Ran Jiao, Yongfeng Rong, Mingjie Dong, Jianfeng Li
{"title":"Hybrid-disturbance-observer-based interaction control for a fully actuated UAV with tether-based positioning system","authors":"Ran Jiao, Yongfeng Rong, Mingjie Dong, Jianfeng Li","doi":"10.1108/IR-11-2022-0277","DOIUrl":"https://doi.org/10.1108/IR-11-2022-0277","url":null,"abstract":"","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89546229","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Multi-pyramid-based hierarchical template matching for 6D pose estimation in industrial grasping task","authors":"Ziqi Chai, Chao-yuan Liu, Z. Xiong","doi":"10.1108/IR-08-2022-0220","DOIUrl":"https://doi.org/10.1108/IR-08-2022-0220","url":null,"abstract":"","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90096439","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Purpose The purpose of this paper is to propose a novel event-triggered aperiodic intermittent sliding-mode control (ETAI-SMC) algorithm for master–slave bilateral teleoperation robotic systems to further save communication resources while maintaining synchronization precision. Design/methodology/approach By using the Lyapunov theory, a new event-triggered aperiodic intermittent sliding-mode controller is designed to synchronize master–slave robots in a discontinuous method. Unlike traditional periodic time-triggered continuous control strategy, a new ETAI condition is discussed for less communication pressure. Then, the exponential reaching law is adopted to accelerate sliding-mode variables convergence, which has a significant effect on synchronization performance. In addition, the authors use quantizers to make their algorithm have obvious progress in saving communication resources. Findings The proposed control algorithm performance is validated by an experiment developed on a practical bilateral teleoperation system with two PHANToM Omni robotic devices. As a result, the synchronization error is limited within a small range and the control frequency is evidently reduced. Compared with a conventional control algorithm, the experimental results illustrate that the proposed control algorithm is more sensitive to system states changes and it can further save communication resources while guaranteeing the system synchronization accuracy, which is more practical for real bilateral teleoperation robotic systems. Originality/value A novel ETAI-SMC for bilateral teleoperation robotic systems is proposed to find a balance between reducing the control frequency and synchronization control precision. Combining the traditional sliding-mode control algorithm with the periodic intermittent control strategy and the event-triggered control strategy has produced obvious effect on our control performance. The proposed ETAI-SMC algorithm helps the controller be more sensitive to system states changes, which makes it possible to achieve precise control with lower control frequency. Moreover, we design an environment contact force feedback algorithm for operators to improve the perception of the slave robot working environment. In addition, quantizers and the exponential convergence law are adopted to help the proposed algorithm perform better in saving communication resources and improving synchronization precision.
{"title":"Event-triggered aperiodic intermittent sliding-mode control for master-slave bilateral teleoperation robotic systems","authors":"Hang Gao, Chao Ma","doi":"10.1108/ir-10-2022-0250","DOIUrl":"https://doi.org/10.1108/ir-10-2022-0250","url":null,"abstract":"\u0000Purpose\u0000The purpose of this paper is to propose a novel event-triggered aperiodic intermittent sliding-mode control (ETAI-SMC) algorithm for master–slave bilateral teleoperation robotic systems to further save communication resources while maintaining synchronization precision.\u0000\u0000\u0000Design/methodology/approach\u0000By using the Lyapunov theory, a new event-triggered aperiodic intermittent sliding-mode controller is designed to synchronize master–slave robots in a discontinuous method. Unlike traditional periodic time-triggered continuous control strategy, a new ETAI condition is discussed for less communication pressure. Then, the exponential reaching law is adopted to accelerate sliding-mode variables convergence, which has a significant effect on synchronization performance. In addition, the authors use quantizers to make their algorithm have obvious progress in saving communication resources.\u0000\u0000\u0000Findings\u0000The proposed control algorithm performance is validated by an experiment developed on a practical bilateral teleoperation system with two PHANToM Omni robotic devices. As a result, the synchronization error is limited within a small range and the control frequency is evidently reduced. Compared with a conventional control algorithm, the experimental results illustrate that the proposed control algorithm is more sensitive to system states changes and it can further save communication resources while guaranteeing the system synchronization accuracy, which is more practical for real bilateral teleoperation robotic systems.\u0000\u0000\u0000Originality/value\u0000A novel ETAI-SMC for bilateral teleoperation robotic systems is proposed to find a balance between reducing the control frequency and synchronization control precision. Combining the traditional sliding-mode control algorithm with the periodic intermittent control strategy and the event-triggered control strategy has produced obvious effect on our control performance. The proposed ETAI-SMC algorithm helps the controller be more sensitive to system states changes, which makes it possible to achieve precise control with lower control frequency. Moreover, we design an environment contact force feedback algorithm for operators to improve the perception of the slave robot working environment. In addition, quantizers and the exponential convergence law are adopted to help the proposed algorithm perform better in saving communication resources and improving synchronization precision.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2022-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83936010","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Meby Mathew, Mervin Joe Thomas, M. G. Navaneeth, S. Sulaiman, A. Amudhan, A. Sudheer
Purpose The purpose of this review paper is to address the substantial challenges of the outdated exoskeletons used for rehabilitation and further study the current advancements in this field. The shortcomings and technological developments in sensing the input signals to enable the desired motions, actuation, control and training methods are explained for further improvements in exoskeleton research. Design/methodology/approach Search platforms such as Web of Science, IEEE, Scopus and PubMed were used to collect the literature. The total number of recent articles referred to in this review paper with relevant keywords is filtered to 143. Findings Exoskeletons are getting smarter often with the integration of various modern tools to enhance the effectiveness of rehabilitation. The recent applications of bio signal sensing for rehabilitation to perform user-desired actions promote the development of independent exoskeleton systems. The modern concepts of artificial intelligence and machine learning enable the implementation of brain–computer interfacing (BCI) and hybrid BCIs in exoskeletons. Likewise, novel actuation techniques are necessary to overcome the significant challenges seen in conventional exoskeletons, such as the high-power requirements, poor back drivability, bulkiness and low energy efficiency. Implementation of suitable controller algorithms facilitates the instantaneous correction of actuation signals for all joints to obtain the desired motion. Furthermore, applying the traditional rehabilitation training methods is monotonous and exhausting for the user and the trainer. The incorporation of games, virtual reality (VR) and augmented reality (AR) technologies in exoskeletons has made rehabilitation training far more effective in recent times. The combination of electroencephalogram and electromyography-based hybrid BCI is desirable for signal sensing and controlling the exoskeletons based on user intentions. The challenges faced with actuation can be resolved by developing advanced power sources with minimal size and weight, easy portability, lower cost and good energy storage capacity. Implementation of novel smart materials enables a colossal scope for actuation in future exoskeleton developments. Improved versions of sliding mode control reported in the literature are suitable for robust control of nonlinear exoskeleton models. Optimizing the controller parameters with the help of evolutionary algorithms is also an effective method for exoskeleton control. The experiments using VR/AR and games for rehabilitation training yielded promising results as the performance of patients improved substantially. Research limitations/implications Robotic exoskeleton-based rehabilitation will help to reduce the fatigue of physiotherapists. Repeated and intention-based exercise will improve the recovery of the affected part at a faster pace. Improved rehabilitation training methods like VR/AR-based technologies help in motivating the su
目的本文旨在解决过时外骨骼用于康复的实质性挑战，并进一步研究该领域的最新进展。为了进一步改进外骨骼研究，本文解释了在感知输入信号以实现所需运动、驱动、控制和训练方法方面的缺点和技术发展。设计/方法/方法使用Web of Science、IEEE、Scopus、PubMed等检索平台收集文献。这篇综述文章中涉及的近期文章的总数与相关关键词被过滤为143。随着各种现代工具的整合，骨骼变得越来越智能，以提高康复的有效性。最近生物信号传感在康复中的应用，以执行用户期望的动作，促进了独立外骨骼系统的发展。人工智能和机器学习的现代概念使得在外骨骼中实现脑机接口(BCI)和混合BCI成为可能。同样，为了克服传统外骨骼所面临的重大挑战，例如高功率要求、较差的向后驾驶性、体积庞大和低能效，新型驱动技术是必要的。适当的控制器算法的实现有助于对所有关节的驱动信号进行瞬时校正，以获得所需的运动。此外，使用传统的康复训练方法对使用者和训练者来说都是单调和疲惫的。在外骨骼中结合游戏、虚拟现实(VR)和增强现实(AR)技术，使康复训练在最近的时间里更加有效。基于脑电图和肌电图的混合脑机接口的组合是基于用户意图的信号传感和控制外骨骼的理想选择。驱动所面临的挑战可以通过开发具有最小尺寸和重量、易于携带、低成本和良好储能能力的先进电源来解决。新型智能材料的实现为未来外骨骼的发展提供了巨大的驱动范围。文献中报道的滑模控制的改进版本适用于非线性外骨骼模型的鲁棒控制。利用进化算法优化控制器参数也是外骨骼控制的一种有效方法。使用VR/AR和游戏进行康复训练的实验取得了令人满意的结果，患者的表现得到了显着改善。研究局限/启示基于外骨骼的机器人康复将有助于减少物理治疗师的疲劳。重复的和以意图为基础的练习将以更快的速度改善患处的恢复。改进的康复训练方法，如基于VR/ ar的技术，有助于激励受试者。原创性/价值本文描述了最近用于开发外骨骼的信号传感、驱动、控制和康复训练方法。所有这些领域都是外骨骼的关键要素，在这些领域发表的评论论文非常有限。因此，本文对该领域的研究人员具有一定的指导意义。
{"title":"A systematic review of technological advancements in signal sensing, actuation, control and training methods in robotic exoskeletons for rehabilitation","authors":"Meby Mathew, Mervin Joe Thomas, M. G. Navaneeth, S. Sulaiman, A. Amudhan, A. Sudheer","doi":"10.1108/ir-09-2022-0239","DOIUrl":"https://doi.org/10.1108/ir-09-2022-0239","url":null,"abstract":"Purpose\u0000The purpose of this review paper is to address the substantial challenges of the outdated exoskeletons used for rehabilitation and further study the current advancements in this field. The shortcomings and technological developments in sensing the input signals to enable the desired motions, actuation, control and training methods are explained for further improvements in exoskeleton research.\u0000\u0000\u0000Design/methodology/approach\u0000Search platforms such as Web of Science, IEEE, Scopus and PubMed were used to collect the literature. The total number of recent articles referred to in this review paper with relevant keywords is filtered to 143.\u0000\u0000\u0000Findings\u0000Exoskeletons are getting smarter often with the integration of various modern tools to enhance the effectiveness of rehabilitation. The recent applications of bio signal sensing for rehabilitation to perform user-desired actions promote the development of independent exoskeleton systems. The modern concepts of artificial intelligence and machine learning enable the implementation of brain–computer interfacing (BCI) and hybrid BCIs in exoskeletons. Likewise, novel actuation techniques are necessary to overcome the significant challenges seen in conventional exoskeletons, such as the high-power requirements, poor back drivability, bulkiness and low energy efficiency. Implementation of suitable controller algorithms facilitates the instantaneous correction of actuation signals for all joints to obtain the desired motion. Furthermore, applying the traditional rehabilitation training methods is monotonous and exhausting for the user and the trainer. The incorporation of games, virtual reality (VR) and augmented reality (AR) technologies in exoskeletons has made rehabilitation training far more effective in recent times. The combination of electroencephalogram and electromyography-based hybrid BCI is desirable for signal sensing and controlling the exoskeletons based on user intentions. The challenges faced with actuation can be resolved by developing advanced power sources with minimal size and weight, easy portability, lower cost and good energy storage capacity. Implementation of novel smart materials enables a colossal scope for actuation in future exoskeleton developments. Improved versions of sliding mode control reported in the literature are suitable for robust control of nonlinear exoskeleton models. Optimizing the controller parameters with the help of evolutionary algorithms is also an effective method for exoskeleton control. The experiments using VR/AR and games for rehabilitation training yielded promising results as the performance of patients improved substantially.\u0000\u0000\u0000Research limitations/implications\u0000Robotic exoskeleton-based rehabilitation will help to reduce the fatigue of physiotherapists. Repeated and intention-based exercise will improve the recovery of the affected part at a faster pace. Improved rehabilitation training methods like VR/AR-based technologies help in motivating the su","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2022-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73334624","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Jiaxiang Hu, Xiaojun Shi, Chunyun Ma, Xin Yao, Yingxin Wang
Purpose The purpose of this paper is to propose a multi-feature, multi-metric and multi-loop tightly coupled LiDAR-visual-inertial odometry, M3LVI, for high-accuracy and robust state estimation and mapping. Design/methodology/approach M3LVI is built atop a factor graph and composed of two subsystems, a LiDAR-inertial system (LIS) and a visual-inertial system (VIS). LIS implements multi-feature extraction on point cloud, and then multi-metric transformation estimation is implemented to realize LiDAR odometry. LiDAR-enhanced images and IMU pre-integration have been used in VIS to realize visual odometry, providing a reliable initial guess for LIS matching module. Location recognition is performed by a dual loop module combined with Bag of Words and LiDAR-Iris to correct accumulated drift. M³LVI also functions properly when one of the subsystems failed, which greatly increases the robustness in degraded environments. Findings Quantitative experiments were conducted on the KITTI data set and the campus data set to evaluate the M3LVI. The experimental results show the algorithm has higher pose estimation accuracy than existing methods. Practical implications The proposed method can greatly improve the positioning and mapping accuracy of AGV, and has an important impact on AGV material distribution, which is one of the most important applications of industrial robots. Originality/value M3LVI divides the original point cloud into six types, and uses multi-metric transformation estimation to estimate the state of robot and adopts factor graph optimization model to optimize the state estimation, which improves the accuracy of pose estimation. When one subsystem fails, the other system can complete the positioning work independently, which greatly increases the robustness in degraded environments.
目的提出一种多特征、多度量、多环路紧密耦合的激光雷达-视觉-惯性里程计(M3LVI)，用于高精度、鲁棒的状态估计和映射。m3lvi建立在一个因子图之上，由两个子系统组成，一个激光雷达惯性系统(LIS)和一个视觉惯性系统(VIS)。LIS对点云进行多特征提取，然后进行多度量变换估计，实现激光雷达测程。利用激光雷达增强图像和IMU预集成在VIS中实现视觉里程计，为LIS匹配模块提供了可靠的初始猜测。位置识别采用双环模块，结合Bag of Words和LiDAR-Iris校正累积漂移。当其中一个子系统发生故障时，M³LVI也能正常工作，这大大增加了退化环境中的鲁棒性。在KITTI数据集和校园数据集上进行了定量实验来评估M3LVI。实验结果表明，该算法具有比现有方法更高的姿态估计精度。该方法可以大大提高AGV的定位和测绘精度，并对AGV材料分布产生重要影响，这是工业机器人最重要的应用之一。Originality/valueM3LVI将原始点云划分为六种类型，采用多度量变换估计对机器人状态进行估计，并采用因子图优化模型对状态估计进行优化，提高了姿态估计的精度。当一个子系统出现故障时，另一个子系统可以独立完成定位工作，大大提高了系统在退化环境下的鲁棒性。
{"title":"M³LVI: a multi-feature, multi-metric, multi-loop, LiDAR-visual-inertial odometry via smoothing and mapping","authors":"Jiaxiang Hu, Xiaojun Shi, Chunyun Ma, Xin Yao, Yingxin Wang","doi":"10.1108/ir-05-2022-0143","DOIUrl":"https://doi.org/10.1108/ir-05-2022-0143","url":null,"abstract":"\u0000Purpose\u0000The purpose of this paper is to propose a multi-feature, multi-metric and multi-loop tightly coupled LiDAR-visual-inertial odometry, M3LVI, for high-accuracy and robust state estimation and mapping.\u0000\u0000\u0000Design/methodology/approach\u0000M3LVI is built atop a factor graph and composed of two subsystems, a LiDAR-inertial system (LIS) and a visual-inertial system (VIS). LIS implements multi-feature extraction on point cloud, and then multi-metric transformation estimation is implemented to realize LiDAR odometry. LiDAR-enhanced images and IMU pre-integration have been used in VIS to realize visual odometry, providing a reliable initial guess for LIS matching module. Location recognition is performed by a dual loop module combined with Bag of Words and LiDAR-Iris to correct accumulated drift. M³LVI also functions properly when one of the subsystems failed, which greatly increases the robustness in degraded environments.\u0000\u0000\u0000Findings\u0000Quantitative experiments were conducted on the KITTI data set and the campus data set to evaluate the M3LVI. The experimental results show the algorithm has higher pose estimation accuracy than existing methods.\u0000\u0000\u0000Practical implications\u0000The proposed method can greatly improve the positioning and mapping accuracy of AGV, and has an important impact on AGV material distribution, which is one of the most important applications of industrial robots.\u0000\u0000\u0000Originality/value\u0000M3LVI divides the original point cloud into six types, and uses multi-metric transformation estimation to estimate the state of robot and adopts factor graph optimization model to optimize the state estimation, which improves the accuracy of pose estimation. When one subsystem fails, the other system can complete the positioning work independently, which greatly increases the robustness in degraded environments.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2022-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80483390","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Jiang Ding, Hanfei Su, Weihang Nong, Chang-Yan Huang
Purpose Soft rod-climbing robots have been known to have great potential in a wide variety of working conditions, including cable inspection and pipeline maintenance. However, one of the most notable issues preventing their popular adoption is their inability to effectively cross obstacles or transfer between rods. To overcome these difficulties, this paper aims to propose an inchworm-inspired soft robot with omni-directional steering. Design/methodology/approach Theoretical models are first established to analyze the telescopic deformation, bending, steering and climbing ability of the soft robot. The main modes of movement the soft robot is expected to encounter is then determined through controlled testing so to verify their effectiveness (those being rod climbing, steering and obstacle surmounting). Findings The soft robot demonstrated a capability to cross obstacles 1.3 times its own width and bend 120° omni-directionally, evidencing outstanding abilities in both omni-directional steering and obstacle surmounting. In addition, the soft robot also exhibited acceptable climbing performance in a variety of working conditions such as climbing along vertical rods, transferring between rods with differing diameters or friction surfaces and bearing a payload. Originality/value The soft robot proposed in this paper possesses abilities that are both exceptional and crucial for practical use, specifically with regard to its omni-directional steering and obstacle surmounting.
{"title":"An inchworm-inspired soft robot with combined functions of omni-directional steering and obstacle surmounting","authors":"Jiang Ding, Hanfei Su, Weihang Nong, Chang-Yan Huang","doi":"10.1108/ir-09-2022-0224","DOIUrl":"https://doi.org/10.1108/ir-09-2022-0224","url":null,"abstract":"\u0000Purpose\u0000Soft rod-climbing robots have been known to have great potential in a wide variety of working conditions, including cable inspection and pipeline maintenance. However, one of the most notable issues preventing their popular adoption is their inability to effectively cross obstacles or transfer between rods. To overcome these difficulties, this paper aims to propose an inchworm-inspired soft robot with omni-directional steering.\u0000\u0000\u0000Design/methodology/approach\u0000Theoretical models are first established to analyze the telescopic deformation, bending, steering and climbing ability of the soft robot. The main modes of movement the soft robot is expected to encounter is then determined through controlled testing so to verify their effectiveness (those being rod climbing, steering and obstacle surmounting).\u0000\u0000\u0000Findings\u0000The soft robot demonstrated a capability to cross obstacles 1.3 times its own width and bend 120° omni-directionally, evidencing outstanding abilities in both omni-directional steering and obstacle surmounting. In addition, the soft robot also exhibited acceptable climbing performance in a variety of working conditions such as climbing along vertical rods, transferring between rods with differing diameters or friction surfaces and bearing a payload.\u0000\u0000\u0000Originality/value\u0000The soft robot proposed in this paper possesses abilities that are both exceptional and crucial for practical use, specifically with regard to its omni-directional steering and obstacle surmounting.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2022-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73290049","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Purpose This paper aims to illustrate the growing role of machine learning techniques in robotics. Design/methodology/approach Following an introduction which includes a brief historical perspective, this paper provides a short introduction to machine learning techniques. It then provides examples of robotic machine learning applications in agriculture, waste management, warehouse automation and exoskeletons. This is followed by a short consideration of applications in future generations of self-driving vehicles. Finally, brief conclusions are drawn. Findings Machine learning is a branch of artificial intelligence and the topic of extensive academic study. Recent years have seen machine learning techniques being applied successfully to a diversity of robotic systems, most of which involve machine vision. They have imparted these with a range of unique or greatly improved operational capabilities, allowing them to satisfy all manner of new applications. Originality/value This provides a detailed insight into how machine learning is being applied to robotics.
{"title":"The role of machine learning in robotics","authors":"R. Bogue","doi":"10.1108/ir-11-2022-0279","DOIUrl":"https://doi.org/10.1108/ir-11-2022-0279","url":null,"abstract":"\u0000Purpose\u0000This paper aims to illustrate the growing role of machine learning techniques in robotics.\u0000\u0000\u0000Design/methodology/approach\u0000Following an introduction which includes a brief historical perspective, this paper provides a short introduction to machine learning techniques. It then provides examples of robotic machine learning applications in agriculture, waste management, warehouse automation and exoskeletons. This is followed by a short consideration of applications in future generations of self-driving vehicles. Finally, brief conclusions are drawn.\u0000\u0000\u0000Findings\u0000Machine learning is a branch of artificial intelligence and the topic of extensive academic study. Recent years have seen machine learning techniques being applied successfully to a diversity of robotic systems, most of which involve machine vision. They have imparted these with a range of unique or greatly improved operational capabilities, allowing them to satisfy all manner of new applications.\u0000\u0000\u0000Originality/value\u0000This provides a detailed insight into how machine learning is being applied to robotics.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2022-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88211749","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Shuang Hao, G. Song, Juzheng Mao, Y.-L. Gu, Aiguo Song
Purpose This paper aims to present a fully actuated aerial manipulator (AM) with a robust motion/force hybrid controller for conducting contact-typed inspection tasks in industrial plants. Design/methodology/approach An AM is designed based on a hexarotor with tilted rotors and a rigidly attached end effector. By tilting the rotors, the position and attitude of the AM can be controlled independently, and the AM can actively exert forces on industrial facilities through the rigidly attached end effector. A motion/force hybrid controller is proposed to perform contact-typed inspection tasks. The contact-typed inspection task is divided into the approach phase and the contact phase. In the approach phase, the AM automatically approaches the contact surface. In the contact phase, a motion/force hybrid controller is used for contact-typed inspection. Finally, a disturbance observer (DOB) is used to estimate external disturbances and used as feedforward compensation. Findings The proposed AM can slowly approach the contact surface without significant impact in the contact phase. It can realize constant force control in the direction normal to the contact surface in the contact phase, whereas the motion of the remaining directions can be controlled by the operator. The use of the DOB ensures the robustness of the AM in the presence of external wind disturbances. Originality/value A fully actuated AM system with a robust motion/force hybrid controller is proposed. The effectiveness of the proposed AM system for conducting contact-typed industrial inspection tasks is validated by practical experiments.
{"title":"A fully actuated aerial manipulator system for industrial contact inspection applications","authors":"Shuang Hao, G. Song, Juzheng Mao, Y.-L. Gu, Aiguo Song","doi":"10.1108/ir-07-2022-0184","DOIUrl":"https://doi.org/10.1108/ir-07-2022-0184","url":null,"abstract":"\u0000Purpose\u0000This paper aims to present a fully actuated aerial manipulator (AM) with a robust motion/force hybrid controller for conducting contact-typed inspection tasks in industrial plants.\u0000\u0000\u0000Design/methodology/approach\u0000An AM is designed based on a hexarotor with tilted rotors and a rigidly attached end effector. By tilting the rotors, the position and attitude of the AM can be controlled independently, and the AM can actively exert forces on industrial facilities through the rigidly attached end effector. A motion/force hybrid controller is proposed to perform contact-typed inspection tasks. The contact-typed inspection task is divided into the approach phase and the contact phase. In the approach phase, the AM automatically approaches the contact surface. In the contact phase, a motion/force hybrid controller is used for contact-typed inspection. Finally, a disturbance observer (DOB) is used to estimate external disturbances and used as feedforward compensation.\u0000\u0000\u0000Findings\u0000The proposed AM can slowly approach the contact surface without significant impact in the contact phase. It can realize constant force control in the direction normal to the contact surface in the contact phase, whereas the motion of the remaining directions can be controlled by the operator. The use of the DOB ensures the robustness of the AM in the presence of external wind disturbances.\u0000\u0000\u0000Originality/value\u0000A fully actuated AM system with a robust motion/force hybrid controller is proposed. The effectiveness of the proposed AM system for conducting contact-typed industrial inspection tasks is validated by practical experiments.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2022-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77669708","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Purpose The paper aims to propose a novel dual-stage shape memory alloy (SMA) actuated gripper (DAG), of which the grasp performance is improved through primary and secondary actuation. Design/methodology/approach This paper presents a method of integrating the design of dual-stage actuation modules based on the SMA bias actuation principle to enhance the grasping shape adaptability and force modulation of a DAG. The actuation angle range and grasping performance of the DAG are investigated by thermomechanical analysis and the finite element method based numerical simulation. Findings The results of present experiments and simulations indicate that the actuation angle scope of the DAG is about 20° under no load, which enables the grasping space occupied by an object in the DAG from 60 mm to 120 mm. The grasping force adjusted by changing the input power of the primary main actuation module and secondary fine-tuning actuation module can reach a maximum of 2 N, which is capable of grasping objects of various sizes, weights, shapes, etc. Originality/value The contribution of this paper is to design a DAG based on SMA, and establish the solution methods for the primary main actuation module and secondary fine-tuning actuation module, respectively. It lays a foundation for the research of lightweight and intelligent robotic grippers.
{"title":"A novel dual-stage shape memory alloy actuated gripper","authors":"Xiaozheng Li, Shutian Liu, L. Tong, Renjing Gao","doi":"10.1108/ir-04-2022-0114","DOIUrl":"https://doi.org/10.1108/ir-04-2022-0114","url":null,"abstract":"\u0000Purpose\u0000The paper aims to propose a novel dual-stage shape memory alloy (SMA) actuated gripper (DAG), of which the grasp performance is improved through primary and secondary actuation.\u0000\u0000\u0000Design/methodology/approach\u0000This paper presents a method of integrating the design of dual-stage actuation modules based on the SMA bias actuation principle to enhance the grasping shape adaptability and force modulation of a DAG. The actuation angle range and grasping performance of the DAG are investigated by thermomechanical analysis and the finite element method based numerical simulation.\u0000\u0000\u0000Findings\u0000The results of present experiments and simulations indicate that the actuation angle scope of the DAG is about 20° under no load, which enables the grasping space occupied by an object in the DAG from 60 mm to 120 mm. The grasping force adjusted by changing the input power of the primary main actuation module and secondary fine-tuning actuation module can reach a maximum of 2 N, which is capable of grasping objects of various sizes, weights, shapes, etc.\u0000\u0000\u0000Originality/value\u0000The contribution of this paper is to design a DAG based on SMA, and establish the solution methods for the primary main actuation module and secondary fine-tuning actuation module, respectively. It lays a foundation for the research of lightweight and intelligent robotic grippers.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87014235","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Purpose The purpose of this study is to provide an in-depth understanding about the indoor-orbital electrical inspection robot, which is useful for motivating the further investigation on the inspection of electrical equipment. Currently, electric energy has a strong correlation with the economic development of the country. Intelligent substations play an important role in the transmission and distribution of the electricity; the maintenance of the substation has attracted intensive attention due to the requirement of reliability and safety. The indoor-orbital electrical inspection robot has increasingly become the main tool to realize the unmanned. Hence, a systematic review is conducted systematically reviewing the current technical status of the indoor-orbital electrical inspection robot and discuss the existed problems. Design/methodology/approach In this paper, the most essential achievements in the field of indoor-orbital electrical inspection robots were reported to present the current status, and the mechanical structures and key inspective technologies were also discussed. Findings Four recommendations are provided from the analyzed review, which have made constructive comments on the overall structural design, functionality, intelligence and future development direction of the indoor-orbital electrical inspection robot, respectively. Originality/value To the best of the authors’ knowledge, this is the first systematic review study on indoor-orbital electrical inspection robots; it fills the theoretical gap and proffers design ideas and directions for the development of the indoor-orbital electrical inspection robot.
{"title":"A review of indoor-orbital electrical inspection robots in substations","authors":"Lijun Dong, Naichao Chen, Jiawen Liang, Tingting Li, Zhanlin Yan, Bing Zhang","doi":"10.1108/ir-06-2022-0162","DOIUrl":"https://doi.org/10.1108/ir-06-2022-0162","url":null,"abstract":"\u0000Purpose\u0000The purpose of this study is to provide an in-depth understanding about the indoor-orbital electrical inspection robot, which is useful for motivating the further investigation on the inspection of electrical equipment. Currently, electric energy has a strong correlation with the economic development of the country. Intelligent substations play an important role in the transmission and distribution of the electricity; the maintenance of the substation has attracted intensive attention due to the requirement of reliability and safety. The indoor-orbital electrical inspection robot has increasingly become the main tool to realize the unmanned. Hence, a systematic review is conducted systematically reviewing the current technical status of the indoor-orbital electrical inspection robot and discuss the existed problems.\u0000\u0000\u0000Design/methodology/approach\u0000In this paper, the most essential achievements in the field of indoor-orbital electrical inspection robots were reported to present the current status, and the mechanical structures and key inspective technologies were also discussed.\u0000\u0000\u0000Findings\u0000Four recommendations are provided from the analyzed review, which have made constructive comments on the overall structural design, functionality, intelligence and future development direction of the indoor-orbital electrical inspection robot, respectively.\u0000\u0000\u0000Originality/value\u0000To the best of the authors’ knowledge, this is the first systematic review study on indoor-orbital electrical inspection robots; it fills the theoretical gap and proffers design ideas and directions for the development of the indoor-orbital electrical inspection robot.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2022-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91105453","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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