In this study,a machine vision-based pattern matching technique was applied to estimate the location of an autonomous driving robot and perform 3D tunnel mapping in an underground mine environment.The autonomous drivi...In this study,a machine vision-based pattern matching technique was applied to estimate the location of an autonomous driving robot and perform 3D tunnel mapping in an underground mine environment.The autonomous driving robot continuously detects the wall of the tunnel in the horizontal direction using the light detection and ranging(Li DAR)sensor and performs pattern matching by recognizing the shape of the tunnel wall.The proposed method was designed to measure the heading of the robot by fusion with the inertial measurement units sensor according to the pattern matching accuracy;it is combined with the encoder sensor to estimate the location of the robot.In addition,when the robot is driving,the vertical direction of the underground mine is scanned through the vertical Li DAR sensor and stacked to create a 3D map of the underground mine.The performance of the proposed method was superior to that of previous studies;the mean absolute error achieved was 0.08 m for the X-Y axes.A root mean square error of 0.05 m^(2)was achieved by comparing the tunnel section maps that were created by the autonomous driving robot to those of manual surveying.展开更多
Although traditional position-controlled industrial robots can be competent for most assembly tasks,they cannot complete complex tasks that frequently interact with the external environment.The current research on exo...Although traditional position-controlled industrial robots can be competent for most assembly tasks,they cannot complete complex tasks that frequently interact with the external environment.The current research on exoskeleton robots also has problems such as excessive inertia of exoskeleton robots,poor system integration and difficult human–computer interaction control.To solve these problems,this paper independently develops a tendon driving robotic system composed of a tendon driving robotic arm and an upper limb exoskeleton,and studies its control technology.First,the robot system is selected,configured,and constructed.Second,the kinematics of the robot is analyzed,and then the dynamics are studied,and the parameter identification experiment of single degree of freedom is completed.Finally,the research on zero-force control and impedance control of the robot has effectively improved the robot’s human–machine integration ability,ensured the flexibility and compliance in the process of human–computer interaction.The compliant control problem expands the usage scenarios and application scope of robots and contributes to the realization of complex operations of this group of robots in unstructured environments.展开更多
In this study,we developed a three-dimensional(3D)location estimation and tunnel mapping system to locate an autonomous robot in the rampway of an underground mine using 3D point cloud registration.A 3D point cloud of...In this study,we developed a three-dimensional(3D)location estimation and tunnel mapping system to locate an autonomous robot in the rampway of an underground mine using 3D point cloud registration.A 3D point cloud of the mine tunnel was measured using a 3D light detection and ranging(LiDAR)sensor and registered using the iterative closest point(ICP)algorithm to estimate the 3D pose of the robot.This was combined with two-dimensional LiDAR,inertial measurement unit,and encoder sensors to estimate the 3D trajectory of the robot.Additionally,the 3D tunnel mapping was performed using the 3D trajectory of the robot and the 3D point cloud data of the tunnel.A comparison of the tunnel maps created using conventional surveying equipment and the robot indicated a mapping error of 0.2275 m and localization error of 0.2465 m confirming the excellent overall tunnel mapping and localization performance.The tunnel mapping areas were further compared by selecting areas with relatively high and low ICP matching accuracies;the calculated errors were 0.6186 and 0.2257 m in the areas with low and high accuracies,respectively.Furthermore,the accuracy of the ICP matching tended to be low in areas where the change in the pitch angle of the robot was large.展开更多
While recent advancements in hybrid propulsion systems for bionic robotic fish—combining biomimetic mechanisms with classical vector thrusters—demonstrate enhanced locomotion capabilities and appli-cation potential,...While recent advancements in hybrid propulsion systems for bionic robotic fish—combining biomimetic mechanisms with classical vector thrusters—demonstrate enhanced locomotion capabilities and appli-cation potential,challenges remain in modeling the coupled dynamics of heterogeneous propulsion mechanisms.This paper presents a hybrid-drive robotic fish architecture that synergistically integrates pectoral-fin-mounted propellers with a caudal-fin-based propulsion system.A three-dimensional dynamical model is developed to characterize the coupled interactions between the dual propulsion modes,incorporating a hydrodynamic computation framework that accounts for propeller wake effects on caudal fin performance.Systematic experimental validation confirms the model’s fidelity through quantitative analysis of swimming performance metrics,including cruising speed,turning radius,and trajectory tracking.The results show that the proposed hybrid propulsion strategy can effectively improve the swimming performance of the robotic fish,and the model can effectively predict the motions such as speed,turning diameter,and trajectory of the robotic fish,which provides a new idea for the development of bionic robotic fish.展开更多
基金supported by the National Research Foundation of Korea(NRF)grant funded by the Korea government(MSIT)(No.2021R1A2C1011216)。
文摘In this study,a machine vision-based pattern matching technique was applied to estimate the location of an autonomous driving robot and perform 3D tunnel mapping in an underground mine environment.The autonomous driving robot continuously detects the wall of the tunnel in the horizontal direction using the light detection and ranging(Li DAR)sensor and performs pattern matching by recognizing the shape of the tunnel wall.The proposed method was designed to measure the heading of the robot by fusion with the inertial measurement units sensor according to the pattern matching accuracy;it is combined with the encoder sensor to estimate the location of the robot.In addition,when the robot is driving,the vertical direction of the underground mine is scanned through the vertical Li DAR sensor and stacked to create a 3D map of the underground mine.The performance of the proposed method was superior to that of previous studies;the mean absolute error achieved was 0.08 m for the X-Y axes.A root mean square error of 0.05 m^(2)was achieved by comparing the tunnel section maps that were created by the autonomous driving robot to those of manual surveying.
基金the National Key R&D Program of China(Grant No.2021YFB3201600).
文摘Although traditional position-controlled industrial robots can be competent for most assembly tasks,they cannot complete complex tasks that frequently interact with the external environment.The current research on exoskeleton robots also has problems such as excessive inertia of exoskeleton robots,poor system integration and difficult human–computer interaction control.To solve these problems,this paper independently develops a tendon driving robotic system composed of a tendon driving robotic arm and an upper limb exoskeleton,and studies its control technology.First,the robot system is selected,configured,and constructed.Second,the kinematics of the robot is analyzed,and then the dynamics are studied,and the parameter identification experiment of single degree of freedom is completed.Finally,the research on zero-force control and impedance control of the robot has effectively improved the robot’s human–machine integration ability,ensured the flexibility and compliance in the process of human–computer interaction.The compliant control problem expands the usage scenarios and application scope of robots and contributes to the realization of complex operations of this group of robots in unstructured environments.
基金supported by the National Research Foundation of Korea(NRF)grant funded by the Korean government(MSIT)(Grant No.2710003407).
文摘In this study,we developed a three-dimensional(3D)location estimation and tunnel mapping system to locate an autonomous robot in the rampway of an underground mine using 3D point cloud registration.A 3D point cloud of the mine tunnel was measured using a 3D light detection and ranging(LiDAR)sensor and registered using the iterative closest point(ICP)algorithm to estimate the 3D pose of the robot.This was combined with two-dimensional LiDAR,inertial measurement unit,and encoder sensors to estimate the 3D trajectory of the robot.Additionally,the 3D tunnel mapping was performed using the 3D trajectory of the robot and the 3D point cloud data of the tunnel.A comparison of the tunnel maps created using conventional surveying equipment and the robot indicated a mapping error of 0.2275 m and localization error of 0.2465 m confirming the excellent overall tunnel mapping and localization performance.The tunnel mapping areas were further compared by selecting areas with relatively high and low ICP matching accuracies;the calculated errors were 0.6186 and 0.2257 m in the areas with low and high accuracies,respectively.Furthermore,the accuracy of the ICP matching tended to be low in areas where the change in the pitch angle of the robot was large.
基金supported in part by the National Natural Science Foundation of China(62473161)the Natural Science Foundation of Guangdong Province(2024A1515012582)+1 种基金Guangzhou applied Basic Research Project(2024A04J9942)the GJYC program of Guangzhou(2024D03J0005).
文摘While recent advancements in hybrid propulsion systems for bionic robotic fish—combining biomimetic mechanisms with classical vector thrusters—demonstrate enhanced locomotion capabilities and appli-cation potential,challenges remain in modeling the coupled dynamics of heterogeneous propulsion mechanisms.This paper presents a hybrid-drive robotic fish architecture that synergistically integrates pectoral-fin-mounted propellers with a caudal-fin-based propulsion system.A three-dimensional dynamical model is developed to characterize the coupled interactions between the dual propulsion modes,incorporating a hydrodynamic computation framework that accounts for propeller wake effects on caudal fin performance.Systematic experimental validation confirms the model’s fidelity through quantitative analysis of swimming performance metrics,including cruising speed,turning radius,and trajectory tracking.The results show that the proposed hybrid propulsion strategy can effectively improve the swimming performance of the robotic fish,and the model can effectively predict the motions such as speed,turning diameter,and trajectory of the robotic fish,which provides a new idea for the development of bionic robotic fish.
