Pub Date : 2023-09-19DOI: 10.1007/s11370-023-00484-4
Jiyong Min, Hojoon Kim, Youngsu Cha
{"title":"Detecting deformation of a soft cylindrical structure using piezoelectric sensors","authors":"Jiyong Min, Hojoon Kim, Youngsu Cha","doi":"10.1007/s11370-023-00484-4","DOIUrl":"https://doi.org/10.1007/s11370-023-00484-4","url":null,"abstract":"","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135059842","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}
Pub Date : 2023-09-12DOI: 10.1007/s11370-023-00481-7
Vinzenz Bargsten, Frank Kirchner
Abstract Several methods exist to detect and distinguish collisions of robotic systems with their environment, since this information is a critical dependency of many tasks. These methods are prevalently based on thresholds in combination with filters, models, or offline trained machine learning models. To improve the adaptation and thereby enable a more autonomous operation of robots in new environments, this work evaluates the applicability of an incremental learning approach. The method addresses online learning and recognition of motion and contact episodes of robotic systems from proprioceptive sensor data using machine learning. The objective is to learn new category templates representing previously encountered situations of the actuators and improve them based on newly gathered similar data. This is achieved using an artificial neural network based on adaptive resonance theory (ART). The input samples from the robot’s actuator measurements are preprocessed into frequency spectra. This enables the ART neural network to learn incrementally recurring episodic patterns from these preprocessed data. An evaluation based on preliminary experimental data from a grasping motion of a humanoid robot’s arm encountering contacts is presented and suggests that this is a promising approach.
{"title":"Actuator-level motion and contact episode learning and classification using adaptive resonance theory","authors":"Vinzenz Bargsten, Frank Kirchner","doi":"10.1007/s11370-023-00481-7","DOIUrl":"https://doi.org/10.1007/s11370-023-00481-7","url":null,"abstract":"Abstract Several methods exist to detect and distinguish collisions of robotic systems with their environment, since this information is a critical dependency of many tasks. These methods are prevalently based on thresholds in combination with filters, models, or offline trained machine learning models. To improve the adaptation and thereby enable a more autonomous operation of robots in new environments, this work evaluates the applicability of an incremental learning approach. The method addresses online learning and recognition of motion and contact episodes of robotic systems from proprioceptive sensor data using machine learning. The objective is to learn new category templates representing previously encountered situations of the actuators and improve them based on newly gathered similar data. This is achieved using an artificial neural network based on adaptive resonance theory (ART). The input samples from the robot’s actuator measurements are preprocessed into frequency spectra. This enables the ART neural network to learn incrementally recurring episodic patterns from these preprocessed data. An evaluation based on preliminary experimental data from a grasping motion of a humanoid robot’s arm encountering contacts is presented and suggests that this is a promising approach.","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135879511","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}
Pub Date : 2023-08-23DOI: 10.1007/s11370-023-00480-8
Kyu-Chur Han, Jung-Yup Kim
{"title":"Posture stabilizing control of quadruped robot based on cart-inverted pendulum model","authors":"Kyu-Chur Han, Jung-Yup Kim","doi":"10.1007/s11370-023-00480-8","DOIUrl":"https://doi.org/10.1007/s11370-023-00480-8","url":null,"abstract":"","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"1 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2023-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42721459","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}
Pub Date : 2023-08-23DOI: 10.1007/s11370-023-00478-2
Huikun Zhang, Feng Ye, Yizong Lai, Kuo Li, Jinze Xu
{"title":"IQ-VIO: adaptive visual inertial odometry via interference quantization under dynamic environments","authors":"Huikun Zhang, Feng Ye, Yizong Lai, Kuo Li, Jinze Xu","doi":"10.1007/s11370-023-00478-2","DOIUrl":"https://doi.org/10.1007/s11370-023-00478-2","url":null,"abstract":"","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":" ","pages":""},"PeriodicalIF":2.5,"publicationDate":"2023-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46570891","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}
Pub Date : 2023-08-22DOI: 10.1007/s11370-023-00477-3
Jyotindra Narayan, Mohamed Abbas, Bhavik Patel, S. K. Dwivedy
{"title":"Adaptive RBF neural network-computed torque control for a pediatric gait exoskeleton system: an experimental study","authors":"Jyotindra Narayan, Mohamed Abbas, Bhavik Patel, S. K. Dwivedy","doi":"10.1007/s11370-023-00477-3","DOIUrl":"https://doi.org/10.1007/s11370-023-00477-3","url":null,"abstract":"","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":" ","pages":""},"PeriodicalIF":2.5,"publicationDate":"2023-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44080239","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}
Pub Date : 2023-08-14DOI: 10.1007/s11370-023-00479-1
Kaisheng Yang, Yuguo Cui, W. Peng, Haili Li, Guilin Yang
{"title":"Kinematics and stiffness analysis of a wheelchair-based cable-actuated ankle rehabilitation robot with flexure-based variable-stiffness devices","authors":"Kaisheng Yang, Yuguo Cui, W. Peng, Haili Li, Guilin Yang","doi":"10.1007/s11370-023-00479-1","DOIUrl":"https://doi.org/10.1007/s11370-023-00479-1","url":null,"abstract":"","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":" ","pages":""},"PeriodicalIF":2.5,"publicationDate":"2023-08-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46884602","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}
Pub Date : 2023-08-07DOI: 10.1007/s11370-023-00474-6
Meng Xiao, Tie Zhang, Yanbiao Zou, Xiaohu Yan, Wen Wu
{"title":"Study on force control for robot massage with a model-based reinforcement learning algorithm","authors":"Meng Xiao, Tie Zhang, Yanbiao Zou, Xiaohu Yan, Wen Wu","doi":"10.1007/s11370-023-00474-6","DOIUrl":"https://doi.org/10.1007/s11370-023-00474-6","url":null,"abstract":"","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"16 1","pages":"509 - 519"},"PeriodicalIF":2.5,"publicationDate":"2023-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48341404","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}
Pub Date : 2023-08-03DOI: 10.1007/s11370-023-00476-4
A. Aminzadeh, A. Khoshnood
{"title":"Multi-UAV cooperative search and coverage control in post-disaster assessment: experimental implementation","authors":"A. Aminzadeh, A. Khoshnood","doi":"10.1007/s11370-023-00476-4","DOIUrl":"https://doi.org/10.1007/s11370-023-00476-4","url":null,"abstract":"","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"16 1","pages":"415 - 430"},"PeriodicalIF":2.5,"publicationDate":"2023-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48914536","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}
Pub Date : 2023-07-18DOI: 10.1007/s11370-023-00475-5
Shengchang Fang, S. Shi, Xuan Wu, Xiaojie Wang
{"title":"A walking and climbing quadruped robot capable of ground-wall transition: design, mobility analysis and gait planning","authors":"Shengchang Fang, S. Shi, Xuan Wu, Xiaojie Wang","doi":"10.1007/s11370-023-00475-5","DOIUrl":"https://doi.org/10.1007/s11370-023-00475-5","url":null,"abstract":"","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"16 1","pages":"431 - 451"},"PeriodicalIF":2.5,"publicationDate":"2023-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44508778","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}
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