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Positioning accuracy improvement for target point tracking of robots based on Extended Kalman Filter with an optical tracking system 基于光学跟踪系统的扩展卡尔曼滤波器提高机器人目标点跟踪的定位精度
IF 4.3 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-07-05 DOI: 10.1016/j.robot.2024.104751

Although industrial robots have been successfully used in a wide spectrum of applications for production automation, they still face challenges for many high precision tasks especially in low-volume high-mix production due to their low absolute positioning accuracy. To respond to such rapidly changing production tasks, an efficient means is required to determine the pose relationship between the robot and the workpiece without human intervention such as teaching the robot. For this purpose, the paper proposes the use of the Extended Kalman Filter (EKF) with an optical tracking system to improve the robot positioning accuracy with a particular focus on the target point tracking of the end-of-arm tool, which is an essential part for many robotic tasks. To this end, a comprehensive kinematic error model is first derived for the end-of-arm tool that accounts for the errors in the Denavit-Hartenberg (D-H) parameters, the positioning errors of the robot base and the end-of-arm tool installation. Then, by using the optical tracking system, the pose of the end-of-arm tool relative to the workpiece can be determined in an efficient way. Based on the EKF algorithm, the kinematic parameter errors of the system can be estimated online to compensate the positioning error of the target point during the robot movement. Simulation and experimental tests have been performed to demonstrate the effectiveness of the proposed method. The proposed approach utilizes the given trajectory to design a compensation scheme where the kinematic parameter errors of the robot are estimated during the motion and then the positioning error of the end-of-arm tool is compensated at the target point. As a result, this approach can improve the target point accuracy of the robot without continuous feedback to reduce the tracking error along the trajectory in real time. It is easy to implement and suitable for low-volume, high-mix scenarios to determine the pose relationship between the robot and the workpiece without human intervention.

尽管工业机器人已成功应用于广泛的生产自动化领域,但由于其绝对定位精度较低,在许多高精度任务中仍面临挑战,尤其是在小批量、多品种生产中。为了应对这种快速变化的生产任务,需要一种有效的方法来确定机器人与工件之间的姿态关系,而无需对机器人进行示教等人工干预。为此,本文提出使用扩展卡尔曼滤波器(EKF)和光学跟踪系统来提高机器人的定位精度,并特别关注手臂末端工具的目标点跟踪,这是许多机器人任务的重要组成部分。为此,首先为末端工具推导出一个全面的运动学误差模型,该模型考虑了 Denavit-Hartenberg (D-H) 参数误差、机器人底座定位误差和末端工具安装误差。然后,通过使用光学跟踪系统,可以有效地确定臂端工具相对于工件的姿态。基于 EKF 算法,可以在线估计系统的运动参数误差,以补偿机器人运动过程中目标点的定位误差。仿真和实验测试证明了所提方法的有效性。所提方法利用给定轨迹设计补偿方案,在运动过程中估算机器人的运动参数误差,然后在目标点补偿臂端工具的定位误差。因此,这种方法可以在没有持续反馈的情况下提高机器人的目标点精度,从而实时减少沿轨迹的跟踪误差。这种方法易于实施,适用于小批量、多品种的情况,无需人工干预即可确定机器人与工件之间的姿势关系。
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引用次数: 0
Simulation study on four-wheeled mobile robot mechanisms using various performance criteria 利用各种性能标准对四轮移动机器人机构进行仿真研究
IF 4.3 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-07-05 DOI: 10.1016/j.robot.2024.104749
Sijun Ryu, Jeeho Won, TaeWon Seo

In this paper, the performance criteria for various four-wheeled mobile robots that are crucial for assessing a robot’s fitness for mobility to successfully complete missions are introduced. The seven proposed performance indices, the root mean squared acceleration (RMSA), posture variance index (PVI), static stability margin (SSM), force angle stability margin (FASM), energy stability margin (ESM), friction requirement (μr), and velocity constraint violation (VCV), address the fluctuation, rollover, and slippage problems in four-wheeled mobile robots. The simulations considered a square bump-shaped obstacle, and the dimensions of the robot were based on nine simulation cases in a 3D environment. Additionally, a methodology for evaluating these seven criteria is outlined. To streamline the simulation process, Taguchi’s catalog of orthogonal arrays (OAs) was used for the experimental design, specifically L9 OA with four factors and three levels was used. Analysis of means (ANOM) was applied to assess the influence of each design factor on the seven criteria, leveraging the OA orthogonality. Finally, the sensitivity analysis and potential for evaluating general mobile robots in the future are discussed.

本文介绍了各种四轮移动机器人的性能标准,这些标准对于评估机器人是否适合移动以成功完成任务至关重要。针对四轮移动机器人的波动、翻滚和打滑问题,提出了七个性能指标,即加速度均方根(RMSA)、姿态方差指数(PVI)、静态稳定裕度(SSM)、力角稳定裕度(FASM)、能量稳定裕度(ESM)、摩擦要求(μr)和速度约束违反(VCV)。模拟考虑了一个正方形凹凸形状的障碍物,机器人的尺寸基于三维环境中的九个模拟案例。此外,还概述了评估这七项标准的方法。为了简化模拟过程,实验设计采用了田口的正交阵列(OA)目录,特别是采用了包含四个因素和三个水平的 L9 OA。利用 OA 的正交性,采用均值分析(ANOM)来评估每个设计因素对七项标准的影响。最后,讨论了敏感性分析和未来评估一般移动机器人的潜力。
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引用次数: 0
Locomotion gait control of snake robots based on a novel unified CPG network model composed of Hopf oscillators 基于由霍普夫振荡器组成的新型统一 CPG 网络模型的蛇形机器人运动步态控制
IF 4.3 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-07-04 DOI: 10.1016/j.robot.2024.104746
Xupeng Liu , Yong Zang , Zhiying Gao , Maolin Liao

Snake robots with limbless structure and rich locomotion gaits have been designed and built for wide application in various fields including military reconnaissance, pipeline operation, disaster search and rescue, etc. However, the problem how to flexibly and smoothly control switch and change of different locomotion gaits is still facing enormous challenges. A novel unified design rule of the CPG network model composed of improved Hopf oscillators is proposed, based on which a variety of different network structures can be created by designing connection distances and coupling weights among all oscillator units. Through the relationships between the control parameters of the Hopf oscillator, decoupling of the bifurcation parameters is achieved to solve inconsistent output waveform amplitude when the bifurcation parameters are not completely equal. Furthermore, five typical movement modes of biological snake are designed and smooth switch between different locomotion gaits is realized. A control system is constructed based on the Robot Operating System (ROS) and a prototype of snake robot is built, and the effectiveness of the proposed CPG model in controlling locomotion gaits was verified through simulations and experiments. The CPG modeling approach has important theoretical significance and practical instructive value for motion planning and gait control of snake robots in complex environments.

蛇形机器人具有无肢结构和丰富的运动步态,已被设计和制造出来并广泛应用于军事侦察、管道作业、灾难搜救等多个领域。然而,如何灵活、平滑地控制不同运动步态的切换和变化仍是一个巨大的挑战。本文提出了一种由改进型霍普夫振荡器组成的 CPG 网络模型的统一设计规则,在此基础上,通过设计所有振荡器单元之间的连接距离和耦合权重,可以创建各种不同的网络结构。通过霍普夫振荡器控制参数之间的关系,实现了分岔参数的解耦,解决了分岔参数不完全相等时输出波形振幅不一致的问题。此外,还设计了生物蛇的五种典型运动模式,并实现了不同运动步态之间的平滑切换。基于机器人操作系统(ROS)构建了控制系统,并制作了蛇形机器人原型,通过仿真和实验验证了所提出的 CPG 模型在控制运动步态方面的有效性。CPG建模方法对于蛇形机器人在复杂环境中的运动规划和步态控制具有重要的理论意义和实践指导价值。
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引用次数: 0
Framework for the adoption, evaluation and impact of occupational Exoskeletons at different technology readiness levels: A systematic review 不同技术就绪程度的职业外骨骼的采用、评估和影响框架:系统回顾
IF 4.3 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-07-02 DOI: 10.1016/j.robot.2024.104743
Jamil Ahmad , Vasco Fanti , Darwin G. Caldwell , Christian Di Natali

Work-related Musculoskeletal Disorders (WMSDs) are the most common occupational diseases caused by the prolonged performance of strenuous work, such as manual handling of loads or long-term maintenance of incongruous postures. Different safety protocols are implemented to reduce WMSDs and optimize the working environment, but one of the most promising solutions is using occupational exoskeletons (OEs). However, to truly acknowledge the benefits of OEs and be able to introduce them into daily business use, devices must pass several development and testing stages that determine the Technology Readiness Level (TRL). This review study aims to present an up-to-date collection of the most advanced assessments of exoskeletons for upper and back support, ranging from laboratory real-task simulations to operational scenarios in industrial sites. To identify relevant studies, we conducted comprehensive searches across different electronic databases, i.e., PubMed, Scopus, and Web of Science. Different keywords were used for the literature search, e.g., occupational exoskeleton, industrial exoskeleton, etc. Studies were included if they investigated the assessment of exoskeletons in the laboratory with real tasks or an industrial environment. We identified 45 research articles that fulfilled this selection criterion. Several features are compared and discussed in detail, such as industrial environment, experimental protocol, task performed, and exoskeleton typology. These data allowed us to formulate results that report the correspondence or discrepancy between the number of papers testing exoskeletons and WMSDs in different industrial sectors, the type of assessment performed, and the impact of exoskeletons on workers and industries at different TRLs. Among the results, the incidence of WMSDs in the manufacturing industry is 21.13%, while the adoption of exoskeletons in the same field is the highest with respect to the other industrial fields, at 44.45%. Electromyography (EMG) and Questionnaires were the most evaluated typologies across all development and testing stages (with an incidence of 64% across the selected articles). Additionally, an average reduction of EMG activity was reported, with 24% for Upper Limb and 20% for Back Support. Regarding the subjective assessment reported in the questionnaires, 68% of the studies reported a positive evaluation. Based on these outcomes, this work provides a framework for an effective evaluation process for the OEs to raise TRL with recommendations for future research activities.

与工作相关的肌肉骨骼疾病(WMSDs)是最常见的职业病,是由于长时间从事体力劳动(如人工搬运负荷或长期保持不协调的姿势)而引起的。为减少 WMSDs 和优化工作环境,人们实施了不同的安全方案,但最有前途的解决方案之一是使用职业外骨骼(OE)。然而,要真正认识到职业外骨骼的益处并将其引入日常业务使用,设备必须通过多个开发和测试阶段,这些阶段决定了技术就绪水平(TRL)。本综述研究旨在介绍对用于上部和背部支撑的外骨骼进行的最先进评估的最新资料,评估范围从实验室实际任务模拟到工业现场的操作场景。为了确定相关研究,我们在不同的电子数据库(即 PubMed、Scopus 和 Web of Science)中进行了全面搜索。文献搜索使用了不同的关键词,如职业外骨骼、工业外骨骼等。如果研究调查了外骨骼在实验室实际任务或工业环境中的评估情况,则会被纳入其中。我们确定了 45 篇符合这一选择标准的研究文章。我们比较并详细讨论了一些特征,如工业环境、实验方案、执行的任务和外骨骼类型。通过这些数据,我们得出了一些结果,报告了在不同工业领域测试外骨骼和 WMSDs 的论文数量、进行的评估类型以及外骨骼在不同 TRLs 下对工人和工业的影响之间的对应或差异。结果显示,制造业的 WMSDs 发生率为 21.13%,而与其他工业领域相比,外骨骼在同一领域的采用率最高,为 44.45%。肌电图(EMG)和问卷调查是在所有开发和测试阶段评估最多的类型(在所选文章中的发生率为 64%)。此外,据报告,EMG 活动平均减少了 24%(上肢)和 20%(背部支撑)。关于调查问卷中的主观评估,68%的研究报告给予了积极评价。基于这些结果,这项工作为提高 TRL 的 OE 提供了一个有效评估流程框架,并为未来的研究活动提出了建议。
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引用次数: 0
Trajectory tracking control of wearable upper limb rehabilitation robot based on Laguerre model predictive control 基于拉盖尔模型预测控制的可穿戴上肢康复机器人轨迹跟踪控制
IF 4.3 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-06-28 DOI: 10.1016/j.robot.2024.104745
Yaguang Yan , Minan Tang , Wenjuan Wang , Yaqi Zhang , Bo An

Wearable rehabilitation robots have become an important auxiliary tool in rehabilitation therapy, providing effective rehabilitation training and helping to recover damaged muscles and joints. In response to the difficulty of traditional control methods in solving various constraints in the trajectory tracking process of the Upper Limb Rehabilitation Robot (ULRR), this study uses model predictive control to study the trajectory tracking problem of the upper limb rehabilitation robot. Firstly, based on the Lagrangian dynamic model of wearable rehabilitation robots, an extended state space model with pseudo linearization of the system was established. Given the performance indicators and various constraints of the system, a corresponding model predictive controller is designed based on the Laguerre model to ensure system performance while greatly reducing the computational complexity of predictive control. Secondly, the stability of the model predictive controller is demonstrated, and a disturbance observer is introduced into the controller to achieve compensation for slow-varying perturbations; a joint space sliding mode variable is also introduced to achieve simultaneous tracking of the joint’s desired position and desired velocity. Finally, taking a planar two bar robot as an example, comparative simulation verification was conducted on unconstrained joint trajectory tracking and constrained joint trajectory tracking. The simulation results show that the model predictive controller can achieve simultaneous tracking of joint expected trajectory and expected speed while meeting various constraints. It has good effects in improving patient motion control ability and reducing patient fatigue, providing new research ideas and methods for the field of rehabilitation therapy.

可穿戴康复机器人已成为康复治疗的重要辅助工具,可提供有效的康复训练,帮助恢复受损的肌肉和关节。针对传统控制方法难以解决上肢康复机器人轨迹跟踪过程中的各种约束条件,本研究采用模型预测控制研究上肢康复机器人的轨迹跟踪问题。首先,基于可穿戴康复机器人的拉格朗日动态模型,建立了系统伪线性化的扩展状态空间模型。考虑到系统的性能指标和各种约束条件,基于拉格朗日模型设计了相应的模型预测控制器,在保证系统性能的同时大大降低了预测控制的计算复杂度。其次,证明了模型预测控制器的稳定性,并在控制器中引入了扰动观测器,以实现对慢变扰动的补偿;还引入了关节空间滑模变量,以实现对关节期望位置和期望速度的同步跟踪。最后,以平面双杠机器人为例,对无约束关节轨迹跟踪和有约束关节轨迹跟踪进行了比较仿真验证。仿真结果表明,模型预测控制器可以在满足各种约束条件的同时,实现关节预期轨迹和预期速度的同步跟踪。它在提高患者运动控制能力和减轻患者疲劳方面具有良好的效果,为康复治疗领域提供了新的研究思路和方法。
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引用次数: 0
Cooperative path planning study of distributed multi-mobile robots based on optimised ACO algorithm 基于优化 ACO 算法的分布式多移动机器人合作路径规划研究
IF 4.3 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-06-26 DOI: 10.1016/j.robot.2024.104748
Zhi Cai , Jiahang Liu , Lin Xu , Jiayi Wang

The rapid development of robotics technology has driven the growth of robot types and the development of related technologies. As an important aspect of robot research, path planning technology plays an irreplaceable role in practical production and application. Ant colony algorithm has a wide range of applications in robot path planning, but there is also a problem of performance overly relying on initial parameter selection. In order to solve this problem and improve the performance of mobile robot path planning, an improved ant colony algorithm based on firefly algorithm was studied and designed in a two-dimensional environment. In order to further explore the performance of ant colony algorithm in solving robot coordinated path planning problems, an improved ant colony algorithm based on heuristic function was also designed. In a three-dimensional environment, an improved ant colony algorithm based on the improved artificial potential field method was designed. The research results show that the maximum running time of the improved ant colony algorithm based on the firefly algorithm in different grid environments is 819.36 s, 847.01 s, and 811.54 s, respectively. The average running time of the improved ant colony algorithm based on heuristic function in different grid environments is 5.19 s, 5.97 s, and 9.09 s, with average path lengths of 29.90 cm, 31.08 cm, and 37.01 cm, and path length variances of 0.35, 0.87, and 2.21, respectively. The ant colony algorithm based on the improved artificial potential field method has a running time of 1.930 s, 3.182 s, and 4.662 s in different grid environments, and a path length of 29.275 cm, 49.447 cm, and 67.057 cm, respectively. The ant colony algorithm for research and design optimization has good performance. The contribution of the research lies in the design of three path planning methods for mobile robots, including two-dimensional path planning and three-dimensional path planning, which improves the time of path planning and shortens the average path length. The novelty of the research is reflected in the design of a path planning method for mobile robots in two-dimensional and three-dimensional environments, which improves the ant colony algorithm through firefly algorithm and heuristic function, and combines the ant colony algorithm with the improved artificial potential field method. The method designed by the research institute can provide technical support for path planning of mobile robots.

机器人技术的飞速发展推动了机器人种类的增加和相关技术的发展。作为机器人研究的一个重要方面,路径规划技术在实际生产和应用中发挥着不可替代的作用。蚁群算法在机器人路径规划中有着广泛的应用,但也存在性能过于依赖初始参数选择的问题。为了解决这一问题,提高移动机器人路径规划的性能,在二维环境下研究并设计了一种基于萤火虫算法的改进蚁群算法。为了进一步探索蚁群算法在解决机器人协调路径规划问题中的性能,还设计了一种基于启发式函数的改进蚁群算法。在三维环境中,设计了基于改进人工势场方法的改进蚁群算法。研究结果表明,基于萤火虫算法的改进蚁群算法在不同网格环境下的最大运行时间分别为 819.36 秒、847.01 秒和 811.54 秒。基于启发式函数的改进蚁群算法在不同网格环境下的平均运行时间分别为 5.19 s、5.97 s 和 9.09 s,平均路径长度分别为 29.90 cm、31.08 cm 和 37.01 cm,路径长度方差分别为 0.35、0.87 和 2.21。基于改进人工势场方法的蚁群算法在不同网格环境下的运行时间分别为 1.930 s、3.182 s 和 4.662 s,路径长度分别为 29.275 cm、49.447 cm 和 67.057 cm。蚁群算法在研究和设计优化方面具有良好的性能。该研究的贡献在于为移动机器人设计了三种路径规划方法,包括二维路径规划和三维路径规划,提高了路径规划的时间,缩短了平均路径长度。研究的新颖性体现在设计了一种二维和三维环境下的移动机器人路径规划方法,该方法通过萤火虫算法和启发式函数改进了蚁群算法,并将蚁群算法与改进的人工势场方法相结合。研究所设计的方法可为移动机器人的路径规划提供技术支持。
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引用次数: 0
Robust fault detection and adaptive fixed-time fault-tolerant control for quadrotor UAVs 四旋翼无人飞行器的鲁棒故障检测和自适应固定时间容错控制
IF 4.3 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-06-24 DOI: 10.1016/j.robot.2024.104747
Mahmood Mazare, Mostafa Taghizadeh, Pegah Ghaf-Ghanbari, Ehsan Davoodi

This note scrutinizes an adaptive fault-tolerant control (FTC) approach tailored for unmanned aerial vehicles (UAVs), addressing the critical need for both fault accommodation and disturbance suppression. Departing from traditional reliance on robust discontinuous control strategies prone to chattering and demanding precise uncertainty bounds, our FTC method ensures fixed-time stability, guaranteeing the convergence of attitude tracking errors to zero. Central to our approach is an adaptive algorithm adept at concurrently estimating unknown actuator faults and upper bounds of lumped uncertainties. Moreover, our adaptive schemes accurately estimate the upper bound of the lumped uncertainty term, encompassing model uncertainties, external disturbances, and unmodeled dynamics, thereby eliminating the need for assuming known bounds on uncertainties. Stability analysis under the developed control law is thoroughly performed using the Lyapunov stability theory. Notably, our strategy employs an extended Kalman filter (EKF) observer for state estimation and fault detection, facilitating fault detection through an adaptive threshold technique dynamically adjusted based on real-time mean and variance of the residual signal. Through comprehensive simulation and experimental validations, our proposed methodology demonstrates significant advancements in ensuring safety and reliability in UAVs.

本论文仔细研究了为无人驾驶飞行器(UAV)量身定制的自适应容错控制(FTC)方法,解决了容错和抑制干扰的关键需求。我们的 FTC 方法有别于传统的依赖于容易产生颤振和要求精确不确定性边界的鲁棒非连续控制策略,它能确保固定时间稳定性,保证姿态跟踪误差收敛为零。我们方法的核心是一种自适应算法,它善于同时估计未知致动器故障和整块不确定性的上限。此外,我们的自适应方案还能准确估计整块不确定性项的上限,包括模型不确定性、外部干扰和未建模的动态,从而消除了假设不确定性已知上限的需要。利用 Lyapunov 稳定性理论对所开发的控制法则进行了全面的稳定性分析。值得注意的是,我们的策略采用了扩展卡尔曼滤波器(EKF)观测器进行状态估计和故障检测,通过基于残差信号的实时均值和方差动态调整的自适应阈值技术促进故障检测。通过全面的模拟和实验验证,我们提出的方法在确保无人机的安全性和可靠性方面取得了重大进展。
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引用次数: 0
Automatic lane change based on dynamic occupancy of an adaptive gird zone 基于自适应腰带区动态占用率的自动变道
IF 4.3 2区 计算机科学 Q1 Mathematics Pub Date : 2024-06-20 DOI: 10.1016/j.robot.2024.104732
Soo Ho Woo , Soon-Geul Lee , JaeHwan Choi , JunKi Hong , Jae-Hong Lee , HaoTian Xie

This paper presents adaptive and occupancy grid map algorithms for automatic lane change technology, a core technology in autonomous vehicles. The objectives are to improve driver safety and convenience with technology that automatically changes lanes at the request of the driver. The algorithms construct nine grids on the basis of ego vehicles and generate adaptive and occupancy grid maps by using the relative speeds of ego and target vehicles. When a driver requests a lane change, the adaptive grid map reduces the number of cases where the target vehicles may exist around the ego vehicle from 256 to 32, thus decreasing the calculation amount. Therefore, the algorithms are suitable for use in autonomous vehicles that require real-time calculations. An occupancy grid map is formed in accordance with the location of the target vehicles, and whether lane changes are possible is determined. The algorithms generate a virtual simulation environment with the CarMaker and are simulated using Matlab/Simulink. An experiment is conducted in a real driving environment with real vehicles to prove the validity of the algorithms.

© 2017 Elsevier Inc. All rights reserved.

本文介绍了自动变道技术的自适应和占位网格图算法,这是自动驾驶汽车的一项核心技术。其目的是通过应驾驶员要求自动变更车道的技术,提高驾驶员的安全性和便利性。该算法以自我车辆为基础构建九个网格,并利用自我车辆和目标车辆的相对速度生成自适应和占用网格图。当驾驶员请求变更车道时,自适应网格图将自我车辆周围可能存在目标车辆的情况从 256 种减少到 32 种,从而减少了计算量。因此,该算法适用于需要实时计算的自动驾驶车辆。根据目标车辆的位置形成占用网格图,并确定是否可以变道。算法通过 CarMaker 生成虚拟仿真环境,并使用 Matlab/Simulink 进行仿真。为了证明算法的有效性,我们在真实驾驶环境中使用真实车辆进行了实验。保留所有权利。
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引用次数: 0
Sim-to-real transfer of active suspension control using deep reinforcement learning 利用深度强化学习实现主动悬架控制的仿真到真实传输
IF 4.3 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-06-13 DOI: 10.1016/j.robot.2024.104731
Viktor Wiberg , Erik Wallin , Arvid Fälldin , Tobias Semberg , Morgan Rossander , Eddie Wadbro , Martin Servin

We explore sim-to-real transfer of deep reinforcement learning controllers for a heavy vehicle with active suspensions designed for traversing rough terrain. While related research primarily focuses on lightweight robots with electric motors and fast actuation, this study uses a forestry vehicle with a complex hydraulic driveline and slow actuation. We simulate the vehicle using multibody dynamics and apply system identification to find an appropriate set of simulation parameters. We then train policies in simulation using various techniques to mitigate the sim-to-real gap, including domain randomization, action delays, and a reward penalty to encourage smooth control. In reality, the policies trained with action delays and a penalty for erratic actions perform nearly at the same level as in simulation. In experiments on level ground, the motion trajectories closely overlap when turning to either side, as well as in a route tracking scenario. When faced with a ramp that requires active use of the suspensions, the simulated and real motions are in close alignment. This shows that the actuator model together with system identification yields a sufficiently accurate model of the actuators. We observe that policies trained without the additional action penalty exhibit fast switching or bang–bang control. These present smooth motions and high performance in simulation but transfer poorly to reality. We find that policies make marginal use of the local height map for perception, showing no indications of predictive planning. However, the strong transfer capabilities entail that further development concerning perception and performance can be largely confined to simulation.

我们探索了深度强化学习控制器从模拟到现实的转移,这种控制器适用于带有主动悬挂系统的重型车辆,专为穿越崎岖地形而设计。相关研究主要集中在配有电动马达和快速驱动装置的轻型机器人上,而本研究使用的是配有复杂液压传动系统和慢速驱动装置的林业车辆。我们使用多体动力学对车辆进行仿真,并应用系统识别来找到一组合适的仿真参数。然后,我们使用各种技术在模拟中训练策略,以缩小模拟与现实之间的差距,包括域随机化、动作延迟和奖励惩罚,以鼓励平稳控制。在现实中,使用动作延迟和对不稳定动作的惩罚来训练的策略与模拟中的表现几乎相同。在平地上进行的实验中,向两侧转弯时的运动轨迹与路线追踪场景中的运动轨迹紧密重叠。当遇到需要主动使用悬挂装置的坡道时,模拟运动轨迹与实际运动轨迹也非常接近。这表明,执行器模型与系统识别一起产生了足够精确的执行器模型。我们观察到,在没有额外动作惩罚的情况下训练出来的策略表现出快速切换或砰砰控制。这些策略在模拟中表现出平滑的运动和较高的性能,但在现实中却表现不佳。我们发现,这些策略对局部高度图的感知利用甚微,没有显示出预测规划的迹象。然而,强大的转移能力意味着有关感知和性能的进一步发展可以在很大程度上局限于模拟。
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引用次数: 0
A review of advances in underwater humanoid robots for human–machine cooperation 水下仿人机器人在人机合作方面的进展综述
IF 4.3 2区 计算机科学 Q1 Mathematics Pub Date : 2024-06-13 DOI: 10.1016/j.robot.2024.104744
Canjun Yang , Xin Wu , Mingwei Lin , Ri Lin , Di Wu

Underwater humanoid robots (UHRs) have emerged as a significant area of interest in robotics, with the potential to overcome the limitations of traditional underwater robots and revolutionize underwater activities. This review examines the development of UHRs, focusing on their perception, decision-making, and execution capabilities within a hierarchical human-machine cooperation framework. The Perception Layer involves gathering information from the environment and human collaborators. The Decision-making Layer explores different levels of robot autonomy and the current status of human-UHR collaborative decision-making. The Execution Layer encompasses modeling, control, and actuation mechanisms to translate high-level intentions into physical actions. Various UHR implementations across research teams are reviewed to provide a comprehensive overview of current advancements. Discussions and challenges surrounding UHR progress are provided as well. Continued research and development efforts of UHR represent a promising avenue for advancing human-machine cooperation and pushing the boundaries of underwater exploration, contributing to scientific discoveries and societal benefits in this captivating realm.

水下仿人机器人(UHRs)已成为机器人技术的一个重要兴趣领域,它有可能克服传统水下机器人的局限性,并彻底改变水下活动。本综述探讨了仿人机器人的发展,重点关注其在分层人机合作框架内的感知、决策和执行能力。感知层涉及从环境和人类合作者那里收集信息。决策层探讨了机器人自主性的不同层次以及人类-UHR 合作决策的现状。执行层包括建模、控制和执行机制,以将高层次意图转化为实际行动。研究团队对各种 UHR 实施情况进行了回顾,以全面概述当前的进展情况。此外,还提供了有关 UHR 进展的讨论和挑战。UHR 的持续研究和开发工作是推进人机合作和突破水下探索界限的一条大有可为的途径,有助于在这一迷人的领域取得科学发现和社会效益。
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引用次数: 0
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Robotics and Autonomous Systems
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