【IJAC专题】机器人相关论文荐读
自20世纪40年代问世以来，在计算机、自动化、感知、人工智能等技术的推动下，机器人已广泛应用于工业生产的各个领域，成为“制造业皇冠顶端的明珠”。机器人也正悄然进入医疗、康复、娱乐、教育、安保、救援等领域，成为服务民生的重要智能载体。未来，机器人有可能是这个蓝色星球上第一个堪比人类的智能体，成为智能社会生产生活中不可或缺的元素，深刻影响着人类社会的发展进程。
------摘自《机器人简史》
今天，小编为大家推荐10篇2016-2017年IJAC发表的机器人相关论文，内容涵盖类人行走、机器人导航、机器人灵活抓取、空间机器人、水下移动机器人等，精彩文章，等你下载！
On the centre of mass motion in human walking
人类行走的质心运动研究
【全文链接】
Open Access:
https://link.springer.com/article/10.1007/s11633-017-1088-5
【推荐理由】
文章出自法国国家技术研究院院士、 LAAS-CNRS（法国国家科学研究中心-系统分析与系统结构实验室）主任Jean-Paul Laumond 及其团队，基于其去年提出的质心（center of mass）估计算法，建构出一种新的人行走时质心移动轨迹的几何模型，并发现质心移动轨迹遵循“短幅摆线”（curtate cycloid）轨迹（定义一个短幅摆线只需3个与质心相关的参数），这一发现为设计双足行走机器人提供了新的思路！Laumond院士团队已将此方法成功应用于Yoyo-Man模型中，这种模型可以替代现有的双足机器人控制方法，这为类人行走中相关计算基础的研究开辟了新的研究视角。本研究为ERC （欧洲研究委员会）Actanthrope Project项目中部分内容。
【往期精彩】
【IJAC热文】法国院士J. P. Laumond：类人机器人中生物行走机理的最新发现
【英文摘要】
The center of mass (CoM) is a key descriptor in the understanding and the analysis of bipedal locomotion. Some approaches are based on the premise that humans minimize the CoM vertical displacement. Other approaches express walking dynamics through the inverted pendulu 39 38473 39 14988 0 0 2566 0 0:00:14 0:00:05 0:00:09 2882m model. Such approaches are contradictory in that they lead to two conflicting patterns to express the CoM motion: straight line segments for the first approaches and arcs of a circle for the second ones. In this paper, we show that CoM motion is a trade-off between both patterns. Specifically, CoM follows a “curtate cycloid”, which is the curve described by a point rigidly attached to a wheel rolling on a flat surface. We demonstrate that all the three parameters defining a curtate cycloid only depend on the height of the subjects.
【关键词】
Human locomotion, analytical model, centre of mass, locomotion signature, synergies.
Navigation of non-holonomic mobile robot using neuro-fuzzy logic with integrated safe boundary algorithm
非完整移动机器人导航问题
【全文链接】
1) SpringerLink:
https://link.springer.com/article/10.1007/s11633-016-1042-y
2) IJAC官网:
http://www.ijac.net/EN/abstract/abstract1922.shtml
【推荐理由】
在遇到弯曲或不规则障碍时，本文所提出的自适应神经模糊推理系统(ANFIS)(加入安全边界算法Safe Boundary Algorithm)，与同类技术相比，更适用于自主移动机器人(AMR)导航。此外，制造AMR的成本相对较低，配置ANFIS系统的自主移动机器人在实际操作中具有很好的稳定性，可在诸如地震、火灾、火车事故等环境中为人们提供食物和药品。
【英文摘要】
In the present work, autonomous mobile robot (AMR) system is intended with basic behaviour, one is obstacle avoidance and the other is target seeking in various environments. The AMR is navigated using fuzzy logic, neural network and adaptive neuro-fuzzy inference system (ANFIS) controller with safe boundary algorithm. In this method of target seeking behaviour, the obstacle avoidance at every instant improves the performance of robot in navigation approach. The inputs to the controller are the signals from various sensors fixed at front face, left and right face of the AMR. The output signal from controller regulates the angular velocity of both front power wheels of the AMR. The shortest path is identified using fuzzy, neural network and ANFIS techniques with integrated safe boundary algorithm and the predicted results are validated with experimentation. The experimental result has proven that ANFIS with safe boundary algorithm yields better performance in navigation, in particular with curved/irregular obstacles.
【关键词】
Robotics, autonomous mobile robot (AMR), navigation, fuzzy logic, neural networks, adaptive neuro-fuzzy inference system (ANFIS), safe boundary algorithm.
Flexible robotic grasping strategy with constrained region in environment
环境约束区中机器人的灵活抓取策略
【全文链接】
Open Access:
https://link.springer.com/article/10.1007/s11633-017-1096-5
【推荐理由】
基于仿生学中的环境约束区(constrained region in environment)概念，本文主要研究欠驱动多指灵巧手(underactuated multi-finger robot hands)的抓取策略。本研究提出的方法集线上策略和线下调整的优点于一身，可有效减少计算量、降低线上抓取策略的复杂性。在配备低精度传感器的条件下，机器手也可准确完成抓取，即使在物体不确定的条件下仍具有较强的鲁棒性，可保证抓取操作灵活高效。
【往期精彩】
【IJAC推文】国家重点实验室乔红团队：CRIE框架下机器人的灵活抓取策略
【英文摘要】
Grasping is a significant yet challenging task for the robots. In this paper, the grasping problem for a class of dexterous robotic hands is investigated based on the novel concept of constrained region in environment, which is inspired by the grasping operations of the human beings. More precisely, constrained region in environment is formed by the environment, which integrates a bio-inspired co-sensing framework. By utilizing the concept of constrained region in environment, the grasping by robots can be effectively accomplished with relatively low-precision sensors. For the grasping of dexterous robotic hands, the attractive region in environment is first established by model primitives in the configuration space to generate offline grasping planning. Then, online dynamic adjustment is implemented by integrating the visual sensory and force sensory information, such that the uncertainty can be further eliminated and certain compliance can be obtained. In the end, an experimental example of BarrettHand is provided to show the effectiveness of our proposed grasping strategy based on constrained region in environment.
【关键词】
Grasping strategy, compliant grasping, dexterous robotic hands, attractive region in environment, constrained region in environment.
Reaction torque control of redundant free-floating space robot
自由浮动冗余度空间机器人的反作用力矩控制
【全文链接】
1) SpringerLink:
https://link.springer.com/article/10.1007/s11633-017-1067-x
2) IJAC官网:
http://www.ijac.net/EN/abstract/abstract1923.shtml
【推荐理由】
本文出自哈尔滨工业大学机器人与系统国家重点实验室，主要研究自由浮动冗余度空间机器人(redundant free-floating space robot)的反作用力矩控制(reaction torque based control)，并得出反作用力矩解析表达式。反作用力矩不仅可应用于空间机器人的无反作用控制(reactionless control)，还是衡量卫星基地干扰最小化(distrubance minimization)的重要指标。本研究使用non-strict task priority control strategy (如least-squres solution)以及strict task priority control strategy (如null-space beased solution)来完成反作用力矩最小化的任务，实时仿真实验证实该方法具有实用性。
【英文摘要】
This paper presents the reaction torque based satellite base reactionless control or base disturbance minimization of a redundant free-floating space robot. This subject is of vital importance in the study of the free-floating space robot because the base disturbance minimization will result in less energy consumption and prolonged control application. The analytical formulation of the reaction torque is derived in this article, and the reaction torque control can achieve reactionless control and satellite base disturbance minimization. Furthermore, we derive the reaction torque based control of the space robot for base disturbance minimization from both the non-strict task priority and strict task priority control strategy. The dynamics singularity in the proposed algorithm is avoided in this paper. Besides, a real time simulation system of the space robot under Linux/real time application interface (RTAI) is developed to verify and test the feasibility and reliability of the method. The experimental results demonstrate the feasibility of online reaction torque control of the redundant free-floating space robot.
【关键词】
Redundant space robot, reaction torque, reactionless control, base disturbance minimization, Linux/real time application interface (RTAI).
Reactive navigation of underwater mobile robot using ANFIS approach in a manifold manner
水下移动机器人的反应式导航研究
【全文链接】
1) SpringerLink：
https://link.springer.com/article/10.1007/s11633-016-0983-5
2) IJAC官网:
http://www.ijac.net/EN/abstract/abstract1924.shtml
【推荐理由】
水下导航技术的首要目标是在混乱的3D工作区(chaotic 3D workspace)中规划出从出发地到目的地的最优安全路线。ANFIS(adaptive fuzzy inference system, 自适应模糊推理系统)的自学机制能够处理水下运动时遇到的不确定或非线性问题。本文采用多种ANFIS模型，可在三维工作区的水平面和垂直面避免出现局部最小值情况(local minima situation)，同时有效躲避障碍，到达目的地。基于输入输出训练模式(input-output training patterns)的误差梯度分析法(error gradient approach)可帮助机器人进行自主学习，进而优化路线长度，节省行动时间。
【英文摘要】
Learning and self-adaptation ability is highly required to be integrated in path planning algorithm for underwater robot during navigation through an unspecified underwater environment. High frequency oscillations during underwater motion are responsible for nonlinearities in dynamic behavior of underwater robot as well as uncertainties in hydrodynamic coefficients. Reactive behaviors of underwater robot are designed considering the position and orientation of both target and nearest obstacle from robot\u0002s current position. Human like reasoning power and approximation based learning skill of neural based adaptive fuzzy inference system (ANFIS) has been found to be effective for underwater multivariable motion control. More than one ANFIS models are used here for achieving goal and obstacle avoidance while avoiding local minima situation in both horizontal and vertical plane of three dimensional workspace. An error gradient approach based on input-output training patterns for learning purpose has been promoted to spawn trajectory of underwater robot optimizing path length as well as time taken. The simulation and experimental results endorse sturdiness and viability of the proposed method in comparison with other navigational methodologies to negotiate with hectic conditions during motion of underwater mobile robot.
【关键词】
Adaptive fuzzy inference system (ANFIS), error gradient, optimal path, obstacle avoidance behavior, steering angle, target seeking behavior.
Singularity robust path planning for real time base attitude adjustment of free-floating space robot
自由浮动空间机器人实时基地姿态调整的路径规划问题
【全文链接】
1) SpringerLink:
https://link.springer.com/article/10.1007/s11633-017-1055-1
2) IJAC官网:
http://www.ijac.net/EN/abstract/abstract1905.shtml
【推荐理由】
本研究出自哈尔滨工业大学机器人与系统国家重点实验室，提出了基于任务优先级(task priority)的反推进零空间算法(reaction null-space algorithm)，用以解决空间机器人基地姿态调整问题。在任务优先级的基础上，基于TP-RNS的笛卡尔路径规划(Cartesian path planning)可保证不出现算法奇异问题(no algorithmic singularity)，低优先级任务的不准确性也不会影响完成高优先级任务。本研究所提出的方法在应对由矛盾任务(contradictory task situations)引起的算法奇异问题时，对计算要求不高，且更为稳定。此外，还引入奇异值法滤波(singular value filtering decomposition)解决动力奇异问题。为测试所提方法的在线计算能力，本文还建立了基于Linux/RTAI的自由浮动空间机器人实时模拟器，并对所提三种方法进行了比较。在模拟器内完成实时基地姿态调整任务。
【英文摘要】
This paper presents a singularity robust path planning for space manipulator to achieve base (satellite) attitude adjustment and end-effector task. The base attitude adjustment by the movement of manipulator will save propellant compared with conventional attitude control system. A task-priority reaction null-space control method is applied to achieve the primary task of adjusting attitude and secondary task of accomplishing end-effector task. Furthermore, the algorithm singularity is eliminated in the proposed algorithm compared with conventional reaction null-space algorithm. And the singular value filtering decomposition is introduced to dispose the dynamic singularity, the unit quaternion is also introduced to overcome representation singularity. Hence, a singularity robust path planning algorithm of space robot for base attitude adjustment is derived. A real time simulation system of the space robot under Linux/RTAI (realtime application interface) is developed to verify and test the feasibility and reliability of the method. The experimental results demonstrate the feasibility of online base attitude adjustment of space robot by the proposed algorithm.
【关键词】
Space robot, path planning, base attitude adjustment, task priority, reaction null-space.
Multi-objective invasive weed optimization of the LQR controller
LQR控制器的多目标野草优化问题
【全文链接】
1) SpringerLink:
https://link.springer.com/article/10.1007/s11633-017-1061-3
2) IJAC官网:
http://www.ijac.net/EN/abstract/abstract1925.shtml
【推荐理由】
Robogymnast是一个模拟运动员单杠悬挂的三级欠驱动摆(triple link underactuated pendulum)。本研究利用野草算法(IWO)提出两种多目标优化方法：WCMIWO法(weighted criteria method IWO)和FLIWOH法(fuzzy logic IWO hybrid)。线性二次型调节控制器(linear quadratic regulator (LQR) controller)可在垂直方向平衡Robogymnast，两种优化方法用于计算LQR控制器中矩阵Q的最优对角线值(optimum diagonal values)。利用优化方法得到的参数，本研究构建了两个LQR控制器。之后再重复同样的过程。重复时对Robogymnast加入干扰，可得到另外两个不同的LQR控制器。最后，通过在不同场景里对四个控制器进行仿真实验得出：四个控制器都可以不同精度平衡Robogymnast，通过干扰训练的两个控制器校正时间(settling time)更短。
【英文摘要】
The Robogymnast is a triple link underactuated pendulum that mimics a human gymnast hanging from a horizontal bar. In this paper, two multi-objective optimization methods are developed using invasive weed optimization (IWO). The first method is the weighted criteria method IWO (WCMIWO) and the second method is the fuzzy logic IWO hybrid (FLIWOH). The two optimization methods were used to investigate the optimum diagonal values for the Q matrix of the linear quadratic regulator (LQR) controller that can balance the Robogymnast in an upright configuration. Two LQR controllers were first developed using the parameters obtained from the two optimization methods. The same process was then repeated, but this time with disturbance applied to the Robogymnast states to develop another set of two LQR controllers. The response of the controllers was then tested in different scenarios using simulation and their performance evaluated. The results show that all four controllers are able to balance the Robogymnast with varying accuracies. It has also been observed that the controllers trained with disturbance achieve faster settling time.
【关键词】
Pendulum, multi-objective optimization, linear quadratic regulator (LQR), robogymnast, underactuated robots.
Quasi-inverse pendulum model of 12 DoF bipedal walking
12自由度双足行走机器人模型
【全文链接】
1) SpringerLink：
https://link.springer.com/article/10.1007/s11633-016-1023-1
2) IJAC官网:
http://www.ijac.net/EN/abstract/abstract1906.shtml
【推荐理由】
本研究构建了12自由度双足机器人模型，主要集中于机器人下肢和直道行走轨迹设计。通过对质心轨迹和基于支撑脚的摆动脚(swing foot)轨迹建模，可设计出机器人步态轨迹。为了确定脚跟触地和脚趾离地的位置，每只脚的后跟及脚趾位置都加入了两个特定开关。趾面放置四个压力传感器，用以测量行走时每只脚所承受的压力，最终得到压力中心运动轨迹。本研究应用DH法(Denavit-Hartenberg)和GT法(Geometric-Trigonometric)，描述了双足机器人模型的正运动学和逆运动学问题。
【英文摘要】
This paper presents modeling of a 12-degree of freedom (DoF) bipedal robot, focusing on the lower limbs of the system, and trajectory design for walking on straight path. Gait trajectories are designed by modeling of center of mass (CoM) trajectory and swing foot ankle trajectory based on stance foot ankle. The dynamic equations of motion of the bipedal robot are derived by considering the system as a quasi inverted pendulum (QIP) model. The direction and acceleration of CoM movement of the QIP model is determined by the position of CoM relative to the centre of pressure (CoP). To determine heel-contact and toe-off, two custom designed switches are attached with heel and toe positions of each foot. Four force sensitive resistor (FSR) sensors are also placed at the plantar surface to measure pressure that is induced on each foot while walking which leads to the calculation of CoP trajectory. The paper also describes forward kinematic (FK) and inverse kinematic (IK) investigations of the biped model where Denavit-Hartenberg (D-H) representation and Geometric-Trigonometric (G-T) formulation approach are applied. Experiments are carried out to ensure the reliability of the proposed model where the links of the bipedal system follow the best possible trajectories while walking on straight path.
【关键词】
Humanoid robot, quasi-inverse pendulum, gait, trajectory planning, Anthropoid.
Multiple robots formation manoeuvring and collision avoidance strategy
多机器人编队操纵及冲突规避策略研究
【全文链接】
https://link.springer.com/article/10.1007/s11633-016-1030-2
【推荐理由】
本研究出自上海市电站自动化技术重点实验室，提出多机器人编队操纵(formation manoeuvring)及其冲突规避(collision avoidance)策略。利用操纵路径点算法(manoeuvring waypoints algorithm)，可计算出回转顺应路径点(turning-compliant waypoints)。此外，研究还阐述了编队冲突规避问题(formation-based collision avoidance)，并把冲突规避问题转换为编队控制（formation control）中的稳定问题。EDA机制在操纵过程中用于稳定多机器人编队的几何形状(multi-robot formation geometry)，同时实现冲突规避。本研究所提出的方法为解决冲突规避问题提供了全新的思路。
【英文摘要】
This paper presents a multiple robots formation manoeuvring and its collision avoidance strategy. The direction priority sequential selection algorithm is employed to achieve the raw path, and a new algorithm is then proposed to calculate the turning compliant waypoints supporting the multi-robot formation manoeuvre. The collision avoidance strategy based on the formation control is presented to translate the collision avoidance problem into the stability problem of the formation. The extension-decomposition aggregation scheme is next applied to solve the formation control problem and subsequently achieve the collision avoidance during the formation manoeuvre. Simulation study finally shows that the collision avoidance problem can be conveniently solved if the stability of the constructed formation including unidentified objects can be satisfied.
【关键词】
Path planning, formation control, manoeuvring waypoints, line-of-sight, collision avoidance.
Kinematic analysis and design of a 3-DOF translational parallel robot
3自由度并联机器人的运动学分析及设计研究
【全文链接】
1) SpringerLink:
https://link.springer.com/article/10.1007/s11633-017-1066-y
2) IJAC官网:
http://www.ijac.net/EN/abstract/abstract1948.shtml
【推荐理由】
并联机构在工程及工业中的诸多领域得以广泛运用，如机床、飞行模拟器、地震模拟器、医疗设备等。本文主要研究一种配备并联机构的新型机床，该机床有三个自由度(three translational degrees of freedom)，工作区和奇异点通过推导解析方程(deriving analytical equations)，而后借助Matlab软件确定。通过以上操作，可得出机构的正逆运动(forward and inverse kinematics)，同时，利用搜索算法(search algorithm)，可计算出工作区和奇异点。研究最后在机械系统自动动力学分析软件(utomatic dynamics analysis of mechanical systems (ADAMS) software)中对提出的机制进行了仿真实验。此外，为检测工作区中机器人性能和机构灵活度，本研究还使用雅可比矩阵(Jacobean matrix)，在移动平台的不同位置计算机器人的全域灵巧度指数(global dexterity index , GDI)。
【英文摘要】
Parallel mechanisms are widely used in various fields of engineering and industrial applications such as machine tools, flight simulators, earthquake simulators, medical equipment, etc. Parallel mechanisms are restricted to some limitations such as irregular workspace, existence of singular points and complexity of control systems which should be studied and analyzed for effective and efficient use. In this research, a new machine tool with parallel mechanism which has three translational degrees of freedom is studied and the workspace and singular points are determined by deriving analytical equations and then utilizing of Matlab software. To do so, forward and inverse kinematics of the mechanism are obtained and workspace and singular points are calculated using a search algorithm. Afterward, in order to validate the results, the proposed mechanism is simulated in automatic dynamics analysis of mechanical systems (ADAMS) software. Moreover, in order to investigate the quality of robot performance and dexterity of the mechanism in its workspace, global dexterity index (GDI) of the robot is calculated using Jacobean matrix at different positions of the mobile platform.
【关键词】
Kinematic analysis, parallel robot, workspace, manipulability, dexterity.
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