Pub Date : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354576
Weitao Zhang, Zisen Wei, Yi Xu, Liang Peng, Changwen Dong, Yanzhou Jin, Qing Shi
Small-scale robots are widely used in real-world rescue missions, but their mobility and movement range are still limited. One solution to improve their adaptability to complex environments is to introduce jumping and gliding strategies into the robot design. In this paper, we developed a small-scale locust-inspired robot capable of active (propeller-driven) gliding after launching from the ground, which had a body length of 19.1 cm and a weight of 97 g. On the basis of the locust’s musculoskeletal model, the jumping system was designed by a six-bar mechanism which can amplify the power. To improve the lift in gliding phase while reducing the draft in jumping phase, the gliding system with a folding wing and a front propeller was proposed corresponding to the fixed-wing principle. The results obtained through a series of experimental tests reveal that the robot achieves a jumping height of 0.15 m and a passive gliding distance of 1.5 m, which has a glide ratio of 1.13. Remarkably, actuating by a propeller, the robot can jump up to a height of 0.20 m, covering a gliding distance of 2.9 m. It is worth noting that the glide ratio of the robot improves by 91.2% in the propeller-driven jump-gliding mode.
{"title":"Design of a Small-Scale Locust-Inspired Robot Capable of Jump-gliding Locomotion","authors":"Weitao Zhang, Zisen Wei, Yi Xu, Liang Peng, Changwen Dong, Yanzhou Jin, Qing Shi","doi":"10.1109/ROBIO58561.2023.10354576","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354576","url":null,"abstract":"Small-scale robots are widely used in real-world rescue missions, but their mobility and movement range are still limited. One solution to improve their adaptability to complex environments is to introduce jumping and gliding strategies into the robot design. In this paper, we developed a small-scale locust-inspired robot capable of active (propeller-driven) gliding after launching from the ground, which had a body length of 19.1 cm and a weight of 97 g. On the basis of the locust’s musculoskeletal model, the jumping system was designed by a six-bar mechanism which can amplify the power. To improve the lift in gliding phase while reducing the draft in jumping phase, the gliding system with a folding wing and a front propeller was proposed corresponding to the fixed-wing principle. The results obtained through a series of experimental tests reveal that the robot achieves a jumping height of 0.15 m and a passive gliding distance of 1.5 m, which has a glide ratio of 1.13. Remarkably, actuating by a propeller, the robot can jump up to a height of 0.20 m, covering a gliding distance of 2.9 m. It is worth noting that the glide ratio of the robot improves by 91.2% in the propeller-driven jump-gliding mode.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"19 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139186912","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354934
Dongxu Liu, Qichuan Ding, Maiwei Wen, Chenyu Tong
Electroencephalography (EEG), as a non-invasive and convenient method for implementing Brain-Computer Interface (BCI), has been widely used in clinical and research fields. EEG data often requires the acquisition of dozens or even hundreds of channels. Channel selection can reduce irrelevant and redundant channels, improve computational efficiency, and enhance the quality of EEG signals. This study introduces a filter method for channel selection based on Pearson correlation coefficient (PCC) with the candidate channel and employs topographic maps of EEG channel scores, derived from data collected across all subjects, to visualize the spatial distribution of channels selected by different methods. In addition, a generalized channel selection algorithm is proposed to determine consistent channels across all subjects in the experimental group. The effectiveness of the proposed method was evaluated on two steady-state visual evoked potential (SSVEP) datasets, and the results indicated that this method exhibits superior performance compared to both the all-channel method and other channel selection methods. And the application of the generalized channel algorithm has further improved the classification performance. This study uses selected generalized channels applied to new subjects with low BCI performance, yielding a significant improvement. The selected channels have a wide range of applicability, helping to simplify EEG acquisition and improve EEG data quality.
{"title":"A Novel Generalized EEG Channel Selection Method Using Pearson Correlation Coefficient*","authors":"Dongxu Liu, Qichuan Ding, Maiwei Wen, Chenyu Tong","doi":"10.1109/ROBIO58561.2023.10354934","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354934","url":null,"abstract":"Electroencephalography (EEG), as a non-invasive and convenient method for implementing Brain-Computer Interface (BCI), has been widely used in clinical and research fields. EEG data often requires the acquisition of dozens or even hundreds of channels. Channel selection can reduce irrelevant and redundant channels, improve computational efficiency, and enhance the quality of EEG signals. This study introduces a filter method for channel selection based on Pearson correlation coefficient (PCC) with the candidate channel and employs topographic maps of EEG channel scores, derived from data collected across all subjects, to visualize the spatial distribution of channels selected by different methods. In addition, a generalized channel selection algorithm is proposed to determine consistent channels across all subjects in the experimental group. The effectiveness of the proposed method was evaluated on two steady-state visual evoked potential (SSVEP) datasets, and the results indicated that this method exhibits superior performance compared to both the all-channel method and other channel selection methods. And the application of the generalized channel algorithm has further improved the classification performance. This study uses selected generalized channels applied to new subjects with low BCI performance, yielding a significant improvement. The selected channels have a wide range of applicability, helping to simplify EEG acquisition and improve EEG data quality.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"18 2","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139186916","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354693
Keishi Ishihara
Autonomous driving systems operating in urban environments require precise perception, planning, and accurate control to navigate complex traffic scenarios while respecting traffic rules and ensuring safety. Recent advancements in learning-based end-to-end approaches have showcased remarkable performance in goal-directed navigational scenarios. However, while most state-of-the-art approaches primarily focus on enhancing the perception module for a better understanding of the environment, they adopt a simple GRU-based autoregressive structure for producing waypoints. In this paper, we introduce RM2: Route and Motion prediction with Route Map, a simple yet effective approach that decomposes waypoint prediction into two distinct concepts: route, representing the future path to follow, and motion, determining the trajectory and speed. Through experiments, we discover that this approach is the most effective, leading to superior route completion in closed-loop evaluation. We also demonstrate the benefits of incorporating past route predictions. This way, the RM2 approach significantly outperforms the second-best choice by 50% in the lane-change benchmark routes newly introduced in this work.
{"title":"Decomposing Trajectory Forecasting into Route and Motion: Enhancing End-to-end Autonomous Driving with Route Map Inputs","authors":"Keishi Ishihara","doi":"10.1109/ROBIO58561.2023.10354693","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354693","url":null,"abstract":"Autonomous driving systems operating in urban environments require precise perception, planning, and accurate control to navigate complex traffic scenarios while respecting traffic rules and ensuring safety. Recent advancements in learning-based end-to-end approaches have showcased remarkable performance in goal-directed navigational scenarios. However, while most state-of-the-art approaches primarily focus on enhancing the perception module for a better understanding of the environment, they adopt a simple GRU-based autoregressive structure for producing waypoints. In this paper, we introduce RM2: Route and Motion prediction with Route Map, a simple yet effective approach that decomposes waypoint prediction into two distinct concepts: route, representing the future path to follow, and motion, determining the trajectory and speed. Through experiments, we discover that this approach is the most effective, leading to superior route completion in closed-loop evaluation. We also demonstrate the benefits of incorporating past route predictions. This way, the RM2 approach significantly outperforms the second-best choice by 50% in the lane-change benchmark routes newly introduced in this work.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"54 4","pages":"1-7"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139186977","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354949
Chao Qian, Jinpeng Diao, Rong Cong, Zhuoheng Li, Xingguang Duan, Changsheng Li
Parallel continuum robots have been widely utilized in minimally invasive surgery as a result of their high flexibility and dexterity, which can minimize surgical trauma. In this paper, we propose a dexterous surgical manipulator with four DOFs, which is composed of three parallel superelastic NiTi rods. With a tool channel in the middle of the manipulator, several surgical procedures can be performed in confined and narrow cavities. The classic Cosserat Rod model was applied to establish the kinematics model of the flexible manipulator, where the Jacobian and compliance matrix of flexible manipulator can be solved numerically by a shooting method. Manipulability and compliance ellipsoid were employed in three separate configurations to characterize and visualize the manipulator’s abilities. The performance and feasibility of this manipulator were demonstrated by the results of flexible grasping simulation.
平行连续机器人具有高度灵活性和灵巧性，可以最大限度地减少手术创伤，因此在微创手术中得到了广泛应用。在本文中，我们提出了一种具有四个 DOF 的灵巧外科手术机械手，它由三根平行的超弹性镍钛棒组成。通过机械手中间的工具通道，可以在狭小的腔隙中进行多种外科手术。应用经典的 Cosserat Rod 模型建立了柔性机械手的运动学模型，其中柔性机械手的雅各布矩阵和顺应性矩阵可通过射影法进行数值求解。操纵性和顺应性椭圆在三种不同的配置中得到了应用，以表征和直观展示操纵器的能力。柔性抓取仿真结果证明了该机械手的性能和可行性。
{"title":"Modeling and Analysis of Surgical Parallel Continuum Manipulator","authors":"Chao Qian, Jinpeng Diao, Rong Cong, Zhuoheng Li, Xingguang Duan, Changsheng Li","doi":"10.1109/ROBIO58561.2023.10354949","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354949","url":null,"abstract":"Parallel continuum robots have been widely utilized in minimally invasive surgery as a result of their high flexibility and dexterity, which can minimize surgical trauma. In this paper, we propose a dexterous surgical manipulator with four DOFs, which is composed of three parallel superelastic NiTi rods. With a tool channel in the middle of the manipulator, several surgical procedures can be performed in confined and narrow cavities. The classic Cosserat Rod model was applied to establish the kinematics model of the flexible manipulator, where the Jacobian and compliance matrix of flexible manipulator can be solved numerically by a shooting method. Manipulability and compliance ellipsoid were employed in three separate configurations to characterize and visualize the manipulator’s abilities. The performance and feasibility of this manipulator were demonstrated by the results of flexible grasping simulation.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"53 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187010","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354929
Wenshuo Li, Bin Liang, Boyang Lin, Junxiang Li, Wenfu Xu
Cable-driven serial manipulator (CDSM) has slender body and high dexterity. Hence it has large potentials in confined space application. However, in terms of complicated motion, achieving overall shape planning and control for the manipulator as a whole has been rarely accomplished, greatly limiting the utilization of redundant degrees of freedom. Therefore, this paper proposes a pose-shape unified planning method based on multiple arm-angle construction and optimization. Firstly, we derive the multi-space mapping relationships, in particularly introducing the concept of arm shape for joint space and deriving the corresponding analytical expressions. Subsequently, we derive the Jacobian matrix of Multiple arm-angel, which theoretically guarantees the efficiency of planning and the ability to achieve acceptable goals in a globally feasible and stable manner. Simulations demonstrate that our framework enables rapid and efficient arm-angles planning while ensuring high pose accuracy. Finally, experiments are conducted using the CDSM to verify the arm's motion capabilities, including pose adjustment and maintaining arm shape during movement. Compared to other planning and closed-loop control methods, the results confirm the consistency and reliability of the arm shape and end-effector pose.
{"title":"Pose-Shape Unified Planning of Cable-driven Serial Manipulators based on Multiple Arm-Angle Construction","authors":"Wenshuo Li, Bin Liang, Boyang Lin, Junxiang Li, Wenfu Xu","doi":"10.1109/ROBIO58561.2023.10354929","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354929","url":null,"abstract":"Cable-driven serial manipulator (CDSM) has slender body and high dexterity. Hence it has large potentials in confined space application. However, in terms of complicated motion, achieving overall shape planning and control for the manipulator as a whole has been rarely accomplished, greatly limiting the utilization of redundant degrees of freedom. Therefore, this paper proposes a pose-shape unified planning method based on multiple arm-angle construction and optimization. Firstly, we derive the multi-space mapping relationships, in particularly introducing the concept of arm shape for joint space and deriving the corresponding analytical expressions. Subsequently, we derive the Jacobian matrix of Multiple arm-angel, which theoretically guarantees the efficiency of planning and the ability to achieve acceptable goals in a globally feasible and stable manner. Simulations demonstrate that our framework enables rapid and efficient arm-angles planning while ensuring high pose accuracy. Finally, experiments are conducted using the CDSM to verify the arm's motion capabilities, including pose adjustment and maintaining arm shape during movement. Compared to other planning and closed-loop control methods, the results confirm the consistency and reliability of the arm shape and end-effector pose.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"74 7","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187014","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354578
Kang Yuan, Xuegang Zhang, Li Yan, Hao Liu
The manipulator systems with vision perception play an import role in intelligent manufacturing, helping to achieve industrial automation production. However, the electronics manufacturing industry, especially in scenarios such as consumer electronics manufacturing, has a strong demand for flexible manufacturing. The traditional calibration methods for vision perception require manual operation, customized calibration objects and their world-frame coordinates, which cannot meet the requirements of flexible production. Therefore, a novel agile vision calibration, perception and control algorithm is designed to meet flexible manufacturing requirements in the paper. The proposed algorithm receives vision pixel raw information as unique input, derives calibration matrix and manipulator control target pose automatically. The algorithm is adapted for both eye-in-hand and eye-on-hand vision sensor, and the theoretical analysis shows that the calibration algorithm has no manual operation errors. Experimental verification shows that the designed calibration algorithm in this article is simpler to operate, has fewer sources of error, easier to control, and has higher calibration accuracy than traditional calibration algorithms, while meeting the requirements of flexible manufacturing.
{"title":"Agile Vision Perception and Control Algorithm for Flexible Manufacturing Manipulator System","authors":"Kang Yuan, Xuegang Zhang, Li Yan, Hao Liu","doi":"10.1109/ROBIO58561.2023.10354578","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354578","url":null,"abstract":"The manipulator systems with vision perception play an import role in intelligent manufacturing, helping to achieve industrial automation production. However, the electronics manufacturing industry, especially in scenarios such as consumer electronics manufacturing, has a strong demand for flexible manufacturing. The traditional calibration methods for vision perception require manual operation, customized calibration objects and their world-frame coordinates, which cannot meet the requirements of flexible production. Therefore, a novel agile vision calibration, perception and control algorithm is designed to meet flexible manufacturing requirements in the paper. The proposed algorithm receives vision pixel raw information as unique input, derives calibration matrix and manipulator control target pose automatically. The algorithm is adapted for both eye-in-hand and eye-on-hand vision sensor, and the theoretical analysis shows that the calibration algorithm has no manual operation errors. Experimental verification shows that the designed calibration algorithm in this article is simpler to operate, has fewer sources of error, easier to control, and has higher calibration accuracy than traditional calibration algorithms, while meeting the requirements of flexible manufacturing.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"72 12","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187029","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354920
Jun Wu, Yu He, He Wang, Qiyu Wang, Shaowei Fan
This paper presents an active complaint control for smooth and quick connector assembly. The application requirement of an end-effector with simultaneous connecters is firstly defined. Then, the hybrid impedance control provides the foundation for active search and passive assembly. After that, a resolution-variant Lissajous search is proposed for smooth motion and earlier connection. At last, simulations and experiments indicate that the proposed controller can guarantee smooth and quick search for connector assembly.
{"title":"Active Complaint Control for Smooth and Quick Connector Assembly*","authors":"Jun Wu, Yu He, He Wang, Qiyu Wang, Shaowei Fan","doi":"10.1109/ROBIO58561.2023.10354920","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354920","url":null,"abstract":"This paper presents an active complaint control for smooth and quick connector assembly. The application requirement of an end-effector with simultaneous connecters is firstly defined. Then, the hybrid impedance control provides the foundation for active search and passive assembly. After that, a resolution-variant Lissajous search is proposed for smooth motion and earlier connection. At last, simulations and experiments indicate that the proposed controller can guarantee smooth and quick search for connector assembly.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"62 1","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187036","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354758
Xavier J. Blake, M. Parnichkun
Assistive devices for the visually impaired have the purpose of reducing the stress of vision loss, and to support their more constrained lifestyles. Blindness prevents the viewing of visuals media, but the use of tactile non-visual haptic displays will reduce this limitation and improve the quality of life of these people. A 10x15-resolution electromagnetic levitation-based tactile haptic display system is developed in this paper. Series of images from a camera attached to eyeglasses are processed and converted to 10x15-resolution gray-scale images before being sent to a set of controllers that use voltage-based feedback control to raise 150 taxels of the haptic display to the heights of the corresponding gray values. A locking mechanism allows the users to press their hands on the haptic display without changing the image pattern for 5 seconds. Practical tests indicated that the developed haptic display could display low-resolution binary, grayscale and color images with the taxel displacements at millimeter accuracy.
{"title":"Development of an Electromagnetic Haptic Display System for the Visually Impaired*","authors":"Xavier J. Blake, M. Parnichkun","doi":"10.1109/ROBIO58561.2023.10354758","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354758","url":null,"abstract":"Assistive devices for the visually impaired have the purpose of reducing the stress of vision loss, and to support their more constrained lifestyles. Blindness prevents the viewing of visuals media, but the use of tactile non-visual haptic displays will reduce this limitation and improve the quality of life of these people. A 10x15-resolution electromagnetic levitation-based tactile haptic display system is developed in this paper. Series of images from a camera attached to eyeglasses are processed and converted to 10x15-resolution gray-scale images before being sent to a set of controllers that use voltage-based feedback control to raise 150 taxels of the haptic display to the heights of the corresponding gray values. A locking mechanism allows the users to press their hands on the haptic display without changing the image pattern for 5 seconds. Practical tests indicated that the developed haptic display could display low-resolution binary, grayscale and color images with the taxel displacements at millimeter accuracy.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"72 5","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187040","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354706
Gaoqi Liu, Yu Wang, Bin Li
This paper addresses the time-optimal trajectory planning problem of the free-floating space robot. Due to the path dependent dynamic singularities, the direct kinematics equations are employed. The joint range, velocity and acceleration limits are considered. After transforming the trajectory planning problem into an unconstrained nonlinear programming problem, particle swarm optimization algorithm is used to find the optimal trajectory. In addition to the requirement for the terminal pose of the end-effector, the spacecraft attitude can also be constrained in different forms through non-holonomic constraints. Simulation results are presented for trajectory planning of a 6 degree-of-freedom (DOF) space robot and demonstrate the effectiveness of the proposed method.
{"title":"Non-holonomic Trajectory Planning Method for Free-Floating Space Robot via A Control Parameterization Approach","authors":"Gaoqi Liu, Yu Wang, Bin Li","doi":"10.1109/ROBIO58561.2023.10354706","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354706","url":null,"abstract":"This paper addresses the time-optimal trajectory planning problem of the free-floating space robot. Due to the path dependent dynamic singularities, the direct kinematics equations are employed. The joint range, velocity and acceleration limits are considered. After transforming the trajectory planning problem into an unconstrained nonlinear programming problem, particle swarm optimization algorithm is used to find the optimal trajectory. In addition to the requirement for the terminal pose of the end-effector, the spacecraft attitude can also be constrained in different forms through non-holonomic constraints. Simulation results are presented for trajectory planning of a 6 degree-of-freedom (DOF) space robot and demonstrate the effectiveness of the proposed method.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"72 2","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187051","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Estimation of hip joint torque is of great significance for exoskeleton assist torque planning. However, traditional single neural network models are difficult to reliably estimate human joint torque and the dynamic models based on physical theorem are limited by the measurement technology of ground reaction force. Therefore, this paper proposes a parallel fusion neural dynamic model that incorporates LSTM, NTM, and Newton-Euler dynamical equation. The model only needs human kinematic parameters as inputs to complete the estimation of human hip joint torque. To evaluate the estimation performance, this paper introduces relative accuracy as an evaluation standard. The experimental result shows that the estimation performance of the fusion model is greatly improved compared with the traditional single neural network models. The fusion model proposed in this study can be used to estimate the torque of the hip joint. It can be integrated into the exoskeleton control system and used as the basis for planning the assisting torque of the exoskeleton.
{"title":"Estimation of Hip Joint Torque By Using Parallel Fusion Neural Dynamics Model","authors":"Lei Liu, Jiaxin Wang, Qian Xiang, Zhendong Zhao, Yong Liu, Shijie Guo","doi":"10.1109/ROBIO58561.2023.10354744","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354744","url":null,"abstract":"Estimation of hip joint torque is of great significance for exoskeleton assist torque planning. However, traditional single neural network models are difficult to reliably estimate human joint torque and the dynamic models based on physical theorem are limited by the measurement technology of ground reaction force. Therefore, this paper proposes a parallel fusion neural dynamic model that incorporates LSTM, NTM, and Newton-Euler dynamical equation. The model only needs human kinematic parameters as inputs to complete the estimation of human hip joint torque. To evaluate the estimation performance, this paper introduces relative accuracy as an evaluation standard. The experimental result shows that the estimation performance of the fusion model is greatly improved compared with the traditional single neural network models. The fusion model proposed in this study can be used to estimate the torque of the hip joint. It can be integrated into the exoskeleton control system and used as the basis for planning the assisting torque of the exoskeleton.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"69 6","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187107","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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