Pub Date : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354536
Junyi Hou, Zihao Pan, Lei Yu
Three-dimensional reconstruction methods face challenges in computational power and robustness when dealing with fast-moving scenes. This paper proposes a fast moving three-dimensional (3D) indoor reconstruction system based on SE(2) constraint for visual-laser fusion. The system utilizes the fusion of visual and 2D laser data to acquire both color texture and more accurate camera pose information. To reduce the complexity of multi-dimensional motion computation, this paper introduces ground constraint to reduce the dimensionality from SE(3) to SE(2). The moving Truncated Signed Distance Function (TSDF) method effectively eliminates interference from discrete points in the model. By deploying a RGB-D camera and a 2D LiDAR on a differential drive platform, the high-precision 3D reconstruction performance of the proposed algorithm in fast-moving scenes is validated through comparisons with real-world datasets.
{"title":"FastVL: Fast Moving 3D Indoor Reconstruction System Based on SE(2) Constraint for Visual-Laser Fusion","authors":"Junyi Hou, Zihao Pan, Lei Yu","doi":"10.1109/ROBIO58561.2023.10354536","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354536","url":null,"abstract":"Three-dimensional reconstruction methods face challenges in computational power and robustness when dealing with fast-moving scenes. This paper proposes a fast moving three-dimensional (3D) indoor reconstruction system based on SE(2) constraint for visual-laser fusion. The system utilizes the fusion of visual and 2D laser data to acquire both color texture and more accurate camera pose information. To reduce the complexity of multi-dimensional motion computation, this paper introduces ground constraint to reduce the dimensionality from SE(3) to SE(2). The moving Truncated Signed Distance Function (TSDF) method effectively eliminates interference from discrete points in the model. By deploying a RGB-D camera and a 2D LiDAR on a differential drive platform, the high-precision 3D reconstruction performance of the proposed algorithm in fast-moving scenes is validated through comparisons with real-world datasets.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"85 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":"139186804","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/ROBIO58561.2023.10354875
Mengfan Xu, Shuai Su, Taogang Hou, Xuan Pei, Junxi Chen
The inspection of autonomous Unmanned Aerial Vehicles (UAVs) in large cylindrical enclosed spaces has difficulties in positioning and processing massive global map data in real-time required for planning. Because such environments have the characteristics of darkness, GPS signal rejection, approximate cylinder, and large-scale environmental spaces. Therefore, we built a UAV using multi-line lidar and simultaneous localization and mapping (SLAM) in this environment to adapt to the former characteristics. In the face of the feature degradation in the height direction caused by the cylindrical-like features of the environment, the constraint information of the height sensor is added in lidar SLAM. And a map storage method called selective ordered indexed map (SOIM) is proposed for storing and real-time retrieval of huge amount of map data in large spaces required by path planning during autonomous inspection tasks. We conducted inspection experiment in a desulfurization tower of a thermal power plant to verify the function of designed system. The results prove the feasibility of our system and presented that the proposed SOIM saved 98.86% of storage space compared to the point cloud map in this environment, and the voxel search speed was 22.53% higher than that of octree search.
自主无人飞行器（UAV）在大型圆柱形封闭空间中进行巡检时，很难实时定位和处理规划所需的海量全球地图数据。因为这类环境具有黑暗、GPS 信号抑制、近似圆柱体和大尺度环境空间等特点。因此，我们在这种环境下利用多线激光雷达和同步定位与绘图（SLAM）技术构建了一种无人机，以适应前述特点。面对环境中圆柱状特征造成的高度方向上的特征衰减，在激光雷达 SLAM 中加入了高度传感器的约束信息。我们还提出了一种名为选择有序索引地图（SOIM）的地图存储方法，用于存储和实时检索自主检测任务中路径规划所需的大空间海量地图数据。我们在某火力发电厂的脱硫塔中进行了检测实验，以验证所设计系统的功能。结果证明了系统的可行性，并表明在该环境下，与点云图相比，所提出的 SOIM 节省了 98.86% 的存储空间，体素搜索速度比八叉树搜索速度高出 22.53%。
{"title":"Lightweight Map Storage and Retrieval Method for Autonomous Navigation of UAVs in Large-Scale Cylindrical Spaces","authors":"Mengfan Xu, Shuai Su, Taogang Hou, Xuan Pei, Junxi Chen","doi":"10.1109/ROBIO58561.2023.10354875","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354875","url":null,"abstract":"The inspection of autonomous Unmanned Aerial Vehicles (UAVs) in large cylindrical enclosed spaces has difficulties in positioning and processing massive global map data in real-time required for planning. Because such environments have the characteristics of darkness, GPS signal rejection, approximate cylinder, and large-scale environmental spaces. Therefore, we built a UAV using multi-line lidar and simultaneous localization and mapping (SLAM) in this environment to adapt to the former characteristics. In the face of the feature degradation in the height direction caused by the cylindrical-like features of the environment, the constraint information of the height sensor is added in lidar SLAM. And a map storage method called selective ordered indexed map (SOIM) is proposed for storing and real-time retrieval of huge amount of map data in large spaces required by path planning during autonomous inspection tasks. We conducted inspection experiment in a desulfurization tower of a thermal power plant to verify the function of designed system. The results prove the feasibility of our system and presented that the proposed SOIM saved 98.86% of storage space compared to the point cloud map in this environment, and the voxel search speed was 22.53% higher than that of octree search.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"107 9","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":"139186810","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/ROBIO58561.2023.10354591
Huanghua Liu, Yun Zou, Zheng Xu, Anzhu Gao
Continuum robots have the great potential in endoluminal diagnosis and intervention toward narrow and confined workspace. However, fabrication of continuum robots still poses a grant challenge in its miniaturization. To solve this, this paper designs a thermally drawn monolithic polymer continuum robot with laser cutting profile. First, the continuum robot is designed with two degrees of freedom (DOF) for shape deflection, and it consists of four optical fibers with the fiber Bragg grating (FBG) sensor on each for tension sensing as driving cables. Second, its main body is a multi-channel polycarbonate (PC) tube produced by thermal drawing process, and a series of rectangular cutouts are made on it via laser cutting process. By combining these two fabrication processes, the developed continuum robot realizes the integration of the multi-channel structure and the notch feature. Third, a control framework of puller-follower controller using the integrated tension sensing is proposed for teleoperation control. Finally, experimental setup is built for the robot validation, and results show that the repeated positioning accuracy of the robot is 1.08 mm. Moreover, a micro endoscope and a needle are added to the end of the continuum robot, and a phantom study of auripuncture and drug delivery is completed to verify the preliminary feasibility. And the proposed fabrication approach enables the miniaturization and complex structure for the cable-driven continuum robots.
{"title":"Thermally Drawn Monolithic Polymer Continuum Robot with Laser Cutting Profile","authors":"Huanghua Liu, Yun Zou, Zheng Xu, Anzhu Gao","doi":"10.1109/ROBIO58561.2023.10354591","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354591","url":null,"abstract":"Continuum robots have the great potential in endoluminal diagnosis and intervention toward narrow and confined workspace. However, fabrication of continuum robots still poses a grant challenge in its miniaturization. To solve this, this paper designs a thermally drawn monolithic polymer continuum robot with laser cutting profile. First, the continuum robot is designed with two degrees of freedom (DOF) for shape deflection, and it consists of four optical fibers with the fiber Bragg grating (FBG) sensor on each for tension sensing as driving cables. Second, its main body is a multi-channel polycarbonate (PC) tube produced by thermal drawing process, and a series of rectangular cutouts are made on it via laser cutting process. By combining these two fabrication processes, the developed continuum robot realizes the integration of the multi-channel structure and the notch feature. Third, a control framework of puller-follower controller using the integrated tension sensing is proposed for teleoperation control. Finally, experimental setup is built for the robot validation, and results show that the repeated positioning accuracy of the robot is 1.08 mm. Moreover, a micro endoscope and a needle are added to the end of the continuum robot, and a phantom study of auripuncture and drug delivery is completed to verify the preliminary feasibility. And the proposed fabrication approach enables the miniaturization and complex structure for the cable-driven continuum robots.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"95 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":"139186828","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/ROBIO58561.2023.10354970
Bingyang Hou, Ze Wang, Chuxiong Hu, Yu Zhu
Benefiting from the decent converse piezoelectric effect, the piezoelectric nanopositioning stage has been applied to various micro-to-nano motion scenarios with splendid control performance and advantages. However, the inherent nonlinearity characteristics of piezoelectric significantly degrade the tracking accuracy and result in obvious positioning uncertainties. Especially the hysteresis effect mainly brings about the apparent control period lag and the reciprocating stroke inconsistency. Substantial existing control methods focus on establishing approximate hysteresis or inverse hysteresis model to suppress these adverse nonlinearities. Nevertheless, these methods commonly require sophisticated nonlinear modeling procedures, and the control performance largely relies on the modeling accuracy. Notably, the linear characteristics of the piezoelectric actually still perform a major influence on the control process, which can be significantly suppressed by straightforward linear algorithms. After compensating for the linearities, the nonlinearities only demonstrate an obviously marginal impact on the control performance. On this basis, the linear and nonlinear methods integration idea is proposed to replace the conventional modeling algorithm in this paper. Several combinations are discussed and conducted on the stage to validate the effectiveness of this idea.
{"title":"Hysteresis Effect Suppression: Replacing Modeling with Linear and Nonlinear Methods Combination","authors":"Bingyang Hou, Ze Wang, Chuxiong Hu, Yu Zhu","doi":"10.1109/ROBIO58561.2023.10354970","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354970","url":null,"abstract":"Benefiting from the decent converse piezoelectric effect, the piezoelectric nanopositioning stage has been applied to various micro-to-nano motion scenarios with splendid control performance and advantages. However, the inherent nonlinearity characteristics of piezoelectric significantly degrade the tracking accuracy and result in obvious positioning uncertainties. Especially the hysteresis effect mainly brings about the apparent control period lag and the reciprocating stroke inconsistency. Substantial existing control methods focus on establishing approximate hysteresis or inverse hysteresis model to suppress these adverse nonlinearities. Nevertheless, these methods commonly require sophisticated nonlinear modeling procedures, and the control performance largely relies on the modeling accuracy. Notably, the linear characteristics of the piezoelectric actually still perform a major influence on the control process, which can be significantly suppressed by straightforward linear algorithms. After compensating for the linearities, the nonlinearities only demonstrate an obviously marginal impact on the control performance. On this basis, the linear and nonlinear methods integration idea is proposed to replace the conventional modeling algorithm in this paper. Several combinations are discussed and conducted on the stage to validate the effectiveness of this idea.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"84 3","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":"139186835","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/ROBIO58561.2023.10354618
Rafael J. Escarabajal, Elena París, T. Petrič, Ángel Valera, Vicente Mata, Jan Babič
This paper presents a novel approach to measuring upper limb muscular manipulability considering human biomechanics. We address the limitations of classical manipulability measures in robotics when applied to the human body. Our method introduces the concept of a force envelope to estimate the capability of the human arm to exert forces in different directions, considering the contributions of the muscles. To achieve this, we employed a biomechanical model based on Hill’s muscle model, calibrated using both geometric (segmental lengths) and strength-based (muscle activation) approaches to adapt to individual users. Furthermore, we designed a control algorithm that enables a robotic device to assist the user in unfavorable directions, guided by the manipulability measure. By providing a more isotropic response, the robotic device compensates for low manipulability in certain regions of the workspace. We conducted experiments using a haptic robot in admittance mode along the sagittal plane, where a viscous environment acted as a load to hinder human movement throughout the workspace. Our results demonstrate the effectiveness of the proposed method in reducing human effort by assisting in less manipulable directions while leaving high manipulability directions unassisted. Additionally, we successfully verified the superiority in performance of our novel approach against existing methods.
{"title":"Assistive Upper-Limb Control using a Novel Measure of Human Muscular Manipulability based on Force Envelopes","authors":"Rafael J. Escarabajal, Elena París, T. Petrič, Ángel Valera, Vicente Mata, Jan Babič","doi":"10.1109/ROBIO58561.2023.10354618","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354618","url":null,"abstract":"This paper presents a novel approach to measuring upper limb muscular manipulability considering human biomechanics. We address the limitations of classical manipulability measures in robotics when applied to the human body. Our method introduces the concept of a force envelope to estimate the capability of the human arm to exert forces in different directions, considering the contributions of the muscles. To achieve this, we employed a biomechanical model based on Hill’s muscle model, calibrated using both geometric (segmental lengths) and strength-based (muscle activation) approaches to adapt to individual users. Furthermore, we designed a control algorithm that enables a robotic device to assist the user in unfavorable directions, guided by the manipulability measure. By providing a more isotropic response, the robotic device compensates for low manipulability in certain regions of the workspace. We conducted experiments using a haptic robot in admittance mode along the sagittal plane, where a viscous environment acted as a load to hinder human movement throughout the workspace. Our results demonstrate the effectiveness of the proposed method in reducing human effort by assisting in less manipulable directions while leaving high manipulability directions unassisted. Additionally, we successfully verified the superiority in performance of our novel approach against existing methods.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"93 9","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":"139186863","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/ROBIO58561.2023.10354880
Haruki Shimotori, Ping Jiang, J. Ooga, Atsushi Sugahara, Shun Ito, Atsuya Koike, R. Ueda
We propose a novel grasp detection method for arbitrary shape objects. This method is applicable to multijoint manipulators with a two-finger hand and an RGB-D hand-eye camera. When a robot tries to grasp an unknown object with a camera as the only sensor, it must choose a position to grasp without mass distribution information. Moreover, even if the robot can find some candidates of locations for grasping, some of them will be false due to noise. The proposed method chooses an appropriate candidate by variational Bayesian clustering. In the clustering, the candidates are classified based on their closeness. Then the method chooses one existing at the center of the largest cluster since it may be uninfluenced by noise. This set of procedures does not require training unlike learning methods. The proposed method is evaluated with an actual robot. Though the method is a heuristic, it can choose suitable grasping locations from piles of objects.
{"title":"Robotic grasp detection toward unknown objects using 3D edge detection and Gaussian mixture model for clustering candidates","authors":"Haruki Shimotori, Ping Jiang, J. Ooga, Atsushi Sugahara, Shun Ito, Atsuya Koike, R. Ueda","doi":"10.1109/ROBIO58561.2023.10354880","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354880","url":null,"abstract":"We propose a novel grasp detection method for arbitrary shape objects. This method is applicable to multijoint manipulators with a two-finger hand and an RGB-D hand-eye camera. When a robot tries to grasp an unknown object with a camera as the only sensor, it must choose a position to grasp without mass distribution information. Moreover, even if the robot can find some candidates of locations for grasping, some of them will be false due to noise. The proposed method chooses an appropriate candidate by variational Bayesian clustering. In the clustering, the candidates are classified based on their closeness. Then the method chooses one existing at the center of the largest cluster since it may be uninfluenced by noise. This set of procedures does not require training unlike learning methods. The proposed method is evaluated with an actual robot. Though the method is a heuristic, it can choose suitable grasping locations from piles of objects.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"103 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":"139186895","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/ROBIO58561.2023.10354912
Chenyang Cao, Xujun Xu, Xiaofei Gong, Bo Lu, Wenzheng Chi, Lining Sun
Navigation in uncertain environment has become a hot research topic. Some path planning algorithms have been proposed to address the uncertainty problem, such as Canadian Traveller’s Problem (CTP) algorithm. However, these algorithms usually require accurate environmental information, which is often difficult to obtain. In addition, their decisions are based on robot current perceptions and the previous navigation experience is usually ignored, whereas the past experience is an important reference for people to optimize policies. In order to address these issues, we propose a mutual information perception based navigation method for efficient navigation in uncertain environment. First, an efficient CTP solver is proposed to quickly generate policy based on the obtained environment information. Second, a topological map representation method is proposed for map decomposition. In order to perceive environmental information, a block judgment interface module is proposed. Then, the door edge resolver algorithm is proposed to absorb the experience of the previous navigation. Finally, we design a complete information updating mechanism based on Wilson confidence interval, so that the robot can update its perception of the environment and realize adaptive navigation in uncertain environments. The experimental results show that by comparing with the existing move_base navigation system, our method has better performance in average navigation cost and navigation success rate.
{"title":"ANMIP: Adaptive Navigation based on Mutual Information Perception in Uncertain Environments","authors":"Chenyang Cao, Xujun Xu, Xiaofei Gong, Bo Lu, Wenzheng Chi, Lining Sun","doi":"10.1109/ROBIO58561.2023.10354912","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354912","url":null,"abstract":"Navigation in uncertain environment has become a hot research topic. Some path planning algorithms have been proposed to address the uncertainty problem, such as Canadian Traveller’s Problem (CTP) algorithm. However, these algorithms usually require accurate environmental information, which is often difficult to obtain. In addition, their decisions are based on robot current perceptions and the previous navigation experience is usually ignored, whereas the past experience is an important reference for people to optimize policies. In order to address these issues, we propose a mutual information perception based navigation method for efficient navigation in uncertain environment. First, an efficient CTP solver is proposed to quickly generate policy based on the obtained environment information. Second, a topological map representation method is proposed for map decomposition. In order to perceive environmental information, a block judgment interface module is proposed. Then, the door edge resolver algorithm is proposed to absorb the experience of the previous navigation. Finally, we design a complete information updating mechanism based on Wilson confidence interval, so that the robot can update its perception of the environment and realize adaptive navigation in uncertain environments. The experimental results show that by comparing with the existing move_base navigation system, our method has better performance in average navigation cost and navigation success rate.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"91 3","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":"139186901","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/ROBIO58561.2023.10355011
Jie Yin, Haitao Jiang, Jiale Wang, Dayu Yan, Hao Yin
Reliable outdoor navigation is a critical technology in a wide range of applications such as autonomous driving and unmanned vehicles. Low-cost GNSS-Visual-Inertial-Odometry (GVIO) systems have received great attention from researchers since that they can achieve accurate global state estimation without drift. Nonetheless, The performance of the current algorithm is not good enough in the scene with severe GNSS occlusion, and the computational efficiency needs to be improved. In this paper, we present an EKF-based framework to tightly couple visual images, GNSS raw observation and inertial measurements. We conduct extensive experiments on various scenarios including open areas and complex indoor-outdoor switching environments, whose results have demonstrated that our method outperform existing GVIO systems in terms of localization accuracy and computation efficiency.
{"title":"A Robust and Efficient EKF-based GNSS-Visual-Inertial Odometry","authors":"Jie Yin, Haitao Jiang, Jiale Wang, Dayu Yan, Hao Yin","doi":"10.1109/ROBIO58561.2023.10355011","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10355011","url":null,"abstract":"Reliable outdoor navigation is a critical technology in a wide range of applications such as autonomous driving and unmanned vehicles. Low-cost GNSS-Visual-Inertial-Odometry (GVIO) systems have received great attention from researchers since that they can achieve accurate global state estimation without drift. Nonetheless, The performance of the current algorithm is not good enough in the scene with severe GNSS occlusion, and the computational efficiency needs to be improved. In this paper, we present an EKF-based framework to tightly couple visual images, GNSS raw observation and inertial measurements. We conduct extensive experiments on various scenarios including open areas and complex indoor-outdoor switching environments, whose results have demonstrated that our method outperform existing GVIO systems in terms of localization accuracy and computation efficiency.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"19 6","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":"139186908","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/ROBIO58561.2023.10354951
Marina Raineri, Andrea Tagliavini, C. Bianco
Assistive exoskeletons are medical devices typically designed to perform repetitive movements. Recent researches highlighted the necessity to endow such devices with perceptual capabilities, in order to perform adaptive movements. This would allow using exoskeletons in everyday activities such as, for example, the ascent of a staircase. This work addresses some of the typical problems related to the motion along a staircase of a lower limb exoskeleton. In particular, the focus will be posed on problems such as the identification of the staircase and the relative position between them and the exoskeleton, the motion planning for the ascending foot and its adaptation to the changes of the torso orientation. The proposed strategies have been experimentally verified and the results are documented through videos.
{"title":"Generation of an adaptive ascending step for a lower limb exoskeleton","authors":"Marina Raineri, Andrea Tagliavini, C. Bianco","doi":"10.1109/ROBIO58561.2023.10354951","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354951","url":null,"abstract":"Assistive exoskeletons are medical devices typically designed to perform repetitive movements. Recent researches highlighted the necessity to endow such devices with perceptual capabilities, in order to perform adaptive movements. This would allow using exoskeletons in everyday activities such as, for example, the ascent of a staircase. This work addresses some of the typical problems related to the motion along a staircase of a lower limb exoskeleton. In particular, the focus will be posed on problems such as the identification of the staircase and the relative position between them and the exoskeleton, the motion planning for the ascending foot and its adaptation to the changes of the torso orientation. The proposed strategies have been experimentally verified and the results are documented through videos.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"19 4-5","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":"139186909","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}
The performance of dynamic control is intimately tied to modeling accuracy. However, traditional estimation methods and friction models, such as the least squares method and the Coulomb plus viscous model, fail to reflect the actual characteristics accurately. Particularly, the linear nature of the Coulomb plus viscous model overlooks the nonlinear static features of joint friction at slower velocities. To improve the rationality of the model structure, we integrate the Stribeck friction model into the Coulomb plus viscous model. However, introducing such nonlinearities compromises the applicability of the least squares method. As a countermeasure, we propose a new strategy that combines the least square method and the Quasi-Newton iterative method to identify the parameters of the modified nonlinear model. Additionally, the design of the excitation trajectory is critical to achieve high identification accuracy. We utilized the inverse of the smallest singular value of the observation matrix as the objective function. By minimizing it with the interior point method, we generate the excitation trajectory well-suited to stimulate dynamic characteristics. Then we leverage the discrepancies between the measured and estimated torques to assess the precision of the dynamic parameters of the manipulator. Remarkably, our proposed algorithm reduces the mean absolute error of the estimated torque by over 20.40%. Finally, an experiment of the industrial manipulator by hand guiding grab and drag is performed and shows that the proposed approach can provide the manipulator with comprehensive torque compensation.
{"title":"Dynamic Identification for a Manipulator Model based on Stribeck Friction using the Quasi-Newton Iterative Method","authors":"Feng Xiao, Feilong Zhang, Bing Han, Hualiang Zhang","doi":"10.1109/ROBIO58561.2023.10354755","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354755","url":null,"abstract":"The performance of dynamic control is intimately tied to modeling accuracy. However, traditional estimation methods and friction models, such as the least squares method and the Coulomb plus viscous model, fail to reflect the actual characteristics accurately. Particularly, the linear nature of the Coulomb plus viscous model overlooks the nonlinear static features of joint friction at slower velocities. To improve the rationality of the model structure, we integrate the Stribeck friction model into the Coulomb plus viscous model. However, introducing such nonlinearities compromises the applicability of the least squares method. As a countermeasure, we propose a new strategy that combines the least square method and the Quasi-Newton iterative method to identify the parameters of the modified nonlinear model. Additionally, the design of the excitation trajectory is critical to achieve high identification accuracy. We utilized the inverse of the smallest singular value of the observation matrix as the objective function. By minimizing it with the interior point method, we generate the excitation trajectory well-suited to stimulate dynamic characteristics. Then we leverage the discrepancies between the measured and estimated torques to assess the precision of the dynamic parameters of the manipulator. Remarkably, our proposed algorithm reduces the mean absolute error of the estimated torque by over 20.40%. Finally, an experiment of the industrial manipulator by hand guiding grab and drag is performed and shows that the proposed approach can provide the manipulator with comprehensive torque compensation.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"102 5","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":"139186926","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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