Pub Date : 2023-03-01DOI: 10.1177/17298806231160878
Long Li, Binyang Chen, Dang Sha, Chengjun Wang
As the main supporting component of the truss robot, the thermal deformation of the beam often has a great influence on the overall thermal error of the truss robot due to its large span. In order to improve the thermal error prediction accuracy of long-span truss robot, a thermal error prediction method based on multiple linear regression and long short-term memory network is proposed based on mechanism and data drive. Firstly, the multiple linear regression model is used to predict the thermal error, and the prediction error data processing. Secondly, the long short-term memory network is established. In order to improve the performance of the long short-term memory network more effectively, an improved particle swarm optimization algorithm is proposed to optimize the hyper-parameters of the long short-term memory network. Finally, the improved particle swarm optimization–long short-term memory network is used to correct the prediction error of the multiple linear regression model. The experimental results show that the combined thermal error prediction model based on multiple linear regression and improved particle swarm optimization–long short-term memory algorithm has higher prediction accuracy than multiple linear regression model and long short-term memory network. The method has stable prediction accuracy and can provide a basis for thermal error compensation.
{"title":"Thermal error compensation method of truss robot beam structure based on mechanism and data drive","authors":"Long Li, Binyang Chen, Dang Sha, Chengjun Wang","doi":"10.1177/17298806231160878","DOIUrl":"https://doi.org/10.1177/17298806231160878","url":null,"abstract":"As the main supporting component of the truss robot, the thermal deformation of the beam often has a great influence on the overall thermal error of the truss robot due to its large span. In order to improve the thermal error prediction accuracy of long-span truss robot, a thermal error prediction method based on multiple linear regression and long short-term memory network is proposed based on mechanism and data drive. Firstly, the multiple linear regression model is used to predict the thermal error, and the prediction error data processing. Secondly, the long short-term memory network is established. In order to improve the performance of the long short-term memory network more effectively, an improved particle swarm optimization algorithm is proposed to optimize the hyper-parameters of the long short-term memory network. Finally, the improved particle swarm optimization–long short-term memory network is used to correct the prediction error of the multiple linear regression model. The experimental results show that the combined thermal error prediction model based on multiple linear regression and improved particle swarm optimization–long short-term memory algorithm has higher prediction accuracy than multiple linear regression model and long short-term memory network. The method has stable prediction accuracy and can provide a basis for thermal error compensation.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43361953","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 : 2023-01-01DOI: 10.1177/17298806231153726
Lili Zhao, Yangshan Tang, Leilei Wang
Based on camera calibration in detection area, an improved method of time interpolation for vehicle speed identification is proposed. Firstly, calibration of camera parameters during photogrammetry is carried out through preset rectangular detection area. Secondly, the key frames are extracted from the video images and the target vehicle feature points and their image coordinates are identified by the image morphological processing. Then the actual coordinates of the characteristic points are determined through the coordinate conversion. Finally, the improved time interpolation method considering the acceleration between frames is used to identify the vehicle speed, so as to improve the accuracy of the vehicle speed measurement. The results proved that the vehicle speed calculated by improved time interpolation method is more reliable, and the error is reduced by 0.7%.
{"title":"Research on vehicle speed identification method based on time interpolation method and feature point recognition","authors":"Lili Zhao, Yangshan Tang, Leilei Wang","doi":"10.1177/17298806231153726","DOIUrl":"https://doi.org/10.1177/17298806231153726","url":null,"abstract":"Based on camera calibration in detection area, an improved method of time interpolation for vehicle speed identification is proposed. Firstly, calibration of camera parameters during photogrammetry is carried out through preset rectangular detection area. Secondly, the key frames are extracted from the video images and the target vehicle feature points and their image coordinates are identified by the image morphological processing. Then the actual coordinates of the characteristic points are determined through the coordinate conversion. Finally, the improved time interpolation method considering the acceleration between frames is used to identify the vehicle speed, so as to improve the accuracy of the vehicle speed measurement. The results proved that the vehicle speed calculated by improved time interpolation method is more reliable, and the error is reduced by 0.7%.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48392313","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 : 2023-01-01DOI: 10.1177/17298806231157342
H. P. Aria, M. Ahrabi, F. Allahverdi, M. Korayem
This study aimed to analyze the kinematic development of a rehabilitation cable robot for patients with cerebral palsy problems. For this purpose, the walking pattern of a healthy person was analyzed in the robot by extracting his kinematic model. Therefore, a seven-link model was considered, and changes in the mass center of the links and then movements during the gait cycle were obtained with the angles related to joint changes. Next, the person’s integration with the rehabilitation cable robot was investigated with the resolution of the direct kinematic problem. In addition, the change-related outputs of the cables were obtained by the person’s movement and the attached belt. The robot was further proposed because the specific change diagram of the cables facilitates understanding how much motor torque is needed to change the length of the cable. It is noteworthy that the static person balance is provided in the existing rehabilitation robots. However, in this structure, the balance is done by the six degrees of freedom robot so that the robot can return the person to the original path when he loses his balance. Cable systems for the lower limbs (thighs and shanks) are also simulated to rehabilitate the patient. The obtained results from the simulation and the obtained output from kinematic equations for lower limb movements were also compared, and the highest deference was 2.2, 1.8, 1.8, and 1.5% for shank-back, shank-front, thigh-back, and thigh-front of the leg in the corresponding points in the outputs of both software, respectively.
{"title":"Kinematic analysis and development of cable-driven rehabilitation robot for cerebral palsy patients","authors":"H. P. Aria, M. Ahrabi, F. Allahverdi, M. Korayem","doi":"10.1177/17298806231157342","DOIUrl":"https://doi.org/10.1177/17298806231157342","url":null,"abstract":"This study aimed to analyze the kinematic development of a rehabilitation cable robot for patients with cerebral palsy problems. For this purpose, the walking pattern of a healthy person was analyzed in the robot by extracting his kinematic model. Therefore, a seven-link model was considered, and changes in the mass center of the links and then movements during the gait cycle were obtained with the angles related to joint changes. Next, the person’s integration with the rehabilitation cable robot was investigated with the resolution of the direct kinematic problem. In addition, the change-related outputs of the cables were obtained by the person’s movement and the attached belt. The robot was further proposed because the specific change diagram of the cables facilitates understanding how much motor torque is needed to change the length of the cable. It is noteworthy that the static person balance is provided in the existing rehabilitation robots. However, in this structure, the balance is done by the six degrees of freedom robot so that the robot can return the person to the original path when he loses his balance. Cable systems for the lower limbs (thighs and shanks) are also simulated to rehabilitate the patient. The obtained results from the simulation and the obtained output from kinematic equations for lower limb movements were also compared, and the highest deference was 2.2, 1.8, 1.8, and 1.5% for shank-back, shank-front, thigh-back, and thigh-front of the leg in the corresponding points in the outputs of both software, respectively.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44513845","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 : 2023-01-01DOI: 10.1177/17298806231151792
M. Alam
Fish is the master of fluid control, with high propulsive efficiency and great maneuverability. Carps are chosen for observations since they are the typical carangiform fish. We add some external stimuli on the fish and observe their responses. It is found that a fish attempts to escape backward or forward depending on the stimuli. The fish tries a greater number of its tail oscillations in a forward escape than in a backward escape. In the case of a forward escape, the retract stroke where the tail gets a concave shape (suitable for higher thrust generation) is faster than the forward stroke where the tail takes a convex shape (suitable for smaller drag), while vice versa in the case of a backward escape. Becoming concave or convex shapes of the tail and being faster or slower strokes all correspond to enhancing fluid momentum in the forward or backward directions where appropriate. The traveling wave of the body propagates backward and forward for the forward and backward escapes, respectively. The results provide a reference for bionic fish design and simulation.
{"title":"Fish peduncle response during forward and backward propulsion","authors":"M. Alam","doi":"10.1177/17298806231151792","DOIUrl":"https://doi.org/10.1177/17298806231151792","url":null,"abstract":"Fish is the master of fluid control, with high propulsive efficiency and great maneuverability. Carps are chosen for observations since they are the typical carangiform fish. We add some external stimuli on the fish and observe their responses. It is found that a fish attempts to escape backward or forward depending on the stimuli. The fish tries a greater number of its tail oscillations in a forward escape than in a backward escape. In the case of a forward escape, the retract stroke where the tail gets a concave shape (suitable for higher thrust generation) is faster than the forward stroke where the tail takes a convex shape (suitable for smaller drag), while vice versa in the case of a backward escape. Becoming concave or convex shapes of the tail and being faster or slower strokes all correspond to enhancing fluid momentum in the forward or backward directions where appropriate. The traveling wave of the body propagates backward and forward for the forward and backward escapes, respectively. The results provide a reference for bionic fish design and simulation.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41320080","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 : 2023-01-01DOI: 10.1177/17298806221149473
AJ Martínez-Mata, A. Blanco-Ortega, CH Guzmán-Valdivia, A. Abúndez-Pliego, MA García-Velarde, A. Magadán-Salazar, R. Osorio-Sánchez
In the industrial and military sector, work activities are required transporting or supporting heavy loads manually, affecting this the human spinal column due to the weight of the loads or the repetition of this labor. In this regard, the use of force-enhancing exoskeletons is a potential solution to this issue. Therefore, this article summarizes the state of the art in relevant contributions to structural design, control systems, actuators, and performance metrics to evaluate the proper functioning of exoskeletons used for load support and transfer. This is essential to address current and new open problems in these applications, and this includes reducing the metabolic cost and enhancing the loading force in exoskeletons, in which challenges such as structural design and kinetic interactions between the human and the robot are presented. The systematic review of the strategies found in the literature helps addressing these challenges in an orderly way. The proposal of some alternative solutions could help to solving some of the challenges mentioned above, as well as further research to improve the design of these devices is necessary.
{"title":"Engineering design strategies for force augmentation exoskeletons: A general review","authors":"AJ Martínez-Mata, A. Blanco-Ortega, CH Guzmán-Valdivia, A. Abúndez-Pliego, MA García-Velarde, A. Magadán-Salazar, R. Osorio-Sánchez","doi":"10.1177/17298806221149473","DOIUrl":"https://doi.org/10.1177/17298806221149473","url":null,"abstract":"In the industrial and military sector, work activities are required transporting or supporting heavy loads manually, affecting this the human spinal column due to the weight of the loads or the repetition of this labor. In this regard, the use of force-enhancing exoskeletons is a potential solution to this issue. Therefore, this article summarizes the state of the art in relevant contributions to structural design, control systems, actuators, and performance metrics to evaluate the proper functioning of exoskeletons used for load support and transfer. This is essential to address current and new open problems in these applications, and this includes reducing the metabolic cost and enhancing the loading force in exoskeletons, in which challenges such as structural design and kinetic interactions between the human and the robot are presented. The systematic review of the strategies found in the literature helps addressing these challenges in an orderly way. The proposal of some alternative solutions could help to solving some of the challenges mentioned above, as well as further research to improve the design of these devices is necessary.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41880746","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}
Large-scale sheep farming has conventionally relied on barcodes and ear tags, devices that can be difficult to implement and maintain, for sheep identification and tracking. Biological data have also been used for tracking in recent years but have not been widely adopted due to the difficulty and high costs of data collection. To address these issues, a noncontact facial recognition technique is proposed in this study, in which training data were acquired in natural conditions using a series of video cameras, as Dupo sheep walked freely through a gate. A key frame extraction algorithm was then applied to automatically generate sheep face data sets representing various poses. An improved MobilenetV2 framework, termed Order-MobilenetV2 (O-MobilenetV2), was developed from an existing advanced convolutional neural network and used to improve the performance of feature extraction. In addition, O-MobilenetV2 includes a unique conv3x3 deep convolution module, which facilitated higher accuracy while reducing the number of required calculations by approximately two-thirds. A series of validation tests were performed in which the algorithm identified individual sheep using facial features, with the proposed model achieving the highest accuracy (95.88%) among comparable algorithms. In addition to high accuracy and low processing times, this approach does not require significant data pre-processing, which is common among other models and prohibitive for large sheep populations. This combination of simple operation, low equipment costs, and high robustness to variable sheep postures and environmental conditions makes our proposed technique a viable new strategy for sheep facial recognition and tracking.
{"title":"Sheep face recognition and classification based on an improved MobilenetV2 neural network","authors":"Yue Pang, Wenbo Yu, Yongan Zhang, Chuanzhong Xuan, Pei Wu","doi":"10.1177/17298806231152969","DOIUrl":"https://doi.org/10.1177/17298806231152969","url":null,"abstract":"Large-scale sheep farming has conventionally relied on barcodes and ear tags, devices that can be difficult to implement and maintain, for sheep identification and tracking. Biological data have also been used for tracking in recent years but have not been widely adopted due to the difficulty and high costs of data collection. To address these issues, a noncontact facial recognition technique is proposed in this study, in which training data were acquired in natural conditions using a series of video cameras, as Dupo sheep walked freely through a gate. A key frame extraction algorithm was then applied to automatically generate sheep face data sets representing various poses. An improved MobilenetV2 framework, termed Order-MobilenetV2 (O-MobilenetV2), was developed from an existing advanced convolutional neural network and used to improve the performance of feature extraction. In addition, O-MobilenetV2 includes a unique conv3x3 deep convolution module, which facilitated higher accuracy while reducing the number of required calculations by approximately two-thirds. A series of validation tests were performed in which the algorithm identified individual sheep using facial features, with the proposed model achieving the highest accuracy (95.88%) among comparable algorithms. In addition to high accuracy and low processing times, this approach does not require significant data pre-processing, which is common among other models and prohibitive for large sheep populations. This combination of simple operation, low equipment costs, and high robustness to variable sheep postures and environmental conditions makes our proposed technique a viable new strategy for sheep facial recognition and tracking.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44482233","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 : 2023-01-01DOI: 10.1177/17298806231152997
Shuai Dong, Zhihua Yang, Weixi Zhang, Kun Zou
Dynamic motion primitive has been the most prevalent model-based imitation learning method in the last few decades. Gaussian mixed regression dynamic motion primitive, which draws upon the strengths of both the motion model and the probability model to cope with multiple demonstrations, is a very practical and conspicuous branch in the dynamic motion primitive family. As Gaussian mixed regression dynamic motion primitive only learns from expert demonstrations and requires full environmental information, it is incapable of handling tasks with unmodeled obstacles. Aiming at this problem, we proposed the positive and negative demonstrations-based dynamic motion primitive, for which the introduction of negative demonstrations can bring additional flexibility. Positive and negative demonstrations-based dynamic motion primitive extends Gaussian mixed regression dynamic motion primitive in three aspects. The first aspect is a new maximum log-likelihood function that balances the probabilities on positive and negative demonstrations. The second one is the positive and negative demonstrations-based expectation–maximum, which involves iteratively calculating the lower bound of a new Q-function. And the last is the application framework of data set aggregation for positive and negative demonstrations-based dynamic motion primitive to handle unmodeled obstacles. Experiments on several typical robot manipulating tasks, which include letter writing, obstacle avoidance, and grasping in a grid box, are conducted to validate the performance of positive and negative demonstrations-based dynamic motion primitive.
{"title":"Dynamic movement primitives based on positive and negative demonstrations","authors":"Shuai Dong, Zhihua Yang, Weixi Zhang, Kun Zou","doi":"10.1177/17298806231152997","DOIUrl":"https://doi.org/10.1177/17298806231152997","url":null,"abstract":"Dynamic motion primitive has been the most prevalent model-based imitation learning method in the last few decades. Gaussian mixed regression dynamic motion primitive, which draws upon the strengths of both the motion model and the probability model to cope with multiple demonstrations, is a very practical and conspicuous branch in the dynamic motion primitive family. As Gaussian mixed regression dynamic motion primitive only learns from expert demonstrations and requires full environmental information, it is incapable of handling tasks with unmodeled obstacles. Aiming at this problem, we proposed the positive and negative demonstrations-based dynamic motion primitive, for which the introduction of negative demonstrations can bring additional flexibility. Positive and negative demonstrations-based dynamic motion primitive extends Gaussian mixed regression dynamic motion primitive in three aspects. The first aspect is a new maximum log-likelihood function that balances the probabilities on positive and negative demonstrations. The second one is the positive and negative demonstrations-based expectation–maximum, which involves iteratively calculating the lower bound of a new Q-function. And the last is the application framework of data set aggregation for positive and negative demonstrations-based dynamic motion primitive to handle unmodeled obstacles. Experiments on several typical robot manipulating tasks, which include letter writing, obstacle avoidance, and grasping in a grid box, are conducted to validate the performance of positive and negative demonstrations-based dynamic motion primitive.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44131903","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 : 2022-11-01DOI: 10.1177/17298806221135140
Gang Li, Qiying Su, Wenqiu Xi, Zhendong Song, Renren Bao, Z. Du
To solve some defects of exoskeleton robot at present, this article establishes the dynamic model of human lower limb. The torque curves for hip joint and knee joint are obtained. A dynamics simulation is conducted in ADAMS which will guide the selection of motors and reducers for exoskeleton joints. Three structural design projects for leg and an integrated joint with the function of force perception are proposed. Then a lightweight exoskeleton is put forward and a kinematics simulation of man–machine coupling system is carried out in ADAMS. This article sets up a 24-V low-voltage control electrical system and a rehabilitation training expert system. Some performance tests and clinical experiments are carried out by an experimental prototype. The results show that the joints have sufficient driving torque. Leg structure has large adjustment range and self-locking function. The exoskeleton has lightweight and does not interfere with human body during movement. The expert system has a friendly operation interface and abundant functions. Clinical experimental results show that lower limb exoskeleton has good rehabilitation effect for some diseases.
{"title":"Dynamic analysis and design of a multipurpose lower limb exoskeleton for rehabilitation","authors":"Gang Li, Qiying Su, Wenqiu Xi, Zhendong Song, Renren Bao, Z. Du","doi":"10.1177/17298806221135140","DOIUrl":"https://doi.org/10.1177/17298806221135140","url":null,"abstract":"To solve some defects of exoskeleton robot at present, this article establishes the dynamic model of human lower limb. The torque curves for hip joint and knee joint are obtained. A dynamics simulation is conducted in ADAMS which will guide the selection of motors and reducers for exoskeleton joints. Three structural design projects for leg and an integrated joint with the function of force perception are proposed. Then a lightweight exoskeleton is put forward and a kinematics simulation of man–machine coupling system is carried out in ADAMS. This article sets up a 24-V low-voltage control electrical system and a rehabilitation training expert system. Some performance tests and clinical experiments are carried out by an experimental prototype. The results show that the joints have sufficient driving torque. Leg structure has large adjustment range and self-locking function. The exoskeleton has lightweight and does not interfere with human body during movement. The expert system has a friendly operation interface and abundant functions. Clinical experimental results show that lower limb exoskeleton has good rehabilitation effect for some diseases.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2022-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49116689","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 : 2022-11-01DOI: 10.1177/17298806221137247
Xinghua Li, Xiaoping Liu, G. Wang, Kaiqi Gu, H. Che
In this article, a robust discrete-time open-closed-loop proportion integral differential (PID) -type iteration learning control (ILC) algorithm is developed for the high-precision trajectory tracking control of tracked mobile robots (TMRs) with external disturbances and noises. The proposed ILC algorithm adopts the past, current, and predictive learning error items of the former and current iterations to correct the current control input variables, which finally converges to the desired trajectory through continuous iterative learning. The convergence characterization of the algorithm for TMRs under both external disturbances and noises is carried on rigorous mathematical proof. Numerical simulations and physical experiments are provided to verify the feasibility and effectiveness of the algorithm. The comparative results of two ILC algorithms indicate that the tracking performance of the proposed ILC algorithm is superior to the traditional PID-type ILC algorithm in terms of tracking accuracy and convergence rate.
{"title":"Discrete open-closed-loop PID-type iterative learning control for trajectory tracking of tracked mobile robots","authors":"Xinghua Li, Xiaoping Liu, G. Wang, Kaiqi Gu, H. Che","doi":"10.1177/17298806221137247","DOIUrl":"https://doi.org/10.1177/17298806221137247","url":null,"abstract":"In this article, a robust discrete-time open-closed-loop proportion integral differential (PID) -type iteration learning control (ILC) algorithm is developed for the high-precision trajectory tracking control of tracked mobile robots (TMRs) with external disturbances and noises. The proposed ILC algorithm adopts the past, current, and predictive learning error items of the former and current iterations to correct the current control input variables, which finally converges to the desired trajectory through continuous iterative learning. The convergence characterization of the algorithm for TMRs under both external disturbances and noises is carried on rigorous mathematical proof. Numerical simulations and physical experiments are provided to verify the feasibility and effectiveness of the algorithm. The comparative results of two ILC algorithms indicate that the tracking performance of the proposed ILC algorithm is superior to the traditional PID-type ILC algorithm in terms of tracking accuracy and convergence rate.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2022-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46360179","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 : 2022-09-01DOI: 10.1177/17298806221123416
M. Hernando, E. Gambao, C. Prados, Daniel Brito, A. Brunete
Climbing robots play an essential role in performing inspection work in civil infrastructures. These tasks require autonomous robots with competitive costs and the ability to adapt to different types of environments. This article presents ROMERIN, a new concept of a modular legged climbing robot where each leg is an autonomous robotic module in terms of processing capacity, control, and energy. The legs are equipped with suction cups that allow the robot to adhere to different types of surfaces. The proposed design allows the creation of climbing robots with a different number of legs to perform specific inspection tasks. Although each of the legs acts as an independent robot, they have the ability to share information and energy. The proposed control concept enables the development of climbing robots with the ability to adapt to different types of inspection tasks and with resilience characteristics. This article includes a description of the mechatronic design, the kinematics of the seven degree-of-freedom robotic legs, including the adhesion system, and the architecture of the control and simulation system. Finally, we present experimental results to test the modularity concept, mechanical design, and electronics using a four-legged robot configuration. We analyze the performance of the gripping system in different situations on four different surfaces and the behavior of the control architecture for two different robot body trajectories.
{"title":"ROMERIN: A new concept of a modular autonomous climbing robot","authors":"M. Hernando, E. Gambao, C. Prados, Daniel Brito, A. Brunete","doi":"10.1177/17298806221123416","DOIUrl":"https://doi.org/10.1177/17298806221123416","url":null,"abstract":"Climbing robots play an essential role in performing inspection work in civil infrastructures. These tasks require autonomous robots with competitive costs and the ability to adapt to different types of environments. This article presents ROMERIN, a new concept of a modular legged climbing robot where each leg is an autonomous robotic module in terms of processing capacity, control, and energy. The legs are equipped with suction cups that allow the robot to adhere to different types of surfaces. The proposed design allows the creation of climbing robots with a different number of legs to perform specific inspection tasks. Although each of the legs acts as an independent robot, they have the ability to share information and energy. The proposed control concept enables the development of climbing robots with the ability to adapt to different types of inspection tasks and with resilience characteristics. This article includes a description of the mechatronic design, the kinematics of the seven degree-of-freedom robotic legs, including the adhesion system, and the architecture of the control and simulation system. Finally, we present experimental results to test the modularity concept, mechanical design, and electronics using a four-legged robot configuration. We analyze the performance of the gripping system in different situations on four different surfaces and the behavior of the control architecture for two different robot body trajectories.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42196228","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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