Shuka, Ahmed H. Kaleel, Basim A. R. Al-Bakri","doi":"10.1155/2024/6692666","DOIUrl":"https://doi.org/10.1155/2024/6692666","url":null,"abstract":"Bipedal robotic mechanisms are unstable due to the unilateral contact passive joint between the sole and the ground. Hierarchical control layers are crucial for creating walking patterns, stabilizing locomotion, and ensuring correct angular trajectories for bipedal joints due to the system’s various degrees of freedom. This work provides a hierarchical control scheme for a bipedal robot that focuses on balance (stabilization) and low-level tracking control while considering flexible joints. The stabilization control method uses the Newton–Euler formulation to establish a mathematical relationship between the zero-moment point (ZMP) and the center of mass (COM), resulting in highly nonlinear and coupled dynamic equations. Adaptive approximation-based feedback linearization control (so-called adaptive computed torque control) combined with an anti-windup compensator is designed to track the desired COM produced by the high-level command. Along the length of the support sole, the ZMP with physical restrictions serves as the control input signal. The viability of the suggested controller is established using Lyapunov’s theory. The low-level control tracks the intended joint movements for a bipedal mechanism with flexible joints. We use two control strategies: position-based adaptive approximation control and cascaded position-torque adaptive approximation control (cascaded PTAAC). The interesting point is that the cascaded PTAAC can be extended to deal with variable impedance robotic joints by using the required velocity concept, including the desired velocity and terms related to control errors such as position, force, torque, or impedance errors if needed. A 6-link bipedal robot is used in simulation and validation experiments to demonstrate the viability of the suggested control structure.","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140246955","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
The Navigation of Home Service Robot Based on Deep Learning and Machine Learning 基于深度学习和机器学习的家庭服务机器人导航
IF 1.8
Journal of Robotics Pub Date : 2024-02-12 DOI: 10.1155/2024/5928227
Yupei Yan, Weimin Ma, S. Wong, Xuemei Yin, Qiang Pan, Zhiwen Liao, Xiaoxin Lin
{"title":"The Navigation of Home Service Robot Based on Deep Learning and Machine Learning","authors":"Yupei Yan, Weimin Ma, S. Wong, Xuemei Yin, Qiang Pan, Zhiwen Liao, Xiaoxin Lin","doi":"10.1155/2024/5928227","DOIUrl":"https://doi.org/10.1155/2024/5928227","url":null,"abstract":"This paper discusses how to improve the accuracy of navigation for home service robot based on the deep learning and machine learning. First, the crawling programing is applied to collect enough images of fridge and washing machine on the web; a deep learning framework is proposed that can distinguish fridge and washing machine more accurately. Following, the data come from the robot operating system topics are collected and cleaned, the linear regression, decision tree, and linear SVR algorithms are applied and compared to predict the power consumption of the robot, and a conclusion is obtained that liner movement will consume more power, which provides a reference for the path planning of the robot. Lastly, the conclusions are proposed that a novel methodology is applied to distinguish different home appliances, which is useful for the accurate navigation of the robot; the liner movement will consume more power compared to turning left or right, which supplies a reference for the optimized path planning for the robot.","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-02-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139784322","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
The Navigation of Home Service Robot Based on Deep Learning and Machine Learning 基于深度学习和机器学习的家庭服务机器人导航
IF 1.8
Journal of Robotics Pub Date : 2024-02-12 DOI: 10.1155/2024/5928227
Yupei Yan, Weimin Ma, S. Wong, Xuemei Yin, Qiang Pan, Zhiwen Liao, Xiaoxin Lin
{"title":"The Navigation of Home Service Robot Based on Deep Learning and Machine Learning","authors":"Yupei Yan, Weimin Ma, S. Wong, Xuemei Yin, Qiang Pan, Zhiwen Liao, Xiaoxin Lin","doi":"10.1155/2024/5928227","DOIUrl":"https://doi.org/10.1155/2024/5928227","url":null,"abstract":"This paper discusses how to improve the accuracy of navigation for home service robot based on the deep learning and machine learning. First, the crawling programing is applied to collect enough images of fridge and washing machine on the web; a deep learning framework is proposed that can distinguish fridge and washing machine more accurately. Following, the data come from the robot operating system topics are collected and cleaned, the linear regression, decision tree, and linear SVR algorithms are applied and compared to predict the power consumption of the robot, and a conclusion is obtained that liner movement will consume more power, which provides a reference for the path planning of the robot. Lastly, the conclusions are proposed that a novel methodology is applied to distinguish different home appliances, which is useful for the accurate navigation of the robot; the liner movement will consume more power compared to turning left or right, which supplies a reference for the optimized path planning for the robot.","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-02-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139844118","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Retracted: Optimization Path and Design of Intelligent Logistics Management System Based on ROS Robot 撤回：基于 ROS 机器人的智能物流管理系统的优化路径与设计
IF 1.8
Journal of Robotics Pub Date : 2024-01-24 DOI: 10.1155/2024/9830590
Journal of Robotics
{"title":"Retracted: Optimization Path and Design of Intelligent Logistics Management System Based on ROS Robot","authors":"Journal of Robotics","doi":"10.1155/2024/9830590","DOIUrl":"https://doi.org/10.1155/2024/9830590","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139602822","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Retracted: Transmission Line Condition Monitoring Method Based on Binocular Vision and Edge Computing for Line Changing Robot 撤回：基于双目视觉和边缘计算的换线机器人输电线路状态监测方法
IF 1.8
Journal of Robotics Pub Date : 2024-01-24 DOI: 10.1155/2024/9830829
Journal of Robotics
{"title":"Retracted: Transmission Line Condition Monitoring Method Based on Binocular Vision and Edge Computing for Line Changing Robot","authors":"Journal of Robotics","doi":"10.1155/2024/9830829","DOIUrl":"https://doi.org/10.1155/2024/9830829","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139600644","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Retracted: On the Performance and Efficiency of Surface Air Cooler Working under High Temperature and High Humidity Condition 撤回：高温高湿条件下工作的表面空气冷却器的性能和效率
IF 1.8
Journal of Robotics Pub Date : 2024-01-24 DOI: 10.1155/2024/9837908
Journal of Robotics
{"title":"Retracted: On the Performance and Efficiency of Surface Air Cooler Working under High Temperature and High Humidity Condition","authors":"Journal of Robotics","doi":"10.1155/2024/9837908","DOIUrl":"https://doi.org/10.1155/2024/9837908","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139600520","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Retracted: Application of Intelligent Signal Reflection in the Communication Model of an Electronic Controller 撤回：智能信号反射在电子控制器通信模型中的应用
IF 1.8
Journal of Robotics Pub Date : 2024-01-24 DOI: 10.1155/2024/9809817
Journal of Robotics
{"title":"Retracted: Application of Intelligent Signal Reflection in the Communication Model of an Electronic Controller","authors":"Journal of Robotics","doi":"10.1155/2024/9809817","DOIUrl":"https://doi.org/10.1155/2024/9809817","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139600750","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Retracted: Application of Multimedia Quality Evaluation Relying on Intelligent Robot Numerical Control Technology in New Energy Power Generation System 撤回：基于智能机器人数控技术的多媒体质量评估在新能源发电系统中的应用
IF 1.8
Journal of Robotics Pub Date : 2024-01-24 DOI: 10.1155/2024/9817514
Journal of Robotics
{"title":"Retracted: Application of Multimedia Quality Evaluation Relying on Intelligent Robot Numerical Control Technology in New Energy Power Generation System","authors":"Journal of Robotics","doi":"10.1155/2024/9817514","DOIUrl":"https://doi.org/10.1155/2024/9817514","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139599194","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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