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2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献

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Safety-Critical Control of Quadrotor UAVs with Control Barrier Functions 具有控制屏障功能的四旋翼无人机安全临界控制
Pub Date : 2022-12-05 DOI: 10.1109/ROBIO55434.2022.10011832
Tianyi Yang, Zhiqiang Miao, Guo Yi, Yaonan Wang
For quadrotors, imposing multiple dynamic constraints on the state simultaneously to achieve safe control is a challenging problem. In this paper, a cascaded control archi-tecture based on quadratic programming method is proposed to generate minimally-invasive and collision-free control actions. This architecture consists of exponential control barrier functions(ECBFs) to construct a non-conservative forward invariant safety region and geometric nonlinear PID attitude control with considering quadrotor dynamics to avoid the singularities of Euler-angles and the ambiguity of quaternions. The feasibility and the effectiveness of the proposed cascaded control architecture is demonstrated through numerical simulations.
对于四旋翼飞行器来说,同时对其状态施加多个动态约束以实现安全控制是一个具有挑战性的问题。本文提出了一种基于二次规划方法的级联控制体系结构,以产生最小侵入性和无碰撞的控制动作。该体系结构由指数控制屏障函数(ECBFs)和几何非线性PID姿态控制组成,前者用于构造非保守的前向不变安全区域,后者考虑了四旋翼动力学,避免了欧拉角的奇异性和四元数的模糊性。通过数值仿真验证了所提出的级联控制结构的可行性和有效性。
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引用次数: 0
Probabilistic Fusion in Task Space and Joint Space for Human-Robot Interaction 人机交互任务空间和关节空间的概率融合
Pub Date : 2022-12-05 DOI: 10.1109/ROBIO55434.2022.10011691
Xiaohan Chen, Yihui Li, Y. Guan, Wenjing Shi, Jiajun Wu
As Human-Robot Interaction (HRI) develops, robots are expected to learn more complex and demanding interaction skills. Complex HRI tasks are often embodied in robots that are jointly constrained by task space and joint space. In the field of Imitation Learning, scholars have explored the topic of joint constraints from task space and joint space, but there are few relevant studies in Human-Robot Interaction. In this paper, based on the Interaction Primitives framework (a HRI framework), we propose an interaction inference method that first generalizes the robot's movements in two spaces synchronously and then probabilistically fuses the two movements based on Bayesian estimation. This work was validated in the task that the robot follows a human handheld object, and the inference errors (RMSE and MAE) of the method are smaller in both task space and joint space than in IP using only singlespace inference.
随着人机交互(HRI)的发展,机器人需要学习更复杂、要求更高的交互技能。复杂的人机交互任务往往体现在机器人身上,机器人受到任务空间和关节空间的共同约束。在模仿学习领域,学者们从任务空间和关节空间探讨了关节约束问题,但在人机交互领域的相关研究很少。本文在交互原语框架(HRI框架)的基础上,提出了一种交互推理方法,该方法首先对机器人在两个空间中的运动进行同步泛化,然后基于贝叶斯估计对两个空间的运动进行概率融合。在机器人跟随人类手持物体的任务中验证了该工作,并且该方法在任务空间和关节空间中的推理误差(RMSE和MAE)都小于仅使用单空间推理的IP。
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引用次数: 1
Design and Demonstration for an Air-bearing-based Space Robot Testbed 基于空气轴承的空间机器人试验台设计与论证
Pub Date : 2022-12-05 DOI: 10.1109/ROBIO55434.2022.10011657
Ziran Liu, T. Lin, Hong Wang, Chengfei Yue, Xibin Cao
Multi-arm space robots will play the important role in the future space activities, such as on-orbit servicing, manufacturing and active debris removal, requiring more advanced techniques for the complicated planning and control problem. In order to verify the algorithms developed for them on the earth, this paper describes the design and demon-stration procedure for an air-bearing-based simulator. Firstly, the detailed design process is presented to overview both the hardware and software systems. Then the planar mathematical model of the simulator along with actuators configuration is proposed, following by the switch strategy for hybrid actuator and command transformation method. Finally, the experiment is executed to show the effectiveness and performance.
多臂空间机器人将在未来的空间活动中发挥重要作用,如在轨服务、制造和主动碎片清除,需要更先进的技术来解决复杂的规划和控制问题。为了在地球上验证为它们开发的算法,本文描述了基于空气轴承的模拟器的设计和演示过程。首先介绍了系统的详细设计过程,对系统的硬件和软件系统进行了概述。在此基础上,提出了仿真器的平面数学模型和执行机构配置,给出了混合执行机构的切换策略和命令转换方法。最后通过实验验证了该方法的有效性和性能。
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引用次数: 0
Small video satellites visual tracking control for arbitrary maneuvering targets 小视频卫星对任意机动目标的视觉跟踪控制
Pub Date : 2022-12-05 DOI: 10.1109/ROBIO55434.2022.10011740
Cai-zhi Fan, Chao Song, Mengmeng Wang
With advantages like low cost and real-time imaging, small video satellites have broad application prospects in disaster relief, resource investigation, target monitoring and other fields. Traditionally, position-based control methods are adopted by video satellite for target tracking, but these methods are not capable of tracking non-cooperative maneuvering target. This paper proposes an image-based visual tracking control method together with an observer of the target position. Firstly, the reference image tracking error and angular velocity error are derived on the basis of the estimated target position. Then the observer of the target position is proposed, and the position of the observed target is estimated based on the projected coordinates and visual velocity information on the image. Finally, based on the reference attitude error and the observer, the visual tracking controller is proposed to keep the projection of the moving target at the desired image center. Simulations verify the effectiveness of the proposed visual tracking controller for fast maneuvering targets.
小视频卫星具有成本低、成像实时等优点,在救灾、资源调查、目标监测等领域有着广阔的应用前景。传统视频卫星采用基于位置的控制方法进行目标跟踪,但这些方法无法对非合作机动目标进行跟踪。本文提出了一种结合目标位置观测器的基于图像的视觉跟踪控制方法。首先,根据目标位置估计得到参考图像跟踪误差和角速度误差;然后提出目标位置的观测器,并根据图像上的投影坐标和视觉速度信息估计被观测目标的位置;最后,提出了基于参考姿态误差和观测器的视觉跟踪控制器,使运动目标的投影保持在期望的图像中心。仿真验证了所提视觉跟踪控制器对快速机动目标的有效性。
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引用次数: 0
A novel design of force-feedback master manipulator for remote ultrasound scanning 一种新型超声远程扫描力反馈主机械手的设计
Pub Date : 2022-12-05 DOI: 10.1109/ROBIO55434.2022.10011778
Chang-le Li, ChenTao Zhang, Chuanyou Yu, Leifeng Zhang, Gangfeng Liu, Jie Zhao
This paper presents a novel six-degree-of-freedom force feedback master manipulator for remote ultrasound scanning. Firstly, a new configuration based on a planar five-link mechanism is proposed, taking into account the practical needs of medical ultrasound scanning. This configuration has two operating modes and can provide three degrees of force feedback. Secondly, a hybrid force/position master-slave control system based on the kinetic model force feedback method is built, which can realize incremental master-slave control, variable proportional control, force feedback, and other functions. Finally, the positional accuracy, gravity balance effect, and force feedback performance of this master manipulator are verified through experiments. Experiments show that the average position error of this novel force feedback master manipulator is 1.18 mm, the average attitude error expressed in terms of Euler angles is 0.83°, and the maximum feedback force that can be provided is 12.1 N, which satisfies the requirements of ultrasonic scanning.
提出了一种新型的六自由度力反馈远程超声扫描主机械手。首先,考虑到医用超声扫描的实际需要,提出了一种基于平面五连杆机构的新型机构构型;这种配置有两种操作模式,可以提供三度的力反馈。其次,建立了基于动力学模型力反馈方法的力/位置混合主从控制系统,实现了增量主从控制、变比例控制、力反馈等功能;最后,通过实验验证了该主机械手的位置精度、重力平衡效果和力反馈性能。实验表明,该力反馈主机械手的平均位置误差为1.18 mm,以欧拉角表示的平均姿态误差为0.83°,能提供的最大反馈力为12.1 N,满足超声扫描的要求。
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引用次数: 0
Sub-pixel Edge Detection in Diameter Measurement for Single Silicon Crystal 单晶直径测量中的亚像素边缘检测
Pub Date : 2022-12-05 DOI: 10.1109/ROBIO55434.2022.10011952
Senwei Xiang, Weimin Yang, Ting Wang
Edge detection plays an important role in diameter measurement for single silicon crystal. However, the high-temperature production process (about 1,450 °C) emits intense infrared and visible lights that will blur the edge and hinder the accurate calculation for the diameter of the crystal ingot. In this paper, the aura phenomenon caused by high-temperature radiation is deliberated and the Sigmoid function is discovered to best fit the luminance distribution along the normal direction of the edge. Thus, a sub-pixel edge detection method based on Sigmoid fitting is proposed for high-temperature objects, such as the single silicon crystal. The method first extracts the coarse edge of the object, then the luminance distribution on the normal direction of the coarse edge is fitted to the Sigmoid function. Mathematical analysis points out the location of the precise sub-pixel edge is closely related to the parameters of the fitted Sigmoid function. Real-world experiments of applying our proposed method and other different methods in the measurement system are performed. Comparison results prove superiority of our proposed method in accuracy and robustness.
边缘检测在单晶直径测量中起着重要的作用。然而,高温生产过程(约1450°C)会发出强烈的红外线和可见光,这会模糊边缘并妨碍对晶锭直径的准确计算。本文研究了高温辐射引起的光环现象,发现Sigmoid函数最能拟合沿边缘法线方向的亮度分布。针对单晶硅等高温物体,提出了一种基于Sigmoid拟合的亚像素边缘检测方法。该方法首先提取目标的粗边缘,然后将粗边缘法线方向上的亮度分布拟合到Sigmoid函数中。数学分析指出,精确亚像素边缘的位置与拟合的Sigmoid函数的参数密切相关。将本文提出的方法和其他不同的测量方法应用于测量系统进行了实际实验。对比结果证明了该方法在精度和鲁棒性方面的优越性。
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引用次数: 0
Dynamic Model Learning for Robotic Manipulators using BiLSTM Networks* 基于BiLSTM网络的机械臂动态模型学习*
Pub Date : 2022-12-05 DOI: 10.1109/ROBIO55434.2022.10011853
Mingxing Liu, Wenhui Huang, Huasong Min
To obtain accurate dynamic models of manipulators, a model learning method based on bidirectional long short-term memory (BiLSTM) networks is proposed in this paper. The future states of manipulators are important for learning the inverse dynamic model of manipulators, which was ignored in past research. In this paper, the BiLSTM network was chosen for learning the inverse dynamic model of manipulators. The future desired position and velocity of manipulators are as the input for backward propagation. The actual position and velocity of manipulators are as the input for forwarding propagation. Furthermore, to improve the accuracy of the model, each joint of the manipulator is trained separately. Finally, comparison experiments are conducted using back-propagation (BP), long short-term memory (LSTM), gated recurrent unit (GRU), and the proposed method on the UR5 manipulator. The experimental results show that the proposed method can achieve higher accuracy and faster convergence of the inverse dynamic model. It indicates that the BiLSTM network are more conducive to learn the inverse dynamic model of manipulators.
为了获得准确的机械臂动态模型,提出了一种基于双向长短期记忆网络的模型学习方法。机器人的未来状态对于机器人逆动力学模型的学习具有重要意义,而这在以往的研究中被忽视。本文选择BiLSTM网络学习机械臂的逆动力学模型。将机器人未来的期望位置和速度作为反向传播的输入。机器人的实际位置和速度作为转发传播的输入。此外,为了提高模型的精度,对机械手的各个关节进行了单独的训练。最后,在UR5机械臂上进行了反向传播(BP)、长短期记忆(LSTM)、门控循环单元(GRU)和所提方法的对比实验。实验结果表明,该方法可以达到更高的精度和更快的收敛速度。结果表明,BiLSTM网络更有利于学习机械臂的逆动力学模型。
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引用次数: 0
Axial compression intrinsic sensing of continuum robot based on elastic modulus on-line estimation 基于弹性模量在线估计的连续体机器人轴向压缩特性感知
Pub Date : 2022-12-05 DOI: 10.1109/ROBIO55434.2022.10011901
Anfan Zhang, Xueqian Wang, Bin Liang, Zhiheng Li
This paper presents an axial compression intrinsic sensing algorithm of the primary backbone for continuum robot using superelastic NiTi backbones. The elastic limit of superelastic NiTi is much larger than that of ordinary materials, and it no longer obeys Hooke's law. Axial compression of pri-mary backbone is extremely small and has been found to have an important impact on the external force sensing accuracy of continuum robot using super elastic nickel titanium alloy backbones. Firstly, the dynamic model of the continuum robot is revised and the general formula for estimating the tension of multiple driving cables (more than 3) of the continuum robot in the presence of external forces are given. The value of the elastic modulus estimated online by quasi-static conditions is used with other generalized coordinates as the input of the axial compression intrinsic sensing algorithm, so as to obtain the estimated result of real-time axial compression. The method provides a feasible path for predicting the axial deformation of continuum robot while allowing for fast computation. Experiments present the results of intrinsic sensing of axial compression in the cases of three different driving forces.
提出了一种基于超弹性镍钛骨架的连续体机器人主骨架轴向压缩内禀感知算法。超弹性镍钛的弹性极限远远大于普通材料的弹性极限,不再服从胡克定律。研究发现,主骨架轴向压缩极小,对超弹性镍钛合金骨架连续体机器人的外力传感精度有重要影响。首先,修正了连续统机器人的动力学模型,给出了在外力作用下连续统机器人多根(大于3根)驱动索张力的一般估算公式;将准静态条件下在线估计的弹性模量值与其他广义坐标作为轴压内禀感知算法的输入,从而获得轴压实时估计结果。该方法在计算速度快的同时,为连续体机器人轴向变形预测提供了一条可行的路径。实验给出了在三种不同驱动力情况下轴向压缩的本征感知结果。
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引用次数: 0
Unsupervised learning method for shape matching templates based on gradient saliency estimation 基于梯度显著性估计的形状匹配模板无监督学习方法
Pub Date : 2022-12-05 DOI: 10.1109/ROBIO55434.2022.10011963
Sicong Li, Feng Zhu, Qingxiao Wu
In order to improve the accuracy and robustness of the shape-based matching algorithm in practical industrial vision applications, we proposed an unsupervised learning algorithm, which under a given initial shape, can capture more potential shape features of the target in the training set through a comprehensive estimation of both the saliency of gradient orientation and gradient amplitude, consequently, learn a better template for matching. The experiment shows that when the number of valid training images reaches about 30, the point number difference between the learned shape and the ideal shape does not exceed 8%. In a comparative experiment on matching precision and recall of four different shapes, we found that the data curves of the learned shape were almost identical to those of the ideal shape, which proves that the algorithm has effective self-learning ability and thus, can improve the performance of shape-based template matching.
为了提高基于形状的匹配算法在实际工业视觉应用中的准确性和鲁棒性,我们提出了一种无监督学习算法,该算法在给定初始形状下,通过综合估计梯度方向和梯度幅度的显著性,可以在训练集中捕获目标更多潜在的形状特征,从而学习到更好的匹配模板。实验表明,当有效训练图像数量达到30张左右时,学习到的形状与理想形状的点数差不超过8%。在四种不同形状的匹配精度和召回率对比实验中,我们发现学习到的形状的数据曲线与理想形状的数据曲线基本一致,证明了该算法具有有效的自学习能力,从而提高了基于形状的模板匹配的性能。
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引用次数: 0
Prescribed performance control using an adaptive super-twisting sliding mode method for quad-rotor UAV under the disturbance from variable-length gimbal 基于自适应超扭转滑模方法的四旋翼无人机变长框架扰动下的预定性能控制
Pub Date : 2022-12-05 DOI: 10.1109/ROBIO55434.2022.10011840
Qilei Yang, Yizhai Zhang, Yuyao Sun, Panfeng Huang
Recently, bridge detection by QUAVs(Quad-rotor Unmanned Aerial Vehicles) is more and more prevalent, however, there is a problem that QUAVs cannot fly close enough to get clear shots for some complex bridge structures. To solve it, an invention of variable-length gimbal mounted on QUAV is proposed in this study, at the same time, the control method of QUAVs with the gimbal is put forward. In detail, dynamic model of system is given considering the disturbance from gimbal and model uncertainty. Then, assuming the upper bound of the disturbance and uncertainty is unknown, an adaptive super-twisting fast terminal sliding mode control method meets prescribed performance is planned, which can achieve accurate estimation of the upper bounds. As a result, the validity of the method and its superior system performance is proved by simulation outcomes.
近年来,利用四旋翼无人机(QUAVs)进行桥梁探测越来越普遍,但对于一些复杂的桥梁结构,QUAVs的飞行距离不够近,无法获得清晰的射击。为解决这一问题,本研究提出了一种安装在自动驾驶飞行器上的变长云台,同时提出了利用该云台控制自动驾驶飞行器的方法。详细地建立了考虑框架干扰和模型不确定性的系统动力学模型。然后,假设扰动和不确定性的上界未知,设计了满足规定性能的自适应超扭转快速终端滑模控制方法,实现了上界的精确估计。仿真结果证明了该方法的有效性和优越的系统性能。
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引用次数: 0
期刊
2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)
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