Pub Date : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354899
Xiongxin Zou, Yimin Zhou
It is important to achieve real-time and accurate detection of the insulator defects via the unmanned aerial vehicles (UAVs) so as to improve the inspection efficiency of the large-scale power grids. This paper studies the You Only Look Once version 8 (YOLOv8) and DeFCN object detection algorithms based on the deep learning techniques, then an end-to-end real-time insulator defect detection method is proposed based on the DeFCN. The DeFCN model is lightweighted referring to the design of YOLOv8-n, which can balance the accuracy and real-time performance in the model structure. The proposed DeFCN-nano is validated on an open-source dataset and the experimental results demonstrate that the mean Average Precision (mAP) of the insulator detection is 97.51%, the mAP for detecting defects is 99.26% and the overall mAP is 98.39%. Compared with the baseline models, the proposed model has higher detection speed with a real-time detection speed of 58 frames per second.
通过无人机（UAV）实现绝缘子缺陷的实时、准确检测，对提高大规模电网的巡检效率具有重要意义。本文研究了基于深度学习技术的 You Only Look Once version 8（YOLOv8）和 DeFCN 物体检测算法，提出了一种基于 DeFCN 的端到端实时绝缘子缺陷检测方法。DeFCN模型参照YOLOv8-n的设计进行了轻量化，在模型结构上兼顾了精度和实时性。实验结果表明，绝缘体检测的平均精度（mAP）为 97.51%，缺陷检测的平均精度（mAP）为 99.26%，总体平均精度（mAP）为 98.39%。与基线模型相比，拟议模型的检测速度更高，实时检测速度为每秒 58 帧。
{"title":"DeFCN-nano: An End-to-End Real-Time Object Detection for Insulator Defects","authors":"Xiongxin Zou, Yimin Zhou","doi":"10.1109/ROBIO58561.2023.10354899","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354899","url":null,"abstract":"It is important to achieve real-time and accurate detection of the insulator defects via the unmanned aerial vehicles (UAVs) so as to improve the inspection efficiency of the large-scale power grids. This paper studies the You Only Look Once version 8 (YOLOv8) and DeFCN object detection algorithms based on the deep learning techniques, then an end-to-end real-time insulator defect detection method is proposed based on the DeFCN. The DeFCN model is lightweighted referring to the design of YOLOv8-n, which can balance the accuracy and real-time performance in the model structure. The proposed DeFCN-nano is validated on an open-source dataset and the experimental results demonstrate that the mean Average Precision (mAP) of the insulator detection is 97.51%, the mAP for detecting defects is 99.26% and the overall mAP is 98.39%. Compared with the baseline models, the proposed model has higher detection speed with a real-time detection speed of 58 frames per second.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"100 10","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":"139186936","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/ROBIO58561.2023.10354893
Sarin Kitchatr, Aphiphu Sirimangkalalo, R. Chaichaowarat
Ball-on-plate balancing is a popular challenge for the implementation of control systems. In this paper, the Universal Robots UR3 industrial arm is set up for the challenge. An acrylic plate is firmly grasped by the robot’s gripper. The pure rotation about three axes is achieved at the center of the plate by considering the offset of the plate from the tool frame. A web camera is mounted on the last link to observe the position of a ping pong ball moving on top of the plate. The color-based object detection is used with OpenCV and the coordinates of the ball are mapped to the pixel of the camera. At the beginning of each test, the ball was placed away from the center of the plate. Considering the x-axis and y-axis error of the ball position away from the center of the plate, the robot arm stabilizes the ball to the center according to the PID controller gain configurations. The effect of the proportional gain on reducing the rise time of the response is observed. The advantage of the derivative gain on reducing the response overshoot is observed. The advantage of the integral gain on reducing the steady-state error is not clearly observed for this ball-on-plate balancing problem. The implemented controller is robust against the small vibration of the camera with respect to the robot arm.
板上球平衡是实施控制系统的一项常见挑战。在本文中，Universal Robots 的 UR3 工业机械臂就是为应对这一挑战而设置的。机器人的抓手牢牢抓住一块亚克力板。通过考虑板材与工具框架的偏移量，在板材中心实现了三轴纯旋转。在最后一个环节上安装了一个网络摄像头，用于观察在盘子顶部移动的乒乓球的位置。使用 OpenCV 进行基于颜色的物体检测，并将乒乓球的坐标映射到摄像头的像素上。每次测试开始时，乒乓球都被放置在远离盘子中心的位置。考虑到小球远离盘子中心位置的 x 轴和 y 轴误差，机械臂根据 PID 控制器增益配置将小球稳定在中心位置。可以观察到比例增益对缩短响应上升时间的作用。可以观察到导数增益在减少响应超调方面的优势。积分增益在减少稳态误差方面的优势在这个球-板平衡问题上并不明显。所实现的控制器对摄像机相对于机械臂的微小振动具有鲁棒性。
{"title":"Visual Servo Control for Ball-on-Plate Balancing: Effect of PID Controller Gain on Tracking Performance","authors":"Sarin Kitchatr, Aphiphu Sirimangkalalo, R. Chaichaowarat","doi":"10.1109/ROBIO58561.2023.10354893","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354893","url":null,"abstract":"Ball-on-plate balancing is a popular challenge for the implementation of control systems. In this paper, the Universal Robots UR3 industrial arm is set up for the challenge. An acrylic plate is firmly grasped by the robot’s gripper. The pure rotation about three axes is achieved at the center of the plate by considering the offset of the plate from the tool frame. A web camera is mounted on the last link to observe the position of a ping pong ball moving on top of the plate. The color-based object detection is used with OpenCV and the coordinates of the ball are mapped to the pixel of the camera. At the beginning of each test, the ball was placed away from the center of the plate. Considering the x-axis and y-axis error of the ball position away from the center of the plate, the robot arm stabilizes the ball to the center according to the PID controller gain configurations. The effect of the proportional gain on reducing the rise time of the response is observed. The advantage of the derivative gain on reducing the response overshoot is observed. The advantage of the integral gain on reducing the steady-state error is not clearly observed for this ball-on-plate balancing problem. The implemented controller is robust against the small vibration of the camera with respect to the robot arm.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"90 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":"139186937","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/ROBIO58561.2023.10354643
Bhalekar Vaibhav Bhausaheb, Ps Saikrishna
This paper presents a reduced order dynamic model of a differential drive mobile robot (DDMR). The model is validated with data collected from a mobile robot in real time. Based on the obtained model, a controller for tracking DDMR trajectory is designed and implemented. This paper presents a cascade control scheme for trajectory tracking control for a variety of complex trajectory tracking applications. Experimental and simulation results show that control design is able to track several challenging reference paths successfully with an acceptable tracking error.
{"title":"Model identification and validation of cascade control schemes for a differential drive mobile robot","authors":"Bhalekar Vaibhav Bhausaheb, Ps Saikrishna","doi":"10.1109/ROBIO58561.2023.10354643","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354643","url":null,"abstract":"This paper presents a reduced order dynamic model of a differential drive mobile robot (DDMR). The model is validated with data collected from a mobile robot in real time. Based on the obtained model, a controller for tracking DDMR trajectory is designed and implemented. This paper presents a cascade control scheme for trajectory tracking control for a variety of complex trajectory tracking applications. Experimental and simulation results show that control design is able to track several challenging reference paths successfully with an acceptable tracking error.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"65 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":"139186965","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/ROBIO58561.2023.10354635
Zehua Huang, Ran Huang
Quadruped Robots require the capability to traverse complex and demanding surroundings found in natural landscapes, urban areas, and industrial facilities. However, achieving efficient and flexible control of these systems remains an ongoing challenge. In this paper, we present a novel Universal Dynamic Model Predictive Control (UDMPC) Framework designed specifically for quadruped robot locomotion, aiming to address the controller design problems caused by the diversity of quadruped robots and the complexity of terrains. Even within intricate terrains, this framework guarantees accurate tracing of reference velocity commands, augmenting locomotion prowess. The MPC controller’s parameters are dynamically fine-tuned through reinforcement learning, enhancing control reliability. Our proposed approach was subjected to rigorous testing and evaluation using the Go1 quadruped robot model within a simulation environment. The findings showcased its exceptional dynamic adaptability, surpassing fixed-parameter controllers. Notably, this work considerably enhances command tracking precision and stability.
{"title":"An Universal Dynamic Model Predictive Control Framework for Quadruped Robot Locomotion","authors":"Zehua Huang, Ran Huang","doi":"10.1109/ROBIO58561.2023.10354635","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354635","url":null,"abstract":"Quadruped Robots require the capability to traverse complex and demanding surroundings found in natural landscapes, urban areas, and industrial facilities. However, achieving efficient and flexible control of these systems remains an ongoing challenge. In this paper, we present a novel Universal Dynamic Model Predictive Control (UDMPC) Framework designed specifically for quadruped robot locomotion, aiming to address the controller design problems caused by the diversity of quadruped robots and the complexity of terrains. Even within intricate terrains, this framework guarantees accurate tracing of reference velocity commands, augmenting locomotion prowess. The MPC controller’s parameters are dynamically fine-tuned through reinforcement learning, enhancing control reliability. Our proposed approach was subjected to rigorous testing and evaluation using the Go1 quadruped robot model within a simulation environment. The findings showcased its exceptional dynamic adaptability, surpassing fixed-parameter controllers. Notably, this work considerably enhances command tracking precision and stability.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"54 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":"139186975","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}
This paper proposed a line-symmetric double-centered 6R metamorphic mechanism with bifurcation properties. The mechanism is constructed based on elliptical geometric properties, which is a comprehensive design method for constructing novel metamorphic mechanisms through intuitive geometric figures. Firstly, the geometric constraints of the 6R metamorphic mechanism are revealed, and the parameter constraints and closed-loop kinematic equations of the 6R metamorphic mechanism are deduced. Through the analysis of mechanism geometric constraints, four motion branches of the 6R metamorphic mechanism are obtained: collinear deployable motion branch MB1, spherical 4R motion branch MB2, spherical 4R motion branch MB3, and line-symmetrical Bricard motion branch MB4. Meanwhile, according to the screw theory, the analytical expressions and mobility of the constraint-screw systems under different motion branches are deduced. This led to the identification of the constraint and motion branch variations of the 6R metamorphic mechanism. Finally, the four serial link 4R singular configurations of the 6R metamorphic mechanism are specially studied, and the characteristics of the mutual reconfiguration of these four singular configurations are revealed.
{"title":"Bifurcation variation of a novel line-symmetric double-centered 6R metamorphic mechanism based on ellipses","authors":"Song Lin, Yifeng Song, Hongguang Wang, Bingbing Yuan, Jiansheng Dai, Fengren Jing","doi":"10.1109/ROBIO58561.2023.10354943","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354943","url":null,"abstract":"This paper proposed a line-symmetric double-centered 6R metamorphic mechanism with bifurcation properties. The mechanism is constructed based on elliptical geometric properties, which is a comprehensive design method for constructing novel metamorphic mechanisms through intuitive geometric figures. Firstly, the geometric constraints of the 6R metamorphic mechanism are revealed, and the parameter constraints and closed-loop kinematic equations of the 6R metamorphic mechanism are deduced. Through the analysis of mechanism geometric constraints, four motion branches of the 6R metamorphic mechanism are obtained: collinear deployable motion branch MB1, spherical 4R motion branch MB2, spherical 4R motion branch MB3, and line-symmetrical Bricard motion branch MB4. Meanwhile, according to the screw theory, the analytical expressions and mobility of the constraint-screw systems under different motion branches are deduced. This led to the identification of the constraint and motion branch variations of the 6R metamorphic mechanism. Finally, the four serial link 4R singular configurations of the 6R metamorphic mechanism are specially studied, and the characteristics of the mutual reconfiguration of these four singular configurations are revealed.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"75 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":"139186988","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/ROBIO58561.2023.10354678
Olmo A. Moreno Franco, Daegeun Park, C. Di Natali, Darwin G. Caldwell, J. Ortiz
Industrial exoskeletons are becoming increasingly important for preventing workers from developing musculoskeletal disorders when performing manual material handling. Because the exoskeletons are task dependent, there is versatility of use in the performance according to the type of movement that the user executes. The user command interface is a wearable device for industrial exoskeletons. It is an adaptable setup system between users and occupational wearable robots. The main purpose is to provide access to users in some domains of the exoskeleton configuration system. Areas such as secure user identification, parameter configuration, and signal visualization are well structured in the interface. Shoulder-sideWINDER is an active exoskeleton for shoulder support that was developed in collaboration between XoLab and the Italian Worker’s Compensation Authority. This exoskeleton requires a guided calibration process before the operation. In this paper, we present an evaluation of two novel features of the UCI: (a) tutorial and (b) audio notifications for calibration. These new features are integrated into the upper-limb industrial exoskeleton Shoulder-sideWINDER. Participants performed experiments to assess the interface comprehensibility and usability of the tutorial and sound notifications by wearing the Shoulder-sideWINDER exoskeleton and the user command interface. The results presented in this study show that the user command interface is a highly intuitive control device that guides the calibration sequence of the exoskeleton.
{"title":"Evaluation of Visual and Audio Notifications in the User Command Interface Integrated with the Industrial Exoskeleton Shoulder-sideWINDER","authors":"Olmo A. Moreno Franco, Daegeun Park, C. Di Natali, Darwin G. Caldwell, J. Ortiz","doi":"10.1109/ROBIO58561.2023.10354678","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354678","url":null,"abstract":"Industrial exoskeletons are becoming increasingly important for preventing workers from developing musculoskeletal disorders when performing manual material handling. Because the exoskeletons are task dependent, there is versatility of use in the performance according to the type of movement that the user executes. The user command interface is a wearable device for industrial exoskeletons. It is an adaptable setup system between users and occupational wearable robots. The main purpose is to provide access to users in some domains of the exoskeleton configuration system. Areas such as secure user identification, parameter configuration, and signal visualization are well structured in the interface. Shoulder-sideWINDER is an active exoskeleton for shoulder support that was developed in collaboration between XoLab and the Italian Worker’s Compensation Authority. This exoskeleton requires a guided calibration process before the operation. In this paper, we present an evaluation of two novel features of the UCI: (a) tutorial and (b) audio notifications for calibration. These new features are integrated into the upper-limb industrial exoskeleton Shoulder-sideWINDER. Participants performed experiments to assess the interface comprehensibility and usability of the tutorial and sound notifications by wearing the Shoulder-sideWINDER exoskeleton and the user command interface. The results presented in this study show that the user command interface is a highly intuitive control device that guides the calibration sequence of the exoskeleton.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"64 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":"139186997","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/ROBIO58561.2023.10354638
Shanshan Ji, Qiwei Meng, Wen Wang, Zheyuan Lin, Te Li, Minhong Wan, Chunlong Zhang, J. Gu
In human-robot interaction (HRI), human pose estimation is a necessary technology for the robot to perceive the dynamic environment and make interactive actions. Recently, graph convolutional networks (GCNs) have been increasingly used for 2D to 3D pose estimation tasks since the skeleton topologies can be viewed as graph structures. In this paper, we propose a novel graph convolutional network architecture, Multi-scale Multi-branch Fusion Graph Convolutional Networks (MSMB-GCN), for 3D Human Pose Estimation(3D HPE) task. The proposed model consists of multiple GCN blocks with a multi-branch architecture. This multi-branch architecture enables the model to get multi-scale features for human skeletal representations. The group of GCN blocks, which has strong multi-level feature extraction capabilities, allows the model to learn global and local features, lower-level and higher-level features. Experiment results on the HumanPose benchmark demonstrate that our model outperforms the state-of-the-art and ablation studies validate the effectiveness of our approach.
{"title":"MSMB-GCN: Multi-scale Multi-branch Fusion Graph Convolutional Networks for 3D Human Pose Estimation","authors":"Shanshan Ji, Qiwei Meng, Wen Wang, Zheyuan Lin, Te Li, Minhong Wan, Chunlong Zhang, J. Gu","doi":"10.1109/ROBIO58561.2023.10354638","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354638","url":null,"abstract":"In human-robot interaction (HRI), human pose estimation is a necessary technology for the robot to perceive the dynamic environment and make interactive actions. Recently, graph convolutional networks (GCNs) have been increasingly used for 2D to 3D pose estimation tasks since the skeleton topologies can be viewed as graph structures. In this paper, we propose a novel graph convolutional network architecture, Multi-scale Multi-branch Fusion Graph Convolutional Networks (MSMB-GCN), for 3D Human Pose Estimation(3D HPE) task. The proposed model consists of multiple GCN blocks with a multi-branch architecture. This multi-branch architecture enables the model to get multi-scale features for human skeletal representations. The group of GCN blocks, which has strong multi-level feature extraction capabilities, allows the model to learn global and local features, lower-level and higher-level features. Experiment results on the HumanPose benchmark demonstrate that our model outperforms the state-of-the-art and ablation studies validate the effectiveness of our approach.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"72 5","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":"139187048","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}
Machine-human interaction systems have been proposed to improve motion learning efficiency by providing feedback on motion misalignment between a learner and an instructor. Conventional motion teaching systems based on haptic information presentation generally use electrical sensors and motors, which causes the exoskeleton suit weight and the scale of the entire system to become large. In this study, we proposed a pneumatic-driven motion teaching system that provides feedback to the learner by simultaneously presenting visual and torque information to the learner. We achieved a lightweight, soft, and user-safety haptic system using pneumatic artificial muscles (PAMs) as actuators. PAMs’ shrink force generates external torque on the learner’s joint to correct the elbow flexion and extension motion misalignment between the instructor and the learner. We conducted a motion teaching experiment to verify the effectiveness of the proposed method. Specifically, we performed motion instruction on eight subjects using three patterns: a visual-only presentation method, a conventional method that simultaneously presents visual and vibrotactile presentation, and the proposed method that simultaneously presents visual and torque. The experimental results showed that the proposed method reduced the angle and angular velocity tracking errors compared to the visual-only method and visual-vibrotactile method.
{"title":"A Pneumatically Driven Arm Motion Teaching System Using Visual and Torque Feedback","authors":"Yoshihide Tomita, Tetsuro Miyazaki, Maina Sogabe, Kenji Kawashima","doi":"10.1109/ROBIO58561.2023.10354627","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354627","url":null,"abstract":"Machine-human interaction systems have been proposed to improve motion learning efficiency by providing feedback on motion misalignment between a learner and an instructor. Conventional motion teaching systems based on haptic information presentation generally use electrical sensors and motors, which causes the exoskeleton suit weight and the scale of the entire system to become large. In this study, we proposed a pneumatic-driven motion teaching system that provides feedback to the learner by simultaneously presenting visual and torque information to the learner. We achieved a lightweight, soft, and user-safety haptic system using pneumatic artificial muscles (PAMs) as actuators. PAMs’ shrink force generates external torque on the learner’s joint to correct the elbow flexion and extension motion misalignment between the instructor and the learner. We conducted a motion teaching experiment to verify the effectiveness of the proposed method. Specifically, we performed motion instruction on eight subjects using three patterns: a visual-only presentation method, a conventional method that simultaneously presents visual and vibrotactile presentation, and the proposed method that simultaneously presents visual and torque. The experimental results showed that the proposed method reduced the angle and angular velocity tracking errors compared to the visual-only method and visual-vibrotactile method.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"61 9","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":"139187056","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/ROBIO58561.2023.10354867
Shosuke Inoue, K. Motonaka, Seiji Miyoshi
Among the various collision avoidance algorithms available, those based on "buffered Voronoi cells (BVC)" have been successful in terms of performance. In this approach, the control input can be determined easily using only the relative positions of the quadrotors. However, this approach, when applied to quadrotors in an environment with stationary obstacles, causes occasional "deadlocks", wherein the quadrotors can not reach the goal. Moreover, it was assumed that each quadrotor could use the relative positions of the obstacles at any time; however, how to obtain this information using the conventional method was not discussed. In this study, we propose an algorithm to tackle deadlocks. Furthermore, to tackle wall-like obstacles that can not be handled by conventional methods, we propose using all point-cloud data obtained by LiDAR as Voronoi seeds. Additionally, because the calculation cost increases as the number of Voronoi seeds increases, we verify the relationship between the calculation time of the control input and the behavior of the quadrotor with respect to the number of used LiDAR data points.
{"title":"Performance of BVC-based Obstacle Avoidance for a Quadrotor Relative to LiDAR Data Volume","authors":"Shosuke Inoue, K. Motonaka, Seiji Miyoshi","doi":"10.1109/ROBIO58561.2023.10354867","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354867","url":null,"abstract":"Among the various collision avoidance algorithms available, those based on \"buffered Voronoi cells (BVC)\" have been successful in terms of performance. In this approach, the control input can be determined easily using only the relative positions of the quadrotors. However, this approach, when applied to quadrotors in an environment with stationary obstacles, causes occasional \"deadlocks\", wherein the quadrotors can not reach the goal. Moreover, it was assumed that each quadrotor could use the relative positions of the obstacles at any time; however, how to obtain this information using the conventional method was not discussed. In this study, we propose an algorithm to tackle deadlocks. Furthermore, to tackle wall-like obstacles that can not be handled by conventional methods, we propose using all point-cloud data obtained by LiDAR as Voronoi seeds. Additionally, because the calculation cost increases as the number of Voronoi seeds increases, we verify the relationship between the calculation time of the control input and the behavior of the quadrotor with respect to the number of used LiDAR data points.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"61 8","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":"139187057","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/ROBIO58561.2023.10355019
Yuhan Hou, Pengcheng Ye, Wenda Ye, Shixin Mao, Yisheng Guan, Haifei Zhu
For solving the problem of low efficiency and poor accuracy of adjacent pipe interface alignment when laying large-bore pipelines, a method of relative pose detection of adjacent pipe interfaces based on the point laser ranging sensors was proposed. The method adopts the data from point laser ranging sensors to fit an ellipse of the pipe to be aligned and compare the ellipse with the cross-sectional circle to obtain the relative pose of two adjacent pipe interfaces. The analytical model of the relative pose between the ellipse axis of the pipe to be measured and the cross-sectional circle axis was constructed, and a pipe interface relative pose detection device was designed and built. Finally, an experiment of measuring the angle between axis vectors of two pipes was designed to verify the accuracy and robustness of the proposed method. The experimental results indicated that the measurement error of the angle between axis vectors of two pipes is 0.3°, which can meet the requirements of the standard of large pipe interface alignment operation.
{"title":"Relative Pose Detection of Pipe Interfaces Based on Point Laser Ranging Sensors","authors":"Yuhan Hou, Pengcheng Ye, Wenda Ye, Shixin Mao, Yisheng Guan, Haifei Zhu","doi":"10.1109/ROBIO58561.2023.10355019","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10355019","url":null,"abstract":"For solving the problem of low efficiency and poor accuracy of adjacent pipe interface alignment when laying large-bore pipelines, a method of relative pose detection of adjacent pipe interfaces based on the point laser ranging sensors was proposed. The method adopts the data from point laser ranging sensors to fit an ellipse of the pipe to be aligned and compare the ellipse with the cross-sectional circle to obtain the relative pose of two adjacent pipe interfaces. The analytical model of the relative pose between the ellipse axis of the pipe to be measured and the cross-sectional circle axis was constructed, and a pipe interface relative pose detection device was designed and built. Finally, an experiment of measuring the angle between axis vectors of two pipes was designed to verify the accuracy and robustness of the proposed method. The experimental results indicated that the measurement error of the angle between axis vectors of two pipes is 0.3°, which can meet the requirements of the standard of large pipe interface alignment operation.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"60 11","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":"139187062","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：