International Journal of Control Automation and Systems最新文献

{"title":"Human Motion Retargeting to a Full-scale Humanoid Robot Using a Monocular Camera and Human Pose Estimation","authors":"Sujin Baek, Ahyeon Kim, Jin-Young Choi, Eunju Ha, Jong-Wook Kim","doi":"10.1007/s12555-023-0686-y","DOIUrl":"https://doi.org/10.1007/s12555-023-0686-y","url":null,"abstract":"<p>The retargeting human motions to those of a humanoid robot is a difficult task that involves using complex humanoid models and intensive geometric calculations, while also requiring high joint recognition accuracy. Herein, we propose a new motion retargeting framework for whole-body motions using a monocular camera composed of three modules per frame: 1) the extraction of 3D human joint coordinates from a package from pose AI, 2) the calculation of human joint angles by fitting the humanoid model to the skeleton model attained from the pose AI using a global optimization method, and 3) the transmission of the estimated joint angles as a pose command to a full-scale humanoid robot. The results suggest that the proposed framework can reproduce human-like motion sequences while reflecting certain limitations in the robot’s joint angles due to intentionally set hardware limitations and constraints. Using the proposed method, the robot can directly mimic human motion at the joint angle level based solely on images taken by an RGB camera or video files. These findings suggest that it would be useful to construct big data consisting of joint angle vectors for various human poses and joint angle trajectories for human motions, so that—as one example application in the near future—a robot butler could refer to these big data when performing various motions at a person’s home or in the office.</p>","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"58 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142195327","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Gripper Capable of Screw Fastening and Gripping With a Single Driving Source","authors":"Ji-Hun Meng, Inhwan Yoon, Sung-Jae Park, Jae-Bok Song","doi":"10.1007/s12555-023-0859-8","DOIUrl":"https://doi.org/10.1007/s12555-023-0859-8","url":null,"abstract":"<p>As the range of applications of robots expanded, they began to be used for complex assemblies such as screw fastening and pin assembly. Most specialized screw fastening tools are sensitive to external influences and require additional instruments to prevent screw dislodgement when working in unstructured environments. To address this challenge, we propose a screw fastening gripper (SFG) capable of screw fastening and small pin gripping with a single power source. The proposed SFG is divided into a fastening part for screw fastening and a gripper for grasping, with power distributed via a magnetic gear. It is designed to temporarily separate the gripper and fastener using the magnetic gear’s features, so it can be used to fasten screws of various lengths if necessary. Through gripping force measurements and screw fastening experiments, the proposed SFG showed sufficient performance in grasping and screw fastening.</p>","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"3 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142195360","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Control of a Wind Turbine Working in the Intermediate Velocity Zone: A Model Free Discrete Time Approach","authors":"Maria Letizia Corradini, Gianluca Ippoliti, Giuseppe Orlando","doi":"10.1007/s12555-023-0348-0","DOIUrl":"https://doi.org/10.1007/s12555-023-0348-0","url":null,"abstract":"<p>In this paper, a novel data-driven control algorithm based on model-free adaptive control is presented, addressing general discrete-time single-input single-output nonlinear systems, approximated by an equivalent dynamic linearization model using pseudo-partial derivatives. The closed loop stability is proved, showing that the tracking error asymptotically vanishes. Moreover, the proposed approach has been applied to a 5 MW wind turbine, considering as control target the efficiency optimization issue when the turbine operates under medium wind speed conditions. Validation of the technique has been performed, testing the overall control system by simulation using the tool FAST developed by the National Renewable Energy Laboratory (NREL).</p>","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"26 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142195385","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Improved Data-driven Adaptive Control Structure Against Input and Output Saturation","authors":"Yasin Asadi, Malihe Maghfouri Farsangi, Mohammad Hadi Rezaei","doi":"10.1007/s12555-023-0437-0","DOIUrl":"https://doi.org/10.1007/s12555-023-0437-0","url":null,"abstract":"<p>This article presents an improved data-driven adaptive control structure to address the problem of input and output saturation in unknown nonlinear systems with multiple inputs and multiple outputs. In the suggested structure, a virtual model of the controlled system is initially built utilizing a multi-layered group method of data handling neural network. The control signal is then applied to this virtual model to predict the output before being applied to the system. If the predicted output is saturated, the control signals are readjusted to prevent saturation and are then applied to the system. By using this proposed structure, the performance of model-free adaptive control against input/output saturation phenomena is improved and the occurrence of saturation is prevented. Based on Lyapunov’s theory, the stability of the suggested structure is proven. The controller has been applied to an interconnected three-tank system and a subway train which results clearly illustrate the advantages of the suggested method over the traditional form of model-free adaptive control design.</p>","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"64 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142195330","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Asymptotical Tracking Control of Complex Dynamical Network Based on Links State Observer","authors":"Juan-xia Zhao, Yin-he Wang, Pei-tao Gao","doi":"10.1007/s12555-023-0626-x","DOIUrl":"https://doi.org/10.1007/s12555-023-0626-x","url":null,"abstract":"<p>This paper studies how to design a control scheme for a complex dynamical network (CDN) such that the state of nodes and links can track on any given reference signals respectively, under the view that the CDN is coupled by the nodes and links. Since the dynamic behavior of the links reflects the changes in network topology(NT), the weights of the links are regarded as state variables of the NT. In addition, since the state of the links is not always avaluable in practical engineering applications, in order to address this problem, this paper provides an asymptotical state observer that uses its observation values to estimate the links state. Based on this, this paper proposes a new control scheme which designs controllers in the nodes and links respectively, to realize the asymptotical tracking control of the nodes and links. In order to understand the NT tracking target, an illustrative example is that the star topology can be chosen as the NT tracking target of communication transmission network for the centralized management. Finally, the validity of the theoretical results is verified by a numerical experiment that applies the control scheme to a helicopter model.</p>","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"5 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142195329","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Cooperative Output Regulation of Heterogeneous Discrete-time Networked Multi-agent Systems With Communication Constraints","authors":"Qingpeng Liang, Jiangping Hu, Linying Xiang, Kaibo Shi, Yanzhi Wu","doi":"10.1007/s12555-023-0339-1","DOIUrl":"https://doi.org/10.1007/s12555-023-0339-1","url":null,"abstract":"<p>The output regulation (OR) problem for linear heterogeneous networked multi-agent systems (NMAS) with communication constraints is investigated in this paper. A cost function is given to measure the coordinated control between NMAS. The objective of this paper is to design controllers such that not only the cost function is optimized, the asymptotic tracking and disturbance rejection are achieved but also the communication constraints are actively compensated. It is assumed that only a part of agents can receive the information of the exosystem, which can generate the reference signal and the disturbance signal. First, distributed observers are proposed to estimate the states of the subsystems and the state of the exosystem, which can guarantee the exponentially convergence of the estimation errors. Then, an observer-based predictive controller is proposed using feedforward method and networked predictive control method. With the help of OR technique, it indicates that the proposed predictive control scheme can deal with the OR problem. Finally, a numerical example is presented to illustrate our results.</p>","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"11 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141886846","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Optimal Trajectory Planning for Pneumatic Cylindrical Manipulator Considering Dynamical and Stick Slip Constraints","authors":"Rafael Crespo Izquierdo, Anselmo Rafael Cukla, Flávio José Lorini, Eduardo André Perondi, Daniel Fernando Tello Gamarra","doi":"10.1007/s12555-023-0441-4","DOIUrl":"https://doi.org/10.1007/s12555-023-0441-4","url":null,"abstract":"<p>This study presents an investigation into trajectory planning for a 5-degree-of-freedom pneumatic robot using the firefly metaheuristic algorithm (FMA). The methodology employed uses FMA and is based on the application of 5th-degree B-splines for interpolating intermediate points, aiming to obtain trajectories that consider the lower actuator forces associated with the dynamics of the manipulator under study (objective function). Kinematic and dynamic constraints determined by the operational characteristics of pneumatic servo-positioners were proposed, such as friction modeling, calculation of equivalent mass, velocity, acceleration etc. The results demonstrates that the trajectories generated by the proposed method and by 7th-degree optimized trajectory presented in literature resulted in similar average error and maximum error when applied in the pneumatic robot, indicating that the other issues, such as friction modeling, robot vibration, among others, need to be investigated to improve robot under investigation control.</p>","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"45 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141882745","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Path-following Control of a Snake Robot With Multiple Passive Joints","authors":"Ryo Ariizumi, Kazunori Sakakibara, Toru Asai, Shun-ichi Azuma","doi":"10.1007/s12555-023-0410-y","DOIUrl":"https://doi.org/10.1007/s12555-023-0410-y","url":null,"abstract":"<p>A snake robot should be robust to actuator failures because it has more actuators than required for locomotion. However, controlling a snake robot is problematic if some of the joints become passive because of problems in power supply lines. In a recent study, we proposed a controller to achieve path-following in cases where one of the joints is passive. However, the controller applies only to cases with a single passive joint. With two or more passive joints, it cannot be applied even if sufficient active joints remain. This paper considers the path-following control of a snake robot with passive joints by extending our previous study (the single passive joint case). The validity of the method is verified by numerical simulation.</p>","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"31 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141882660","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Unlocking Robotic Autonomy: A Survey on the Applications of Foundation Models","authors":"Dae-Sung Jang, Doo-Hyun Cho, Woo-Cheol Lee, Seung-Keol Ryu, Byeongmin Jeong, Minji Hong, Minjo Jung, Minchae Kim, Minjoon Lee, SeungJae Lee, Han-Lim Choi","doi":"10.1007/s12555-024-0438-7","DOIUrl":"https://doi.org/10.1007/s12555-024-0438-7","url":null,"abstract":"<p>The advancement of foundation models, such as large language models (LLMs), vision-language models (VLMs), diffusion models, and robotics foundation models (RFMs), has become a new paradigm in robotics by offering innovative approaches to the long-standing challenge of building robot autonomy. These models enable the development of robotic agents that can independently understand and reason about semantic contexts, plan actions, physically interact with surroundings, and adapt to new environments and untrained tasks. This paper presents a comprehensive and systematic survey of recent advancements in applying foundation models to robot perception, planning, and control. It introduces the key concepts and terminology associated with foundation models, providing a clear understanding for researchers in robotics and control engineering. The relevant studies are categorized based on how foundation models are utilized in various elements of robotic autonomy, focusing on 1) perception and situational awareness: object detection and classification, semantic understanding, mapping, and navigation; 2) decision making and task planning: mission understanding, task decomposition and coordination, planning with symbolic and learning-based approaches, plan validation and correction, and LLM-robot interaction; 3) motion planning and control: motion planning, control command and reward generation, and trajectory generation and optimization with diffusion models. Furthermore, the survey covers essential environmental setups, including real-world and simulation datasets and platforms used in training and validating these models. It concludes with a discussion on current challenges such as robustness, explainability, data scarcity, and real-time performance, and highlights promising future directions, including retrieval augmented generation, on-device foundation models, and explainability. This survey aims to systematically summarize the latest research trends in applying foundation models to robotics, bridging the gap between the state-of-the-art in artificial intelligence and robotics. By sharing knowledge and resources, this survey is expected to foster the introduction of a new research paradigm for building generalized and autonomous robots.</p>","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"174 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141882738","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Wave-to-wire Global Optimal Control Strategy for Networked Power Systems With a Wave-energy Converter Array","authors":"Bo Zhang, Pudong Liu, Jintao Lai, Xiaoshan Bai","doi":"10.1007/s12555-023-0432-5","DOIUrl":"https://doi.org/10.1007/s12555-023-0432-5","url":null,"abstract":"<p>In this paper, a wave-to-wire global optimal control framework for a networked wave-energy converter array (WECA) power system is presented. For the proposed framework, a distributed global optimal control method considering maximum wave energy harvesting and optimal power dispatch (OPD) is developed in the WECA system for precise power output. First, the WECA including G-type and S-type nodes is modeled, and the corresponding model predictive control (MPC) and primary control strategy are developed to maximally harvest the wave energy and to accurately track the dispatched reference power. Second, a distributed OPD method integrating convex optimization and consensus is proposed to actively regulate each energy storage (ES) unit and to manage the power system to satisfy the specified power output reference. Finally, the effectiveness of the proposed control method is investigated and analyzed by semi-physical hardware-in-loop simulation tests. The results of the experiments demonstrate that the power system output matches with the specified power demand, and indicate reliable performance.</p>","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"106 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141882740","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}