Pub Date : 2022-03-01DOI: 10.1142/s0219843622400035
Zhixian Qin, Zhao Xu, Q. Sun, Parthasarathy Poovendran, P. Balamurugan
{"title":"Investigation of Intelligent Substation Inspection Robot by Using Mobile Data","authors":"Zhixian Qin, Zhao Xu, Q. Sun, Parthasarathy Poovendran, P. Balamurugan","doi":"10.1142/s0219843622400035","DOIUrl":"https://doi.org/10.1142/s0219843622400035","url":null,"abstract":"","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123658309","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}
Pub Date : 2022-01-18DOI: 10.1142/s0219843621500183
J. Kumar, A. Dutta
{"title":"Learning-Based Motion Planning of a 14-DOF Biped Robot on 3D Uneven Terrain Containing a Ditch","authors":"J. Kumar, A. Dutta","doi":"10.1142/s0219843621500183","DOIUrl":"https://doi.org/10.1142/s0219843621500183","url":null,"abstract":"","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124816624","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}
Pub Date : 2022-01-18DOI: 10.1142/s0219843621500195
Zhiguo Zeng, K. Lam, Chi-Yin Chow, Ning Li
{"title":"Improving Dialog System Grounded with Unstructured Knowledge by Domain Adaptive Pre-Training and Post-Ranking","authors":"Zhiguo Zeng, K. Lam, Chi-Yin Chow, Ning Li","doi":"10.1142/s0219843621500195","DOIUrl":"https://doi.org/10.1142/s0219843621500195","url":null,"abstract":"","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116473559","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}
Pub Date : 2022-01-17DOI: 10.1142/s0219843621500171
Bingchen Liu, Li Jiang, S. Fan
In this paper, a set of grasp-function-dependent and joint-element-sparse hand synergies was proposed. First, hand synergies were extracted from five basic categories of movements by principal component analysis (PCA). Then, varimax rotation was applied on these synergies, so each sparse synergy only represented a limited number of joints. Next, according to the contribution to these sparse synergies, finger joints were clustered into different joint modules. Finally, integrating the joint modules in different categories of hand movements, the minimum number of actuators and joint synergic modules for anthropomorphic hands were determined. The results showed that using 5 groups of joint modules and 7–9 actuators we can achieve the best performance of grasp function and motion flexibility. Furthermore, through the reasonable design of adaptive and hyperextension functional joint modules, anthropomorphic hands can better meet the requirements of different tasks like power grasping and precision pinching. Comparing with traditional finger-based actuation strategy, the joint coupling scheme achieved better anthropomorphic performance and larger workspace. These above findings will benefit the development of mechanical structure design and control method of anthropomorphic hands.
{"title":"Reducing Anthropomorphic Hand Degrees of Actuation with Grasp-Function-Dependent and Joint-Element-Sparse Hand Synergies","authors":"Bingchen Liu, Li Jiang, S. Fan","doi":"10.1142/s0219843621500171","DOIUrl":"https://doi.org/10.1142/s0219843621500171","url":null,"abstract":"In this paper, a set of grasp-function-dependent and joint-element-sparse hand synergies was proposed. First, hand synergies were extracted from five basic categories of movements by principal component analysis (PCA). Then, varimax rotation was applied on these synergies, so each sparse synergy only represented a limited number of joints. Next, according to the contribution to these sparse synergies, finger joints were clustered into different joint modules. Finally, integrating the joint modules in different categories of hand movements, the minimum number of actuators and joint synergic modules for anthropomorphic hands were determined. The results showed that using 5 groups of joint modules and 7–9 actuators we can achieve the best performance of grasp function and motion flexibility. Furthermore, through the reasonable design of adaptive and hyperextension functional joint modules, anthropomorphic hands can better meet the requirements of different tasks like power grasping and precision pinching. Comparing with traditional finger-based actuation strategy, the joint coupling scheme achieved better anthropomorphic performance and larger workspace. These above findings will benefit the development of mechanical structure design and control method of anthropomorphic hands.","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114974111","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}
Pub Date : 2021-11-15DOI: 10.1142/s0219843621500158
G. Rigatos, M. Abbaszadeh, K. Busawon, Zhiwei Gao, J. Pomares
This paper proposes a nonlinear optimal control approach for mulitple degrees of freedom (DOF) brachiation robots, which are often used in inspection and maintenance tasks of the electric power grid. Because of the nonlinear and multivariable structure of the related state-space model, as well as because of underactuation, the control problem of these robots is nontrivial. The dynamic model of the brachiation robots undergoes first approximate linearization with the use of Taylor series expansion around a temporary operating point which is recomputed at each iteration of the control method. For the approximately linearized model, an H-infinity feedback controller is designed. The linearization procedure relies on the Jacobian matrices of the brachiation robots’ state-space model. The proposed control method stands for the solution of the optimal control problem for the nonlinear and multivariable dynamics of the brachiation robots, under model uncertainties and external perturbations. For the computation of the controller’s feedback gains an algebraic Riccati equation is solved at each time-step of the control method. The global stability properties of the control scheme are proven through Lyapunov analysis. The new nonlinear optimal control approach achieves fast and accurate tracking for all state variables of the brachiation robots, under moderate variations of the control inputs.
{"title":"A Nonlinear Optimal Control Approach for Multi-DOF Brachiation Robots","authors":"G. Rigatos, M. Abbaszadeh, K. Busawon, Zhiwei Gao, J. Pomares","doi":"10.1142/s0219843621500158","DOIUrl":"https://doi.org/10.1142/s0219843621500158","url":null,"abstract":"This paper proposes a nonlinear optimal control approach for mulitple degrees of freedom (DOF) brachiation robots, which are often used in inspection and maintenance tasks of the electric power grid. Because of the nonlinear and multivariable structure of the related state-space model, as well as because of underactuation, the control problem of these robots is nontrivial. The dynamic model of the brachiation robots undergoes first approximate linearization with the use of Taylor series expansion around a temporary operating point which is recomputed at each iteration of the control method. For the approximately linearized model, an H-infinity feedback controller is designed. The linearization procedure relies on the Jacobian matrices of the brachiation robots’ state-space model. The proposed control method stands for the solution of the optimal control problem for the nonlinear and multivariable dynamics of the brachiation robots, under model uncertainties and external perturbations. For the computation of the controller’s feedback gains an algebraic Riccati equation is solved at each time-step of the control method. The global stability properties of the control scheme are proven through Lyapunov analysis. The new nonlinear optimal control approach achieves fast and accurate tracking for all state variables of the brachiation robots, under moderate variations of the control inputs.","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126305844","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}
Pub Date : 2021-10-27DOI: 10.1142/s021984362150016x
D. Galdeano, A. Chemori, S. Krut, P. Fraisse
In this paper, a new hybrid kinematic/dynamic control scheme for humanoid robots is proposed. Its basic idea lies in the tracking of several values in both operational and joint spaces. These values include (i) the relative pose of the robot’s feet, (ii) the position of the center of mass, (iii) the body’s orientation and (iv) the admissible range of variation of the joints. A zero moment point (ZMP) based dynamic feedback is included in the proposed scheme to improve the stability of dynamic motions. The proposed stabilizer is based on a spherical projection of a nonlinear PID regulation control law. Through the proposed study, it is shown that these objectives allow to produce smooth dynamically stable whole-body motions. The effectiveness and robustness of the proposed control scheme is demonstrated through four real-time experimental scenarios, conducted on HOAP-3 humanoid robot.
{"title":"A New Hybrid Kinematic/Dynamic Whole-Body Control for Humanoid Robots with Real-Time Experiments","authors":"D. Galdeano, A. Chemori, S. Krut, P. Fraisse","doi":"10.1142/s021984362150016x","DOIUrl":"https://doi.org/10.1142/s021984362150016x","url":null,"abstract":"In this paper, a new hybrid kinematic/dynamic control scheme for humanoid robots is proposed. Its basic idea lies in the tracking of several values in both operational and joint spaces. These values include (i) the relative pose of the robot’s feet, (ii) the position of the center of mass, (iii) the body’s orientation and (iv) the admissible range of variation of the joints. A zero moment point (ZMP) based dynamic feedback is included in the proposed scheme to improve the stability of dynamic motions. The proposed stabilizer is based on a spherical projection of a nonlinear PID regulation control law. Through the proposed study, it is shown that these objectives allow to produce smooth dynamically stable whole-body motions. The effectiveness and robustness of the proposed control scheme is demonstrated through four real-time experimental scenarios, conducted on HOAP-3 humanoid robot.","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116571262","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}
Pub Date : 2021-10-14DOI: 10.1142/s0219843623500020
Laura Aymerich-Franch, Iliana Ferrer
One of the major areas where social robots are finding their place in society is for healthcare-related applications. Yet, very little research has mapped the deployment of socially assistive robots (SARs) in real settings. Using a documentary research method, we were able to trace back 279 experiences of SARs deployments in hospitals, elderly care centers, occupational health centers, private homes, and educational institutions worldwide from 33 different countries, and involving 52 different robot models. We retrieved, analyzed, and classified the functions that SARs develop in these experiences, the areas in which they are deployed, the principal manufacturers, and the robot models that are being adopted. The functions we identified for SARs are entertainment, companionship, telepresence, edutainment, providing general and personalized information or advice, monitoring, promotion of physical exercise and rehabilitation, testing and pre-diagnosis, delivering supplies, patient registration, giving location indications, patient simulator, protective measure enforcement, medication and well-being adherence, translating and having conversations in multiple languages, psychological therapy, patrolling, interacting with digital devices, and disinfection. Our work provides an in-depth picture of the current state of the art of SARs' deployment in real scenarios for healthcare-related applications and contributes to understanding better the role of these machines in the healthcare sector.
{"title":"Socially assistive robots' deployment in healthcare settings: a global perspective","authors":"Laura Aymerich-Franch, Iliana Ferrer","doi":"10.1142/s0219843623500020","DOIUrl":"https://doi.org/10.1142/s0219843623500020","url":null,"abstract":"One of the major areas where social robots are finding their place in society is for healthcare-related applications. Yet, very little research has mapped the deployment of socially assistive robots (SARs) in real settings. Using a documentary research method, we were able to trace back 279 experiences of SARs deployments in hospitals, elderly care centers, occupational health centers, private homes, and educational institutions worldwide from 33 different countries, and involving 52 different robot models. We retrieved, analyzed, and classified the functions that SARs develop in these experiences, the areas in which they are deployed, the principal manufacturers, and the robot models that are being adopted. The functions we identified for SARs are entertainment, companionship, telepresence, edutainment, providing general and personalized information or advice, monitoring, promotion of physical exercise and rehabilitation, testing and pre-diagnosis, delivering supplies, patient registration, giving location indications, patient simulator, protective measure enforcement, medication and well-being adherence, translating and having conversations in multiple languages, psychological therapy, patrolling, interacting with digital devices, and disinfection. Our work provides an in-depth picture of the current state of the art of SARs' deployment in real scenarios for healthcare-related applications and contributes to understanding better the role of these machines in the healthcare sector.","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130622806","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}
Pub Date : 2021-08-27DOI: 10.1142/s0219843621500122
E. Ehsaeyan, A. Zolghadrasli
Image segmentation is a prime operation to understand the content of images. Multilevel thresholding is applied in image segmentation because of its speed and accuracy. In this paper, a novel multilevel thresholding algorithm based on differential evolution (DE) search is introduced. One of the major drawbacks of metaheuristic algorithms is the stagnation phenomenon which leads to falling into local optimums and premature convergence. To overcome this shortcoming, the idea of Darwinian theory is incorporated with DE algorithm to increase the diversity and quality of the individuals without decreasing the convergence speed of DE algorithm. A policy of encouragement and punishment is considered to lead searching agents in the search space and reduce the computational time. The algorithm is implemented based on dividing the population into specified groups and each group tries to find a better location. Ten test images are selected to verify the ability of our algorithm using the famous energy curve method. Kapur entropy and Type 2 fuzzy entropy are employed to evaluate the capability of the introduced algorithm. Nine different metaheuristic algorithms with Darwinian modes are also implemented and compared with our method. Experimental results manifest that the proposed method is a powerful tool for multilevel thresholding and the obtained results outperform the DE algorithm and other methods.
{"title":"A Darwinian Differential Evolution Algorithm for Multilevel Image Thresholding","authors":"E. Ehsaeyan, A. Zolghadrasli","doi":"10.1142/s0219843621500122","DOIUrl":"https://doi.org/10.1142/s0219843621500122","url":null,"abstract":"Image segmentation is a prime operation to understand the content of images. Multilevel thresholding is applied in image segmentation because of its speed and accuracy. In this paper, a novel multilevel thresholding algorithm based on differential evolution (DE) search is introduced. One of the major drawbacks of metaheuristic algorithms is the stagnation phenomenon which leads to falling into local optimums and premature convergence. To overcome this shortcoming, the idea of Darwinian theory is incorporated with DE algorithm to increase the diversity and quality of the individuals without decreasing the convergence speed of DE algorithm. A policy of encouragement and punishment is considered to lead searching agents in the search space and reduce the computational time. The algorithm is implemented based on dividing the population into specified groups and each group tries to find a better location. Ten test images are selected to verify the ability of our algorithm using the famous energy curve method. Kapur entropy and Type 2 fuzzy entropy are employed to evaluate the capability of the introduced algorithm. Nine different metaheuristic algorithms with Darwinian modes are also implemented and compared with our method. Experimental results manifest that the proposed method is a powerful tool for multilevel thresholding and the obtained results outperform the DE algorithm and other methods.","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"167 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114520173","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}
Pub Date : 2021-08-01DOI: 10.1142/s0219843621500110
S. Badalkhani, R. Havangi, M. Farshad
There is an extensive literature regarding multi-robot simultaneous localization and mapping (MRSLAM). In most part of the research, the environment is assumed to be static, while the dynamic parts of the environment degrade the estimation quality of SLAM algorithms and lead to inherently fragile systems. To enhance the performance and robustness of the SLAM in dynamic environments (SLAMIDE), a novel cooperative approach named parallel-map (p-map) SLAM is introduced in this paper. The objective of the proposed method is to deal with the dynamics of the environment, by detecting dynamic parts and preventing the inclusion of them in SLAM estimations. In this approach, each robot builds a limited map in its own vicinity, while the global map is built through a hybrid centralized MRSLAM. The restricted size of the local maps, bounds computational complexity and resources needed to handle a large scale dynamic environment. Using a probabilistic index, the proposed method differentiates between stationary and moving landmarks, based on their relative positions with other parts of the environment. Stationary landmarks are then used to refine a consistent map. The proposed method is evaluated with different levels of dynamism and for each level, the performance is measured in terms of accuracy, robustness, and hardware resources needed to be implemented. The method is also evaluated with a publicly available real-world data-set. Experimental validation along with simulations indicate that the proposed method is able to perform consistent SLAM in a dynamic environment, suggesting its feasibility for MRSLAM applications.
{"title":"Multi-Robot SLAM in Dynamic Environments with Parallel Maps","authors":"S. Badalkhani, R. Havangi, M. Farshad","doi":"10.1142/s0219843621500110","DOIUrl":"https://doi.org/10.1142/s0219843621500110","url":null,"abstract":"There is an extensive literature regarding multi-robot simultaneous localization and mapping (MRSLAM). In most part of the research, the environment is assumed to be static, while the dynamic parts of the environment degrade the estimation quality of SLAM algorithms and lead to inherently fragile systems. To enhance the performance and robustness of the SLAM in dynamic environments (SLAMIDE), a novel cooperative approach named parallel-map (p-map) SLAM is introduced in this paper. The objective of the proposed method is to deal with the dynamics of the environment, by detecting dynamic parts and preventing the inclusion of them in SLAM estimations. In this approach, each robot builds a limited map in its own vicinity, while the global map is built through a hybrid centralized MRSLAM. The restricted size of the local maps, bounds computational complexity and resources needed to handle a large scale dynamic environment. Using a probabilistic index, the proposed method differentiates between stationary and moving landmarks, based on their relative positions with other parts of the environment. Stationary landmarks are then used to refine a consistent map. The proposed method is evaluated with different levels of dynamism and for each level, the performance is measured in terms of accuracy, robustness, and hardware resources needed to be implemented. The method is also evaluated with a publicly available real-world data-set. Experimental validation along with simulations indicate that the proposed method is able to perform consistent SLAM in a dynamic environment, suggesting its feasibility for MRSLAM applications.","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133290173","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}
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