Article
Computer Science, Artificial Intelligence
Xin Shu, Fenglei Ni, Xinyang Fan, Shuai Yang, Changyuan Liu, Baoxu Tu, Yiwei Liu, Hong Liu
Summary: Humanoid robots have attracted attention for their compatibility with human environments, but they still lack stability and reliability in real-world settings. Combining humanoid robots with various stable mobile platforms is a favored solution. This article presents a versatile humanoid robot platform, which allows flexible deployment in diverse scenarios by incorporating multimodal perception and extensible interfaces. The platform has achieved impressive integration, lightness, dexterity, and strength, with the goal of human-intelligent manipulation skills for human-engineered environments. The article elaborates on design choices, subsystems, and demonstrates the platform's performance through experiments.
CAAI TRANSACTIONS ON INTELLIGENCE TECHNOLOGY
(2023)
Article
Computer Science, Artificial Intelligence
Ning Tan, Peng Yu, Shen Liao, Zhenglong Sun
Summary: This paper presents a quadratic programming-based control method for redundant manipulators, and utilizes a gradient neurodynamics model to estimate the kinematics of the manipulators. By integrating a primal dual neural network and the neurodynamics model, a model-free control method constrained by joint angle and velocity limits is developed. Extensive simulations and experiments demonstrate the effectiveness and advantages of the proposed method.
Article
Automation & Control Systems
Karla Rincon, Isaac Chairez, Wen Yu
Summary: This study introduces a new type of trajectory tracking robust controllers for a class of rehabilitation robotic system considering articulations restrictions. Numerical evaluations confirm the effectiveness of the proposed controller in tracking reference trajectories and satisfying articulation restrictions.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2022)
Article
Engineering, Multidisciplinary
Boyang Chen, Xizhe Zang, Yue Zhang, Liang Gao, Yanhe Zhu, Jie Zhao
Summary: This paper proposes a multi-modal biped gait planner based on DIRCON for generating different gaits on multiple non-flat terrains. Virtual knot and slacked complementary constraints are used for trajectory optimization in gait planning. Experimental results demonstrate the stability of the planned gaits on non-flat terrains.
Article
Computer Science, Information Systems
Matthias Kerzel, Philipp Allgeuer, Erik Strahl, Nicolas Frick, Jan-Gerrit Habekost, Manfred Eppe, Stefan Wermter
Summary: Researchers propose a novel semi-humanoid robot NICOL that can efficiently collaborate with humans in social interaction and physical tasks. They introduce the design concept of NICOL and evaluate its manipulation abilities using a new end-to-end hybrid neuro-genetic visuomotor learning approach, which outperforms existing inverse kinematics solvers.
Article
Automation & Control Systems
Abhishek Kumar Kashyap, Dayal R. Parhi
Summary: The study focuses on gait planning for a humanoid robot NAO using the LIPM model and a PID controller tuned with PSO technique. The results show that applying the PSO tuned PID controller provides a predictable gait, reduces stabilization time, and essentially eliminates overshoot by 25%. Comparisons with other controllers and statistical analysis support the credibility of the proposed controller.
Article
Computer Science, Hardware & Architecture
Xiaojun Yu, Zeming Fan, Xingduo Wang, Hao Wan, Pengbo Wang, Xilei Zeng, Feng Jia
Summary: This paper introduces an autonomous humanoid robot called LABOR for apple harvesting. Experimental results show high success rates for apple recognition and harvesting functions, with an average apple harvesting time of approximately 14.6 seconds.
COMPUTERS & ELECTRICAL ENGINEERING
(2021)
Article
Computer Science, Artificial Intelligence
Alexandre F. V. Muzio, Marcos R. O. A. Maximo, Takashi Yoneyama
Summary: RoboCup 3D Soccer Simulation is a robot soccer competition that uses a high-fidelity simulator and autonomous humanoid agents. This article focuses on learning humanoid robot behaviors and evaluates the effectiveness of the learned dribble policy in the Soccer 3D environment.
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
(2022)
Article
Robotics
Stefano Dafarra, Giulio Romualdi, Daniele Pucci
Summary: This article presents a planner that generates walking trajectories for a humanoid robot using centroidal dynamics and full kinematics. The interaction between the robot and the walking surface is explicitly modeled through dynamic complementarity conditions, allowing for automatic generation of footsteps without a predefined contact sequence. The approach addresses the robot control objective through solving an optimal control problem and demonstrates the possibility of achieving automatic walking motions by specifying a minimal set of references. The impact of contact modeling choices on computational time is also analyzed. The approach is validated through generating and testing walking trajectories for the humanoid robot iCub.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Robotics
Diego Ferigo, Raffaello Camoriano, Paolo Maria Viceconte, Daniele Calandriello, Silvio Traversaro, Lorenzo Rosasco, Daniele Pucci
Summary: The study utilizes model-free Deep Reinforcement Learning to train a general and robust humanoid push-recovery policy in a simulation environment, targeting high-dimensional whole-body humanoid control. The incorporation of expert knowledge in reward components enables the policy to quickly learn various robust behaviors, validating its robustness and generalization.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Chemistry, Analytical
Li Qin, Houzhao Ji, Minghao Chen, Ke Wang
Summary: This article developed a self-coordinated velocity vector (SCVV) double-layer controller with balance-guiding ability for a lower-limb rehabilitation exoskeleton robot (LLRER). A adaptive trajectory generator was devised in the outer loop to generate a harmonious hip-knee reference trajectory on the non-time-varying (NTV) phase space. In the inner loop, velocity control was adopted and the desired velocity vectors were obtained by searching the minimum L2 norm between the reference phase trajectory and the current configuration. Both simulations and experiments validated the effectiveness of the controller using an electromechanical coupling model and a self-developed exoskeleton device.
Article
Computer Science, Cybernetics
Nicolas Spatola, Thierry Chaminade
Summary: This paper aims to study the cognitive representation of humanoid robots, especially the phenomenon of anthropomorphism. Three experiments were conducted, which revealed that the cognitive load during robot observation can impact the mental representation of the robot. Moreover, the observation goals and focus on intentionality attribution also play a role in this effect.
INTERNATIONAL JOURNAL OF HUMAN-COMPUTER STUDIES
(2022)
Article
Engineering, Electrical & Electronic
Ameer Tamoor Khan, Shuai Li, Xuefeng Zhou
Summary: This study proposed a framework for optimizing the trajectory of a 5-link Biped Robot using the BAS algorithm, which combines trajectory generation and robot control. The results showed that applying the BAS algorithm yielded convincing results in solving the non-linear systems.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
(2021)
Article
Engineering, Aerospace
Jose L. Ramon, Ramon Calvo, Adrian Trujillo, Jorge Pomares, Leonard Felicetti
Summary: This paper presents an optimization algorithm for planning the motion of a humanoid robot during extravehicular activities. The algorithm schedules and plans the movements of the robot's arms to navigate the handrails outside the International Space Station. It considers the constraints imposed by the handrail's topology and calculates the sequence of grasping and nongrasping phases necessary to move the robot along the handrails. Additionally, a low-level controller tracks the planned trajectories of the arms and end-effectors.
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
(2022)
Article
Mathematics
Roland Szabo
Summary: In this study, a biped robot learns to walk using genetic algorithms, with the ability to rise after a fall. The system is designed based on human genetics, mimicking the process of a child learning to walk. The biped robot evolves with each generation, gradually achieving a more natural walking posture. The system is unpredictable, as the robot may evolve at different speeds, similar to the variation in human genetics. The robot is considered to have evolved enough when it can walk similarly to a human without falling.
Article
Robotics
Michele Folgheraiter, Bauyrzhan Aubakir
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS
(2018)
Article
Robotics
Nicola Vitucci, Giuseppina Gini
Article
Chemistry, Multidisciplinary
G. Gini, F. Zanoli, A. Gamba, G. Raitano, E. Benfenati
SAR AND QSAR IN ENVIRONMENTAL RESEARCH
(2019)
Review
Environmental Sciences
Emilio Benfenati, Qasim Chaudhry, Giuseppina Gini, Jean Lou Dorne
ENVIRONMENT INTERNATIONAL
(2019)
Article
History & Philosophy Of Science
Giuseppina Gini
FOUNDATIONS OF CHEMISTRY
(2020)
Article
Biochemistry & Molecular Biology
Chiakang Hung, Giuseppina Gini
Summary: This paper demonstrates the construction of QSAR models from 2D molecular graphs without the need for computing chemical descriptors, using graph convolutional neural network models with and without Bayesian estimation of prediction uncertainty. The models predict the mutagenicity of molecules based on the Ames test results, showing promising results compared to current state-of-the-art models. The interpretation of the models is enhanced by automatic extraction of important substructures driving the prediction, as well as uncertainty estimations.
MOLECULAR DIVERSITY
(2021)
Proceedings Paper
Automation & Control Systems
Timur Umurzakov, Sharafatdin Yessirkepov, Michele Folgheraiter
Summary: This paper presents the development of a low-cost and fast prototyping bipedal robot with 12 DOFs. The lower limb structure of the robot was physically assembled by the research team, optimizing cost and duration. To reduce cost and weight, a high power-to-weight ratio servomotor capable of generating up to 200 W of mechanical power was developed.
2022 7TH INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION ENGINEERING, ICRAE
(2022)
Proceedings Paper
Automation & Control Systems
Madi Nurmanov, Timur Ishuov, Azim Dukenderov, Michele Folgheraiter
Summary: Bio-inspired robotics is a new field of engineering that aims to mimic living organisms for different applications. This work focuses on developing a reactive control system for an aquatic robot based on feedback from an RGB-D camera. The robot uses image segmentation and depth data to estimate distances and a neural network to control its trajectory, allowing it to avoid obstacles and detect energy sources.
2022 8TH INTERNATIONAL CONFERENCE ON AUTOMATION, ROBOTICS AND APPLICATIONS (ICARA 2022)
(2022)
Proceedings Paper
Automation & Control Systems
Zhenis Otarbay, Sharafatdin Yessirkepov, Timur Ishuov, Michele Folgheraiter
Summary: This paper presents the design and kinematic model of a low-inertia, high-stiffness tendon-driven shoulder joint for humanoid robotics. The system consists of three limbs with 2 DOFs of mobility and the possibility of a third DOF for yaw rotation. Motion is achieved using three tendons moved by motors integrated with pulleys. Load cell sensors in the joint structure measure the forces applied by the tendons. A custom motherboard integrates the microcontroller unit, motor drivers, and instrumentation amplifiers. The forward kinematic model was obtained using screw theory, with inverse kinematics calculated from the orientation matrix. Preliminary testing was conducted using a custom graphical user interface for actuator monitoring and control.
2021 20TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR)
(2021)
Proceedings Paper
Engineering, Biomedical
Artemiy Oleinikov, Berdakh Abibullaev, Michele Folgheraiter
42ND ANNUAL INTERNATIONAL CONFERENCES OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY: ENABLING INNOVATIVE TECHNOLOGIES FOR GLOBAL HEALTHCARE EMBC'20
(2020)
Proceedings Paper
Automation & Control Systems
Michele Folgheraiter, Sharafatdin Yessirkepov, Alikhan Yessaly
PROCEEDINGS OF THE IEEE 2019 9TH INTERNATIONAL CONFERENCE ON CYBERNETICS AND INTELLIGENT SYSTEMS (CIS) ROBOTICS, AUTOMATION AND MECHATRONICS (RAM) (CIS & RAM 2019)
(2019)
Proceedings Paper
Computer Science, Artificial Intelligence
Zhenis Otarbay, Iliyas Assylgali, Asset Yskak, Michele Folgheraiter
2019 28TH IEEE INTERNATIONAL CONFERENCE ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN)
(2019)
Proceedings Paper
Robotics
Michele Folgheraiter, Alikhan Yessaly, Galym Kaliyev, Asset Yskak, Sharafatdin Yessirkepov, Artemiy Oleinikov, Giuseppina Gini
2018 IEEE-RAS 18TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)
(2018)
Article
Automation & Control Systems
Runwei Guan, Shanliang Yao, Lulu Liu, Xiaohui Zhu, Ka Lok Man, Yong Yue, Jeremy Smith, Eng Gee, Yutao Yue
Summary: With the development of Unmanned Surface Vehicles (USVs), the perception of inland waterways has become significant. Traditional RGB cameras cannot work effectively in adverse weather and at night, which has led to the emergence of 4D millimeter-wave radar as a new perception sensor. However, the radar suffers from water-surface clutter and irregular shape of point cloud. To address these issues, this paper proposes a high-performance panoptic perception model called Mask-VRDet, which fuses features of vision and radar using graph neural network.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Adrien Le Reun, Kevin Subrin, Anthony Dubois, Sebastien Garnier
Summary: This study aims to evaluate the quality and health of aerospace parts using a high-dimensional robotic cell. By utilizing X-ray Computed Tomography devices, the interior of the parts can be reconstructed and anomalies can be detected. A methodology is proposed to assess both the raw process capability and the improved process capability, with three strategies developed to improve the robot behavior model and calibration.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Weiming Ba, Jung-Che Chang, Jing Liu, Xi Wang, Xin Dong, Dragos Axinte
Summary: This paper proposes a hybrid scheme for kinematic control of continuum robots, which avoids errors through tension supervision and accurate piecewise linear approximation. The effectiveness of the controller is verified on different continuum robotic systems.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Gabriele Abbate, Alessandro Giusti, Viktor Schmuck, Oya Celiktutan, Antonio Paolillo
Summary: In this study, a learning-based approach is proposed to predict the probability of human users interacting with a robot before the interaction begins. By considering the pose and motion of the user, the approach labels the robot's encounters with humans in a self-supervised manner. The method is validated and deployed in various scenarios, achieving high accuracy in predicting user intentions to interact with the robot.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Tiago Cortinhal, Eren Erdal Aksoy
Summary: This work presents a new depth-and semantics-aware conditional generative model, named TITAN-Next, for cross-domain image-to-image translation between LiDAR and camera sensors. The model is able to translate raw LiDAR point clouds to RGB-D camera images by solely relying on semantic scene segments, and it has practical applications in fields like autonomous vehicles.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Marios Krestenitis, Emmanuel K. Raptis, Athanasios Ch. Kapoutsis, Konstantinos Ioannidis, Elias B. Kosmatopoulos, Stefanos Vrochidis
Summary: This paper addresses the issue of informative path planning for a UAV used in precision agriculture. By using a non-uniform scanning approach, the time spent in areas with minimal value is reduced, while maintaining high precision in information-dense regions. A novel active sensing and deep learning-based coverage path planning approach is proposed, which adjusts the UAV's speed based on the quantity and confidence level of identified plant classes.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Shota Kokubu, Pablo E. Tortos Vinocour, Wenwei Yu
Summary: In this study, a new modular soft actuator was proposed to improve the support performance of soft rehabilitation gloves (SRGs). Objective evaluations and clinical tests were conducted to demonstrate the effectiveness and functionality of the proposed actuator and SRG.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Jinliang Zhu, Yuanxi Sun, Jie Xiong, Yiyang Liu, Jia Zheng, Long Bai
Summary: This paper proposes an active prosthetic knee joint with a variable stiffness parallel elastic actuation mechanism. Numerical verifications and practical experiments demonstrate that the mechanism can reduce torque and power, thus reducing energy consumption and improving the endurance of the prosthetic knee joint.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Yong You, Jingtao Wu, Yunlong Meng, Dongye Sun, Datong Qin
Summary: A new power-cycling variable transmission (PCVT) is proposed and applied to construction vehicles to improve transmission efficiency. A shift correction strategy is developed based on identifying the changes in construction vehicles' mass and gradient. Simulation results show that the proposed method can correct shift points, improve operation efficiency, and ensure a safer operation process.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Shaorui Liu, Wei Tian, Jianxin Shen, Bo Li, Pengcheng Li
Summary: This paper proposes a two-objective optimization technique for multi-robot systems, addressing the issue of balancing productivity and machining performance in high-quality machining tasks.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Pengchao Ding, Faben Zhu, Hongbiao Zhu, Gongcheng Wang, Hua Bai, Han Wang, Dongmei Wu, Zhijiang Du, Weidong Wang
Summary: We propose an autonomous approaching scheme for mobile robot traversing obstacle stairwells, which overcomes the restricted field of vision caused by obstacles. The scheme includes stair localization, structural parameter estimation, and optimization of the approaching process.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Pedro Azevedo, Vitor Santos
Summary: Accurate detection and tracking of vulnerable road users and traffic objects are vital tasks for autonomous driving and driving assistance systems. This paper proposes a solution for object detection and tracking in an autonomous driving scenario, comparing different object detectors and exploring the deployment on edge devices. The effectiveness of DeepStream technology and different object trackers is assessed using the KITTI tracking dataset.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Benjamin Beiter, Divya Srinivasan, Alexander Leonessa
Summary: Powered exoskeletons can significantly reduce physical workload and have great potential impact on future labor practices. To truly assist users in achieving task goals, a shared autonomy control framework is proposed to separate the control objectives of the human and exoskeleton. Positive Power control is introduced for the human-based controller, while 'acceptance' is used as a measure of matching the exoskeleton's control objective to the human's. Both control objectives are implemented in an optimization-based Whole-Body-Control structure. The results verify the effectiveness of the control framework and its potential for improving cooperative control for powered exoskeletons.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)