Pub Date : 2024-09-12DOI: 10.1017/s0263574724000997
Long Chen, Zhihui Jin, Ke Shao, Guangyi Wang, Shuping He, Vladimir Stojanovic, Parisa Arabzadeh Bahri, Hai Wang
In this paper, an unmanned bicycle (UB) with a reaction wheel is designed, and a second-order mathematical model with uncertainty is established. In order to achieve excellent balancing performance of the UB system, an adaptive controller is designed, which is composed of nominal feedback control, compensating control using extreme learning machine observer and reaching control via integral terminal sliding mode (ITSM) and barrier function (BF)-based adaptive law. Owing to the features of BF-based ITSM (BFITSM), not only any uncertainty or disturbance upper bound is not needed any longer but also the finite-time convergence of the closed-loop system can be ensured with a predefined error bound. Moreover, the BF-based control gain can be adaptively adjusted according to the update of the lumped uncertainty such that the overestimation is removed. The stability analysis of the closed-loop system is given according to Lyapunov theory. Comparable experimental results on an actual UB are carried out to validate the superior balancing performance of the proposed controller.
{"title":"Adaptive integral terminal sliding mode control of unmanned bicycle via ELM and barrier function","authors":"Long Chen, Zhihui Jin, Ke Shao, Guangyi Wang, Shuping He, Vladimir Stojanovic, Parisa Arabzadeh Bahri, Hai Wang","doi":"10.1017/s0263574724000997","DOIUrl":"https://doi.org/10.1017/s0263574724000997","url":null,"abstract":"<p>In this paper, an unmanned bicycle (UB) with a reaction wheel is designed, and a second-order mathematical model with uncertainty is established. In order to achieve excellent balancing performance of the UB system, an adaptive controller is designed, which is composed of nominal feedback control, compensating control using extreme learning machine observer and reaching control via integral terminal sliding mode (ITSM) and barrier function (BF)-based adaptive law. Owing to the features of BF-based ITSM (BFITSM), not only any uncertainty or disturbance upper bound is not needed any longer but also the finite-time convergence of the closed-loop system can be ensured with a predefined error bound. Moreover, the BF-based control gain can be adaptively adjusted according to the update of the lumped uncertainty such that the overestimation is removed. The stability analysis of the closed-loop system is given according to Lyapunov theory. Comparable experimental results on an actual UB are carried out to validate the superior balancing performance of the proposed controller.</p>","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186164","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}
When generating simultaneous joint movements of a humanoid with multiple degrees of freedom to replicate human-like movements, the approach of joint synergy can facilitate the generation of whole-body robotic movement with a reduced number of control inputs. However, the trade-off of minimizing control inputs and keeping characteristics of movements makes it difficult to improve movement performance in a simple control manner. In this paper, we introduce an approach by connecting and constraining these joints. It is inspired by the fascia network of the human body, which constrains the whole-body movements of a human. Compared to when only joint synergy is used, the effectiveness of the proposed method is verified by calculating the errors of joint positions of generated movements and human movements. The paper provides a detailed exploration of the proposed method, presenting simulation-experimental results that affirm its effectiveness in generated movements that closely resemble human movements. Furthermore, we provide one possible method on how these concepts can be implemented in actual robotic hardware, offering a pathway to improve movement control in humanoid robots within their mechanical limitations.
{"title":"Joint angle synergy-based humanoid robot motion generation with fascia-inspired nonlinear constraints","authors":"Shiqi Yu, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro","doi":"10.1017/s0263574724000961","DOIUrl":"https://doi.org/10.1017/s0263574724000961","url":null,"abstract":"<p>When generating simultaneous joint movements of a humanoid with multiple degrees of freedom to replicate human-like movements, the approach of joint synergy can facilitate the generation of whole-body robotic movement with a reduced number of control inputs. However, the trade-off of minimizing control inputs and keeping characteristics of movements makes it difficult to improve movement performance in a simple control manner. In this paper, we introduce an approach by connecting and constraining these joints. It is inspired by the fascia network of the human body, which constrains the whole-body movements of a human. Compared to when only joint synergy is used, the effectiveness of the proposed method is verified by calculating the errors of joint positions of generated movements and human movements. The paper provides a detailed exploration of the proposed method, presenting simulation-experimental results that affirm its effectiveness in generated movements that closely resemble human movements. Furthermore, we provide one possible method on how these concepts can be implemented in actual robotic hardware, offering a pathway to improve movement control in humanoid robots within their mechanical limitations.</p>","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186166","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 : 2024-09-12DOI: 10.1017/s026357472400095x
Tianyu Zhang, Jieliang Zhao, Chenyang Zhang, Qun Niu, Shaoze Yan
The ability of quadruped robots to overcome obstacles is a critical factor that limits their practical application. Here, a design concept and a control algorithm are presented that aim at enhancing the explosive force of quadruped robots during jumping by utilizing elastic energy storage components. The hind legs of the quadruped robot are designed as energy storage units. Tension springs are utilized as components for storing energy and are installed in a parallel structure on the hind leg. Energy is stored during the compression process of the robot’s torso and released during the jumping phase. The optimal foot force is calculated using a single rigid body model. The mapping relationship between the force applied to the foot and the resulting joint torque is established by developing a dynamic model of the hind legs. Simulation experiments were conducted using the Webots physics engine to compare the impact of varying spring stiffness on joint torque during the jumping process. This study determined the optimal spring stiffness under specific conditions. The hind legs’ torque saving ratio reaches 19%, and the energy-saving ratio reaches 13%, which validates the effectiveness and feasibility of integrating elastic energy storage components.
{"title":"Research on the biomimetic quadruped jumping robot based on an efficient energy storage structure","authors":"Tianyu Zhang, Jieliang Zhao, Chenyang Zhang, Qun Niu, Shaoze Yan","doi":"10.1017/s026357472400095x","DOIUrl":"https://doi.org/10.1017/s026357472400095x","url":null,"abstract":"The ability of quadruped robots to overcome obstacles is a critical factor that limits their practical application. Here, a design concept and a control algorithm are presented that aim at enhancing the explosive force of quadruped robots during jumping by utilizing elastic energy storage components. The hind legs of the quadruped robot are designed as energy storage units. Tension springs are utilized as components for storing energy and are installed in a parallel structure on the hind leg. Energy is stored during the compression process of the robot’s torso and released during the jumping phase. The optimal foot force is calculated using a single rigid body model. The mapping relationship between the force applied to the foot and the resulting joint torque is established by developing a dynamic model of the hind legs. Simulation experiments were conducted using the Webots physics engine to compare the impact of varying spring stiffness on joint torque during the jumping process. This study determined the optimal spring stiffness under specific conditions. The hind legs’ torque saving ratio reaches 19%, and the energy-saving ratio reaches 13%, which validates the effectiveness and feasibility of integrating elastic energy storage components.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186170","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 : 2024-09-11DOI: 10.1017/s0263574724001097
Daniel Teixeira de Paula, Eduardo Paciencia Godoy, Mauricio Becerra-Vargas
Evolution has shown that legged locomotion is most adequate for tasks requiring versatile movement on land, allowing animals to traverse a wide variety of environments ranging from natural terrain to artificial, man-made landscapes with great ease. By employing well-designed control schemes, this ability could be replicated for legged robots, enabling them to be used in critical situations that still pose great danger to human integrity, such as search and rescue missions, inspection of hazardous areas, and even space exploration. This work characterizes the quadruped robot and contact dynamics that will compose our in-house simulator to be used for prototyping locomotion control schemes applied to quadruped robots. The proposed simulator computes the robot dynamics using the Recursive Newton-Euler and Composite-Rigid-Body algorithms with a few modifications to make certain aspects relevant for contact detection and control more easily accessible; furthermore, a compliant contact force method alongside stick-slip friction modeled the contact dynamics. To allow the robot to move, a simple PD-independent joint controller was implemented to track a desired leg trajectory. With the same robot and controller implemented using the MuJoCo simulation software, this work evaluates the proposed simulator by comparing characteristic locomotion signals such as the trunk pose and the ground reaction forces. Results showed similar behavior for both simulators, especially with regard to the contact detection, despite the significantly different contact models. Lastly, final remarks to enhance our simulator’s performance are suggested to be explored in future works.
{"title":"Dynamic modeling and simulation of a torque-controlled spatial quadruped robot","authors":"Daniel Teixeira de Paula, Eduardo Paciencia Godoy, Mauricio Becerra-Vargas","doi":"10.1017/s0263574724001097","DOIUrl":"https://doi.org/10.1017/s0263574724001097","url":null,"abstract":"Evolution has shown that legged locomotion is most adequate for tasks requiring versatile movement on land, allowing animals to traverse a wide variety of environments ranging from natural terrain to artificial, man-made landscapes with great ease. By employing well-designed control schemes, this ability could be replicated for legged robots, enabling them to be used in critical situations that still pose great danger to human integrity, such as search and rescue missions, inspection of hazardous areas, and even space exploration. This work characterizes the quadruped robot and contact dynamics that will compose our in-house simulator to be used for prototyping locomotion control schemes applied to quadruped robots. The proposed simulator computes the robot dynamics using the Recursive Newton-Euler and Composite-Rigid-Body algorithms with a few modifications to make certain aspects relevant for contact detection and control more easily accessible; furthermore, a compliant contact force method alongside stick-slip friction modeled the contact dynamics. To allow the robot to move, a simple PD-independent joint controller was implemented to track a desired leg trajectory. With the same robot and controller implemented using the MuJoCo simulation software, this work evaluates the proposed simulator by comparing characteristic locomotion signals such as the trunk pose and the ground reaction forces. Results showed similar behavior for both simulators, especially with regard to the contact detection, despite the significantly different contact models. Lastly, final remarks to enhance our simulator’s performance are suggested to be explored in future works.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186171","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 : 2024-08-28DOI: 10.1017/s0263574724000742
S. S. Sunil, A. Shri Vindhya
Diabetic retinopathy (DR) is a complication of diabetes that causes blindness and the early detection of diabetics using retinopathy images remains a challenging task. Hence, a novel, earlier smart prediction of diabetic retinopathy from fundus image under Innovative ResNet Optimization is introduced to effectively detect the earlier stage of DR from Fundus image. Initially, the fundus image is scaled during preprocessing and converted into a grayscale format. As the existing studies neglect some deserving unique features that are crucial for predicting the earliest signs of DR, a novel Fractional Radon Transform with Visibility Graph is introduced for extracting the novel features such as microaneurysms count, dot and blot hemorrhages count, statistical measures, and retinal layer thickness, in which a Generalized Cosine Fractional Radon Transform is used to capture the image’s fine-scale texture information thereby effectively capturing the statistical measures, while a weighted Horizontal Visibility Graph is made to examine the apparent spatial relationships between pixel pairs in the image based on the values of the pixels’ gray levels. Further, the existing works failed to identify the small fine dark areas that were ignored throughout the morphological opening process. In order to overcome this issue, a Morphological Black Hat Transform with Optimized ResNet Algorithm is implemented, where segmentation is made through Enriched Black Hat Transform-based Morphological operation to identify fine dark regions among the pixels inside the eye samples, and the classification is done by using ResNet-driven S-GOA (Socio Grasshopper Optimization Algorithm), to optimally predict the stages of DR. The result obtained showed that the proposed model outperforms existing techniques with high performance and accuracy.
糖尿病视网膜病变（DR）是一种导致失明的糖尿病并发症，利用视网膜病变图像早期检测糖尿病患者仍然是一项具有挑战性的任务。因此，在创新的 ResNet 优化技术下，引入了一种新颖的、更早从眼底图像智能预测糖尿病视网膜病变的方法，以有效地从眼底图像检测出早期的糖尿病视网膜病变。最初，眼底图像在预处理过程中被缩放并转换成灰度格式。由于现有研究忽略了对预测 DR 早期征兆至关重要的一些值得注意的独特特征，因此引入了一种带有可见度图的新型分数拉顿变换，用于提取微动脉瘤计数、点状和斑点状出血计数、统计量和视网膜层厚度等新型特征、其中，广义余弦分数 Radon 变换用于捕捉图像的细尺度纹理信息，从而有效地捕捉统计量，而加权水平可见度图则根据像素的灰度值来检查图像中像素对之间的明显空间关系。此外，现有的工作无法识别在整个形态开放过程中被忽略的细小暗区。为了克服这一问题，我们采用了一种形态学黑帽变换与优化的 ResNet 算法，通过基于丰富黑帽变换的形态学操作进行分割，以识别眼球样本内部像素中的细小暗区，并使用 ResNet 驱动的 S-GOA（社会蚱蜢优化算法）进行分类，以优化预测 DR 的阶段。结果表明，所提出的模型在性能和准确性上都优于现有技术。
{"title":"Earlier smart prediction of diabetic retinopathy from fundus image under innovative ResNet optimization maneuver","authors":"S. S. Sunil, A. Shri Vindhya","doi":"10.1017/s0263574724000742","DOIUrl":"https://doi.org/10.1017/s0263574724000742","url":null,"abstract":"Diabetic retinopathy (DR) is a complication of diabetes that causes blindness and the early detection of diabetics using retinopathy images remains a challenging task. Hence, a novel, earlier smart prediction of diabetic retinopathy from fundus image under Innovative ResNet Optimization is introduced to effectively detect the earlier stage of DR from Fundus image. Initially, the fundus image is scaled during preprocessing and converted into a grayscale format. As the existing studies neglect some deserving unique features that are crucial for predicting the earliest signs of DR, a novel Fractional Radon Transform with Visibility Graph is introduced for extracting the novel features such as microaneurysms count, dot and blot hemorrhages count, statistical measures, and retinal layer thickness, in which a Generalized Cosine Fractional Radon Transform is used to capture the image’s fine-scale texture information thereby effectively capturing the statistical measures, while a weighted Horizontal Visibility Graph is made to examine the apparent spatial relationships between pixel pairs in the image based on the values of the pixels’ gray levels. Further, the existing works failed to identify the small fine dark areas that were ignored throughout the morphological opening process. In order to overcome this issue, a Morphological Black Hat Transform with Optimized ResNet Algorithm is implemented, where segmentation is made through Enriched Black Hat Transform-based Morphological operation to identify fine dark regions among the pixels inside the eye samples, and the classification is done by using ResNet-driven S-GOA (Socio Grasshopper Optimization Algorithm), to optimally predict the stages of DR. The result obtained showed that the proposed model outperforms existing techniques with high performance and accuracy.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186172","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 : 2024-08-27DOI: 10.1017/s0263574724000900
Samuel Lafreniere, Blayton Padasdao, Bardia Konh
Prostate cancer is the second most common malignancy in American men. High-dose-rate brachytherapy is a popular treatment technique in which a large, localized radiation dose is used to kill cancer. Utilization of curvilinear catheter implantation inside the prostate gland to provide access channels to host the radiation source has shown superiority in terms of improved dosimetric constraints compared to straight needles. To this aim, we have introduced an active needle to curve inside the prostate conformal to the patient’s specific anatomical relationship for improved dose distribution to the prostate and reduced toxicity to the organs at risk. This work presents closed-loop control of our tendon-driven active needle in water medium and air using the position feedback of the tip obtained in real time from an ultrasound (US) or an electromagnetic (EM) tracking sensor, respectively. The active needle consists of a compliant flexure section to realize bending in two directions via actuation of two internal tendons. Tracking errors using US and EM trackers are estimated and compared. Results show that the bending angle of the active needle could be controlled using position feedback of the US or the EM tracking system with a bending angle error of less than 1.00 degree when delay is disregarded. It is concluded that the actuation system and controller, presented in this work, are able to realize a desired bending angle at the active needle tip with reasonable accuracy paving the path for tip tracking and manipulation control evaluations in a prostate brachytherapy.
前列腺癌是美国男性第二大常见恶性肿瘤。高剂量率近距离放射治疗是一种流行的治疗技术，它利用大剂量的局部放射线来杀死癌细胞。与直针相比，利用曲线导管植入前列腺内，为放射源提供进入通道，在改善剂量限制方面显示出优越性。为此，我们引入了一种主动针，根据患者的具体解剖关系在前列腺内形成曲线，以改善前列腺的剂量分布，降低对危险器官的毒性。这项研究利用超声（US）或电磁（EM）跟踪传感器实时获得的针尖位置反馈，对我们的腱驱动主动针在水介质和空气中的运行进行闭环控制。主动针由一个顺应性弯曲部分组成，通过两个内部腱的驱动实现两个方向的弯曲。对使用 US 和 EM 跟踪器的跟踪误差进行了估算和比较。结果表明，使用 US 或 EM 跟踪系统的位置反馈可以控制主动针的弯曲角度，在不考虑延迟的情况下，弯曲角度误差小于 1.00 度。结论是，本研究中介绍的驱动系统和控制器能够以合理的精度实现主动针尖的理想弯曲角度，为前列腺近距离治疗中的针尖跟踪和操纵控制评估铺平了道路。
{"title":"Closed-loop control of a tendon-driven active needle for tip tracking at desired bending angle for high-dose-rate prostate brachytherapy","authors":"Samuel Lafreniere, Blayton Padasdao, Bardia Konh","doi":"10.1017/s0263574724000900","DOIUrl":"https://doi.org/10.1017/s0263574724000900","url":null,"abstract":"Prostate cancer is the second most common malignancy in American men. High-dose-rate brachytherapy is a popular treatment technique in which a large, localized radiation dose is used to kill cancer. Utilization of curvilinear catheter implantation inside the prostate gland to provide access channels to host the radiation source has shown superiority in terms of improved dosimetric constraints compared to straight needles. To this aim, we have introduced an active needle to curve inside the prostate conformal to the patient’s specific anatomical relationship for improved dose distribution to the prostate and reduced toxicity to the organs at risk. This work presents closed-loop control of our tendon-driven active needle in water medium and air using the position feedback of the tip obtained in real time from an ultrasound (US) or an electromagnetic (EM) tracking sensor, respectively. The active needle consists of a compliant flexure section to realize bending in two directions via actuation of two internal tendons. Tracking errors using US and EM trackers are estimated and compared. Results show that the bending angle of the active needle could be controlled using position feedback of the US or the EM tracking system with a bending angle error of less than 1.00 degree when delay is disregarded. It is concluded that the actuation system and controller, presented in this work, are able to realize a desired bending angle at the active needle tip with reasonable accuracy paving the path for tip tracking and manipulation control evaluations in a prostate brachytherapy.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186173","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}
This paper proposes a novel two-layer framework based on conflict-based search and regional divisions to improve the efficiency of multi-robot path planning. The high-level layer targets the reduction of conflicts and deadlocks, while the low-level layer is responsible for actual path planning. Distinct from previous dual-level search frameworks, the novelties of this work are (1) subdivision of planning regions for each robot to decrease the number of conflicts encountered during planning; (2) consideration of the number of robots in the region during planning in the node expansion stage of A*, and (3) formal proof demonstrating the nonzero probability of the proposed method in obtaining a solution, along with providing the upper bound of the solution in a special case. Experimental comparisons with Enhanced Conflict-Based Search demonstrate that the proposed method not only reduces the number of conflicts but also achieves a computation time reduction of over 30%.
{"title":"RH-ECBS: enhanced conflict-based search for MRPP with region heuristics","authors":"Zhangchao Pan, Runhua Wang, Qingchen Bi, Xuebo Zhang, Jingjin Yu","doi":"10.1017/s0263574724000894","DOIUrl":"https://doi.org/10.1017/s0263574724000894","url":null,"abstract":"This paper proposes a novel two-layer framework based on conflict-based search and regional divisions to improve the efficiency of multi-robot path planning. The high-level layer targets the reduction of conflicts and deadlocks, while the low-level layer is responsible for actual path planning. Distinct from previous dual-level search frameworks, the novelties of this work are (1) subdivision of planning regions for each robot to decrease the number of conflicts encountered during planning; (2) consideration of the number of robots in the region during planning in the node expansion stage of A*, and (3) formal proof demonstrating the nonzero probability of the proposed method in obtaining a solution, along with providing the upper bound of the solution in a special case. Experimental comparisons with Enhanced Conflict-Based Search demonstrate that the proposed method not only reduces the number of conflicts but also achieves a computation time reduction of over 30%.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186174","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 : 2024-06-05DOI: 10.1017/s0263574724000493
Chunyang Yuan, Yong Chang, Yifeng Song, Song Lin, Fengren Jing
A negative pressure wall-climbing robot is a special robot for climbing vertical walls, which is widely used in construction, petrochemicals, nuclear energy, shipbuilding, and other industries. The mobility and adhesion of the wheel-track wall-climbing robot with steering-straight mode are significantly decreased on the cylindrical wall, especially during steering. The reason is that the suction chamber may separate from the wall and the required driving force for movement increases, during steering. In this paper, a negative pressure wall-climbing robot with omnidirectional movement mode is developed. By introducing a compliant adjusting suction mechanism and omni-belt wheels, an omnidirectional movement mode is formed instead of the steering-straight mode, and the performances of adhesion and mobility are improved. We establish the safety adhesion model for the robot on a cylindrical wall and obtain the safety adhesion forces. We designed and manufactured an experimental prototype based on the analysis. Experiments showed that the robot has the ability of full maneuverability in cylindrical walls.
{"title":"Design and analysis of a negative pressure wall-climbing robot with an omnidirectional characteristic for cylindrical wall","authors":"Chunyang Yuan, Yong Chang, Yifeng Song, Song Lin, Fengren Jing","doi":"10.1017/s0263574724000493","DOIUrl":"https://doi.org/10.1017/s0263574724000493","url":null,"abstract":"<p>A negative pressure wall-climbing robot is a special robot for climbing vertical walls, which is widely used in construction, petrochemicals, nuclear energy, shipbuilding, and other industries. The mobility and adhesion of the wheel-track wall-climbing robot with steering-straight mode are significantly decreased on the cylindrical wall, especially during steering. The reason is that the suction chamber may separate from the wall and the required driving force for movement increases, during steering. In this paper, a negative pressure wall-climbing robot with omnidirectional movement mode is developed. By introducing a compliant adjusting suction mechanism and omni-belt wheels, an omnidirectional movement mode is formed instead of the steering-straight mode, and the performances of adhesion and mobility are improved. We establish the safety adhesion model for the robot on a cylindrical wall and obtain the safety adhesion forces. We designed and manufactured an experimental prototype based on the analysis. Experiments showed that the robot has the ability of full maneuverability in cylindrical walls.</p>","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141253567","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 : 2024-05-30DOI: 10.1017/s0263574724000687
Jingtao Lei, Guangqing Song
Robots have the capability to perform precise and minimally invasive surgeries. For the robot-assisted teleoperated fracture reduction surgery, the operating accuracy largely depends on visual reference through fluoroscopy. The operator needs to adjust several times according to computed tomography (CT) image. During the robot reduction surgery, there are large muscle forces generated by the numerous muscles surrounding the fractured segments. However, there is no effective reduction force feedback to the master robot. In this paper, in order to improve the operating accuracy of the fracture reduction with teleoperated surgery mode, six-dimensional constraints of the master robot are studied by utilizing the virtual fixture method, which can restrict the position and orientation through the force and visual guidance. The six-dimensional force sensor is used to collect information of the reduction force. For the master robot, a motor stall control method based on the current loop is adopted to provide feedback of the reduction force, which can enhance the surgeon’s sense of operational presence. To verify the effectiveness of virtual fixture and force feedback, the fracture reduction experiments are conducted on the fractured model with simulating lager muscle force. Experimental results show that the reduction errors are within acceptable ranges: $0.03pm 0.73textrm{mm}$ , $0.54pm 0.43textrm{mm}$ , $0.46pm 1.05textrm{mm}$ , $1.05pm 1.31^{circ}$ , $1.15pm 1.91^{circ}$ , $1.09pm 2.61^{circ}$ . The numb
{"title":"Six-dimensional constraints and force feedback for robot-assisted teleoperated fracture reduction","authors":"Jingtao Lei, Guangqing Song","doi":"10.1017/s0263574724000687","DOIUrl":"https://doi.org/10.1017/s0263574724000687","url":null,"abstract":"Robots have the capability to perform precise and minimally invasive surgeries. For the robot-assisted teleoperated fracture reduction surgery, the operating accuracy largely depends on visual reference through fluoroscopy. The operator needs to adjust several times according to computed tomography (CT) image. During the robot reduction surgery, there are large muscle forces generated by the numerous muscles surrounding the fractured segments. However, there is no effective reduction force feedback to the master robot. In this paper, in order to improve the operating accuracy of the fracture reduction with teleoperated surgery mode, six-dimensional constraints of the master robot are studied by utilizing the virtual fixture method, which can restrict the position and orientation through the force and visual guidance. The six-dimensional force sensor is used to collect information of the reduction force. For the master robot, a motor stall control method based on the current loop is adopted to provide feedback of the reduction force, which can enhance the surgeon’s sense of operational presence. To verify the effectiveness of virtual fixture and force feedback, the fracture reduction experiments are conducted on the fractured model with simulating lager muscle force. Experimental results show that the reduction errors are within acceptable ranges: <jats:inline-formula> <jats:alternatives> <jats:inline-graphic xmlns:xlink=\"http://www.w3.org/1999/xlink\" mime-subtype=\"png\" xlink:href=\"S0263574724000687_inline1.png\"/> <jats:tex-math> $0.03pm 0.73textrm{mm}$ </jats:tex-math> </jats:alternatives> </jats:inline-formula>, <jats:inline-formula> <jats:alternatives> <jats:inline-graphic xmlns:xlink=\"http://www.w3.org/1999/xlink\" mime-subtype=\"png\" xlink:href=\"S0263574724000687_inline2.png\"/> <jats:tex-math> $0.54pm 0.43textrm{mm}$ </jats:tex-math> </jats:alternatives> </jats:inline-formula>, <jats:inline-formula> <jats:alternatives> <jats:inline-graphic xmlns:xlink=\"http://www.w3.org/1999/xlink\" mime-subtype=\"png\" xlink:href=\"S0263574724000687_inline3.png\"/> <jats:tex-math> $0.46pm 1.05textrm{mm}$ </jats:tex-math> </jats:alternatives> </jats:inline-formula>, <jats:inline-formula> <jats:alternatives> <jats:inline-graphic xmlns:xlink=\"http://www.w3.org/1999/xlink\" mime-subtype=\"png\" xlink:href=\"S0263574724000687_inline4.png\"/> <jats:tex-math> $1.05pm 1.31^{circ}$ </jats:tex-math> </jats:alternatives> </jats:inline-formula>, <jats:inline-formula> <jats:alternatives> <jats:inline-graphic xmlns:xlink=\"http://www.w3.org/1999/xlink\" mime-subtype=\"png\" xlink:href=\"S0263574724000687_inline5.png\"/> <jats:tex-math> $1.15pm 1.91^{circ}$ </jats:tex-math> </jats:alternatives> </jats:inline-formula>, <jats:inline-formula> <jats:alternatives> <jats:inline-graphic xmlns:xlink=\"http://www.w3.org/1999/xlink\" mime-subtype=\"png\" xlink:href=\"S0263574724000687_inline6.png\"/> <jats:tex-math> $1.09pm 2.61^{circ}$ </jats:tex-math> </jats:alternatives> </jats:inline-formula>. The numb","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141196738","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 : 2024-05-27DOI: 10.1017/s0263574724000420
Weili Ding, Ziqi Pei, Tao Yang, Taiyu Chen
In practical applications, many robots equipped with embedded devices have limited computing capabilities. These limitations often hinder the performance of existing dynamic SLAM algorithms, especially when faced with occlusions or processor constraints. Such challenges lead to subpar positioning accuracy and efficiency. This paper introduces a novel lightweight dynamic SLAM algorithm designed primarily to mitigate the interference caused by moving object occlusions. Our proposed approach combines a deep learning object detection algorithm with a Kalman filter. This combination offers prior information about dynamic objects for each SLAM algorithm frame. Leveraging geometric techniques like RANSAC and the epipolar constraint, our method filters out dynamic feature points, focuses on static feature points for pose determination, and enhances the SLAM algorithm’s robustness in dynamic environments. We conducted experimental validations on the TUM public dataset, which demonstrated that our approach elevates positioning accuracy by approximately 54% and boosts the running speed by 75.47% in dynamic scenes.
在实际应用中，许多配备嵌入式设备的机器人计算能力有限。这些限制往往会妨碍现有动态 SLAM 算法的性能，尤其是在面临遮挡或处理器限制时。这些挑战导致定位精度和效率低下。本文介绍了一种新颖的轻量级动态 SLAM 算法，该算法主要用于减轻移动物体遮挡所造成的干扰。我们提出的方法结合了深度学习物体检测算法和卡尔曼滤波器。这种组合为每个 SLAM 算法帧提供了动态物体的先验信息。利用 RANSAC 和外极约束等几何技术，我们的方法可以过滤掉动态特征点，专注于静态特征点的姿态确定，并增强 SLAM 算法在动态环境中的鲁棒性。我们在 TUM 公共数据集上进行了实验验证，结果表明我们的方法在动态场景中将定位精度提高了约 54%，将运行速度提高了 75.47%。
{"title":"Dynamic simultaneous localization and mapping based on object tracking in occluded environment","authors":"Weili Ding, Ziqi Pei, Tao Yang, Taiyu Chen","doi":"10.1017/s0263574724000420","DOIUrl":"https://doi.org/10.1017/s0263574724000420","url":null,"abstract":"In practical applications, many robots equipped with embedded devices have limited computing capabilities. These limitations often hinder the performance of existing dynamic SLAM algorithms, especially when faced with occlusions or processor constraints. Such challenges lead to subpar positioning accuracy and efficiency. This paper introduces a novel lightweight dynamic SLAM algorithm designed primarily to mitigate the interference caused by moving object occlusions. Our proposed approach combines a deep learning object detection algorithm with a Kalman filter. This combination offers prior information about dynamic objects for each SLAM algorithm frame. Leveraging geometric techniques like RANSAC and the epipolar constraint, our method filters out dynamic feature points, focuses on static feature points for pose determination, and enhances the SLAM algorithm’s robustness in dynamic environments. We conducted experimental validations on the TUM public dataset, which demonstrated that our approach elevates positioning accuracy by approximately 54% and boosts the running speed by 75.47% in dynamic scenes.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":2.7,"publicationDate":"2024-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141173090","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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