We proved a new necessary and sufficient condition for 2D three finger equilibrium grasps and implemented an geometrical algorithm for computing force closure grasps of arbitrary 2D objects in this article. The algori...We proved a new necessary and sufficient condition for 2D three finger equilibrium grasps and implemented an geometrical algorithm for computing force closure grasps of arbitrary 2D objects in this article. The algorithm is quite simple and only needs some algebraic calculations. Finally, we implemented the algorithm and confirmed its usefulness by an example.展开更多
Stability is a significant property for a robot hand grasp to perform complextasks similar to human hands. The common method to investigate the stability of roboticmulti-fingered grasp system is Lyapunov direct method...Stability is a significant property for a robot hand grasp to perform complextasks similar to human hands. The common method to investigate the stability of roboticmulti-fingered grasp system is Lyapunov direct method, but usually it is rather difficult toconstruct a proper Lyapunov function. Avoiding the hard work of constructing a Lyapunov function, wepropose the sufficient conditions for stability of the robotic grasp system.展开更多
This research characterizes grasping by multifingered robot hands through investiga- tion of the space of contact forces into four subspaces , a method is developed to determine the di- mensions of the subspaces with ...This research characterizes grasping by multifingered robot hands through investiga- tion of the space of contact forces into four subspaces , a method is developed to determine the di- mensions of the subspaces with respect to the connectivity of the object. The relationship reveals the differences between three types of grasps classified and indicates how the contact force can be decomposed corresponding to each type of grasp. The subspaces and the determination of their di- mensions are illlustrated by examples.展开更多
This paper deals with the problem of force-closure analysis for soft multi-fingered grasps. The first step is the study of the relationship between the external wrench space and the manipulation force space at any con...This paper deals with the problem of force-closure analysis for soft multi-fingered grasps. The first step is the study of the relationship between the external wrench space and the manipulation force space at any contact. Constraint force set, strictly constraint force set and normal force set are defined in the contact force space, followed by an investigation of their relationships. Based on the convexity of the friction constraints for soft finger contact, the necessary and sufficient conditions for force-closure grasps are derived. Accordingly an efficient algorithm for testing force-closure is presented. Some illustrative examples are given.展开更多
This paper presents an approach to algebraic detection of relative form closure for a multi-fingered grasp G and gives an attention to the classification of relative form closures.Whether or not a grasp G is of relati...This paper presents an approach to algebraic detection of relative form closure for a multi-fingered grasp G and gives an attention to the classification of relative form closures.Whether or not a grasp G is of relative form closure has been verified by the geometric criterion 0?rintC[G](Xiong Y L,Xiong X R.Algebraic structure and geometric interpretation of rigid complex fixture system.IEEE Trans Autom Sci Eng,2007,4:252–264;Xiong Y L.Theory of point contact restraint and qualitative analysis of robot grasping.Sci China Ser A-Math,1994,37:629–640).Our aim is at transferring the geometric criterion into an algebraic formulation by a theorem that a grasp G is relative form closure,if,and only if the origin 0 can be represented as a positive convex combination of G.So we develop a constructive procedure called ri-simplex algorithm to find a positive convex combination of G when it has relative form closure.Form closure is considered as a special case of relative form closure,when the grasp G can affinely span the whole space,while partly relative form closure is referred to as form closed relative to a subset G1 of G.展开更多
The word“spatial”fundamentally relates to human existence,evolution,and activity in terrestrial and even celestial spaces.After reviewing the spatial features of many areas,the paper describes basics of high level m...The word“spatial”fundamentally relates to human existence,evolution,and activity in terrestrial and even celestial spaces.After reviewing the spatial features of many areas,the paper describes basics of high level model and technology called Spatial Grasp for dealing with large distributed systems,which can provide spatial vision,awareness,management,control,and even consciousness.The technology description includes its key Spatial Grasp Language(SGL),self-evolution of recursive SGL scenarios,and implementation of SGL interpreter converting distributed networked systems into powerful spatial engines.Examples of typical spatial scenarios in SGL include finding shortest path tree and shortest path between network nodes,collecting proper information throughout the whole world,elimination of multiple targets by intelligent teams of chasers,and withstanding cyber attacks in distributed networked systems.Also this paper compares Spatial Grasp model with traditional algorithms,confirming universality of the former for any spatial systems,while the latter just tools for concrete applications.展开更多
Robots are key to expanding the scope of space applications.The end-to-end training for robot vision-based detection and precision operations is challenging owing to constraints such as extreme environments and high c...Robots are key to expanding the scope of space applications.The end-to-end training for robot vision-based detection and precision operations is challenging owing to constraints such as extreme environments and high computational overhead.This study proposes a lightweight integrated framework for grasp detection and imitation learning,named GD-IL;it comprises a grasp detection algorithm based on manipulability and Gaussian mixture model(manipulability-GMM),and a grasp trajectory generation algorithm based on a two-stage robot imitation learning algorithm(TS-RIL).In the manipulability-GMM algorithm,we apply GMM clustering and ellipse regression to the object point cloud,propose two judgment criteria to generate multiple candidate grasp bounding boxes for the robot,and use manipulability as a metric for selecting the optimal grasp bounding box.The stages of the TS-RIL algorithm are grasp trajectory learning and robot pose optimization.In the first stage,the robot grasp trajectory is characterized using a second-order dynamic movement primitive model and Gaussian mixture regression(GMM).By adjusting the function form of the forcing term,the robot closely approximates the target-grasping trajectory.In the second stage,a robot pose optimization model is built based on the derived pose error formula and manipulability metric.This model allows the robot to adjust its configuration in real time while grasping,thereby effectively avoiding singularities.Finally,an algorithm verification platform is developed based on a Robot Operating System and a series of comparative experiments are conducted in real-world scenarios.The experimental results demonstrate that GD-IL significantly improves the effectiveness and robustness of grasp detection and trajectory imitation learning,outperforming existing state-of-the-art methods in execution efficiency,manipulability,and success rate.展开更多
With the rapid development of robotics,grasp prediction has become fundamental to achieving intelligent physical interactions.To enhance grasp detection accuracy in unstructured environments,we propose a novel Cross-M...With the rapid development of robotics,grasp prediction has become fundamental to achieving intelligent physical interactions.To enhance grasp detection accuracy in unstructured environments,we propose a novel Cross-Multiscale Adaptive Collaborative and Fusion Grasp Detection Network(CMACF-Net).Addressing the limitations of conventional methods in capturing multi-scale spatial features,CMACF-Net introduces the Quantized Multi-scale Global Attention Module(QMGAM),which enables precise multi-scale spatial calibration and adaptive spatial-channel interaction,ultimately yielding a more robust and discriminative feature representation.To reduce the degradation of local features and the loss of high-frequency information,the Cross-scale Context Integration Module(CCI)is employed to facilitate the effective fusion and alignment of global context and local details.Furthermore,an Efficient Up-Convolution Block(EUCB)is integrated into a U-Net architecture to effectively restore spatial details lost during the downsampling process,while simultaneously preserving computational efficiency.Extensive evaluations demonstrate that CMACF-Net achieves state-of-the-art detection accuracies of 98.9% and 95.9% on the Cornell and Jacquard datasets,respectively.Additionally,real-time grasping experiments on the RM65-B robotic platform validate the framework’s robustness and generalization capability,underscoring its applicability to real-world robotic manipulation scenarios.展开更多
“Multidimensional international world”refers to understanding the world through multiple dimensions beyond traditional economic or political measures,fostering cross-cultural collaboration,and creating systems that ...“Multidimensional international world”refers to understanding the world through multiple dimensions beyond traditional economic or political measures,fostering cross-cultural collaboration,and creating systems that balance global integration with local needs.This also includes management of global business operations across diverse cultures in a multipolar international landscape.The paper briefs the developed and already tested in numerous applications high-level Spatial Grasp Model and Technology(SGT),which can help investigate and manage complex systems with a holistic spatial approach effectively covering various physical and virtual dimensions,their interrelations,and integration as a whole.Different areas will be investigated with examples of practical solutions in them and their combinations in a high-level Spatial Grasp Language(SGL),the key element of SGT.This allows for the creation and distributed management of very large spatial networks with different orientation which can be self-spreading,self-analyzing,self-modifying,and self-recovering in complex terrestrial and celestial environments,and also organize dynamic multi-networking solutions supporting global evolution and integrity.展开更多
In recent years,robotic arm grasping has become a pivotal task in the field of robotics,with applications spanning from industrial automation to healthcare.The optimization of grasping strategies plays a crucial role ...In recent years,robotic arm grasping has become a pivotal task in the field of robotics,with applications spanning from industrial automation to healthcare.The optimization of grasping strategies plays a crucial role in enhancing the effectiveness,efficiency,and reliability of robotic systems.This paper presents a novel approach to optimizing robotic arm grasping strategies based on deep reinforcement learning(DRL).Through the utilization of advanced DRL algorithms,such as Q-Learning,Deep Q-Networks(DQN),Policy Gradient Methods,and Proximal Policy Optimization(PPO),the study aims to improve the performance of robotic arms in grasping objects with varying shapes,sizes,and environmental conditions.The paper provides a detailed analysis of the various deep reinforcement learning methods used for grasping strategy optimization,emphasizing the strengths and weaknesses of each algorithm.It also presents a comprehensive framework for training the DRL models,including simulation environment setup,the optimization process,and the evaluation metrics for grasping success.The results demonstrate that the proposed approach significantly enhances the accuracy and stability of the robotic arm in performing grasping tasks.The study further explores the challenges in training deep reinforcement learning models for real-time robotic applications and offers solutions for improving the efficiency and reliability of grasping strategies.展开更多
Currently,numerous biomimetic robots inspired by natural biological systems have been developed.However,creating soft robots with versatile locomotion modes remains a significant challenge.Snakes,as invertebrate repti...Currently,numerous biomimetic robots inspired by natural biological systems have been developed.However,creating soft robots with versatile locomotion modes remains a significant challenge.Snakes,as invertebrate reptiles,exhibit diverse and powerful locomotion abilities,including prey constriction,sidewinding,accordion locomotion,and winding climbing,making them a focus of robotics research.In this study,we present a snake-inspired soft robot with an initial coiling structure,fabricated using MXene-cellulose nanofiber ink printed on pre-expanded polyethylene film through direct ink writing technology.The controllable fabrication of initial coiling structure soft robot(ICSBot)has been achieved through theoretical calculations and finite element analysis to predict and analyze the initial structure of ICSBot,and programmable ICSBot has been designed and fabricated.This robot functions as a coiling gripper capable of grasping objects with complex shapes under near infrared light stimulation.Additionally,it demonstrates multi-modal crawling locomotion in various environments,including confined spaces,unstructured terrains,and both inside and outside tubes.These results offer a novel strategy for designing and fabricating coiling-structured soft robots and highlight their potential applications in smart and multifunctional robotics.展开更多
Recent years have witnessed unprecedented development in humanoid robotics,with dexterous hand grasping emerging as a focal research area across industrial and academic sectors.To track the state-of-the-art dexterous ...Recent years have witnessed unprecedented development in humanoid robotics,with dexterous hand grasping emerging as a focal research area across industrial and academic sectors.To track the state-of-the-art dexterous hand grasp,a review of dexterous hand grasp based on bibliometric analysis is executed.The related studies on dexterous hand grasp are collected from the Web of Science for analysis,where the publication details and cooperation situations from the perspectives of country,institute,etc.are discussed.The keywords cluster is adopted to find the hot research topic of dexterous hand grasp.The development trend of dexterous hand grasp is explored based on the top 25 keywords with the strongest citation bursts.The review findings indicate that precision control via multimodal fusion,autonomous task understanding and intelligent decision,and in-hand dexterous manipulation are top three hotspots in future.展开更多
文摘We proved a new necessary and sufficient condition for 2D three finger equilibrium grasps and implemented an geometrical algorithm for computing force closure grasps of arbitrary 2D objects in this article. The algorithm is quite simple and only needs some algebraic calculations. Finally, we implemented the algorithm and confirmed its usefulness by an example.
文摘Stability is a significant property for a robot hand grasp to perform complextasks similar to human hands. The common method to investigate the stability of roboticmulti-fingered grasp system is Lyapunov direct method, but usually it is rather difficult toconstruct a proper Lyapunov function. Avoiding the hard work of constructing a Lyapunov function, wepropose the sufficient conditions for stability of the robotic grasp system.
文摘This research characterizes grasping by multifingered robot hands through investiga- tion of the space of contact forces into four subspaces , a method is developed to determine the di- mensions of the subspaces with respect to the connectivity of the object. The relationship reveals the differences between three types of grasps classified and indicates how the contact force can be decomposed corresponding to each type of grasp. The subspaces and the determination of their di- mensions are illlustrated by examples.
文摘This paper deals with the problem of force-closure analysis for soft multi-fingered grasps. The first step is the study of the relationship between the external wrench space and the manipulation force space at any contact. Constraint force set, strictly constraint force set and normal force set are defined in the contact force space, followed by an investigation of their relationships. Based on the convexity of the friction constraints for soft finger contact, the necessary and sufficient conditions for force-closure grasps are derived. Accordingly an efficient algorithm for testing force-closure is presented. Some illustrative examples are given.
基金supported by the National Natural Science Foundation of China(Grant No.51327801)the National Key Basic Research Program of China(Grant No.2013CB035803)
文摘This paper presents an approach to algebraic detection of relative form closure for a multi-fingered grasp G and gives an attention to the classification of relative form closures.Whether or not a grasp G is of relative form closure has been verified by the geometric criterion 0?rintC[G](Xiong Y L,Xiong X R.Algebraic structure and geometric interpretation of rigid complex fixture system.IEEE Trans Autom Sci Eng,2007,4:252–264;Xiong Y L.Theory of point contact restraint and qualitative analysis of robot grasping.Sci China Ser A-Math,1994,37:629–640).Our aim is at transferring the geometric criterion into an algebraic formulation by a theorem that a grasp G is relative form closure,if,and only if the origin 0 can be represented as a positive convex combination of G.So we develop a constructive procedure called ri-simplex algorithm to find a positive convex combination of G when it has relative form closure.Form closure is considered as a special case of relative form closure,when the grasp G can affinely span the whole space,while partly relative form closure is referred to as form closed relative to a subset G1 of G.
文摘The word“spatial”fundamentally relates to human existence,evolution,and activity in terrestrial and even celestial spaces.After reviewing the spatial features of many areas,the paper describes basics of high level model and technology called Spatial Grasp for dealing with large distributed systems,which can provide spatial vision,awareness,management,control,and even consciousness.The technology description includes its key Spatial Grasp Language(SGL),self-evolution of recursive SGL scenarios,and implementation of SGL interpreter converting distributed networked systems into powerful spatial engines.Examples of typical spatial scenarios in SGL include finding shortest path tree and shortest path between network nodes,collecting proper information throughout the whole world,elimination of multiple targets by intelligent teams of chasers,and withstanding cyber attacks in distributed networked systems.Also this paper compares Spatial Grasp model with traditional algorithms,confirming universality of the former for any spatial systems,while the latter just tools for concrete applications.
基金Supported by National Natural Science Foundation of China(Grant No.52475280)Shaanxi Provincial Natural Science Basic Research Program(Grant No.2025SYSSYSZD-105).
文摘Robots are key to expanding the scope of space applications.The end-to-end training for robot vision-based detection and precision operations is challenging owing to constraints such as extreme environments and high computational overhead.This study proposes a lightweight integrated framework for grasp detection and imitation learning,named GD-IL;it comprises a grasp detection algorithm based on manipulability and Gaussian mixture model(manipulability-GMM),and a grasp trajectory generation algorithm based on a two-stage robot imitation learning algorithm(TS-RIL).In the manipulability-GMM algorithm,we apply GMM clustering and ellipse regression to the object point cloud,propose two judgment criteria to generate multiple candidate grasp bounding boxes for the robot,and use manipulability as a metric for selecting the optimal grasp bounding box.The stages of the TS-RIL algorithm are grasp trajectory learning and robot pose optimization.In the first stage,the robot grasp trajectory is characterized using a second-order dynamic movement primitive model and Gaussian mixture regression(GMM).By adjusting the function form of the forcing term,the robot closely approximates the target-grasping trajectory.In the second stage,a robot pose optimization model is built based on the derived pose error formula and manipulability metric.This model allows the robot to adjust its configuration in real time while grasping,thereby effectively avoiding singularities.Finally,an algorithm verification platform is developed based on a Robot Operating System and a series of comparative experiments are conducted in real-world scenarios.The experimental results demonstrate that GD-IL significantly improves the effectiveness and robustness of grasp detection and trajectory imitation learning,outperforming existing state-of-the-art methods in execution efficiency,manipulability,and success rate.
基金supported by the Jiangxi Provincial Natural Science Foundation(No.20232BAB202027)the National Natural Science Foundation of China(No.62367006)the Natural Science Foundation of Hubei Province of China(No.2022CFB536).
文摘With the rapid development of robotics,grasp prediction has become fundamental to achieving intelligent physical interactions.To enhance grasp detection accuracy in unstructured environments,we propose a novel Cross-Multiscale Adaptive Collaborative and Fusion Grasp Detection Network(CMACF-Net).Addressing the limitations of conventional methods in capturing multi-scale spatial features,CMACF-Net introduces the Quantized Multi-scale Global Attention Module(QMGAM),which enables precise multi-scale spatial calibration and adaptive spatial-channel interaction,ultimately yielding a more robust and discriminative feature representation.To reduce the degradation of local features and the loss of high-frequency information,the Cross-scale Context Integration Module(CCI)is employed to facilitate the effective fusion and alignment of global context and local details.Furthermore,an Efficient Up-Convolution Block(EUCB)is integrated into a U-Net architecture to effectively restore spatial details lost during the downsampling process,while simultaneously preserving computational efficiency.Extensive evaluations demonstrate that CMACF-Net achieves state-of-the-art detection accuracies of 98.9% and 95.9% on the Cornell and Jacquard datasets,respectively.Additionally,real-time grasping experiments on the RM65-B robotic platform validate the framework’s robustness and generalization capability,underscoring its applicability to real-world robotic manipulation scenarios.
文摘“Multidimensional international world”refers to understanding the world through multiple dimensions beyond traditional economic or political measures,fostering cross-cultural collaboration,and creating systems that balance global integration with local needs.This also includes management of global business operations across diverse cultures in a multipolar international landscape.The paper briefs the developed and already tested in numerous applications high-level Spatial Grasp Model and Technology(SGT),which can help investigate and manage complex systems with a holistic spatial approach effectively covering various physical and virtual dimensions,their interrelations,and integration as a whole.Different areas will be investigated with examples of practical solutions in them and their combinations in a high-level Spatial Grasp Language(SGL),the key element of SGT.This allows for the creation and distributed management of very large spatial networks with different orientation which can be self-spreading,self-analyzing,self-modifying,and self-recovering in complex terrestrial and celestial environments,and also organize dynamic multi-networking solutions supporting global evolution and integrity.
文摘In recent years,robotic arm grasping has become a pivotal task in the field of robotics,with applications spanning from industrial automation to healthcare.The optimization of grasping strategies plays a crucial role in enhancing the effectiveness,efficiency,and reliability of robotic systems.This paper presents a novel approach to optimizing robotic arm grasping strategies based on deep reinforcement learning(DRL).Through the utilization of advanced DRL algorithms,such as Q-Learning,Deep Q-Networks(DQN),Policy Gradient Methods,and Proximal Policy Optimization(PPO),the study aims to improve the performance of robotic arms in grasping objects with varying shapes,sizes,and environmental conditions.The paper provides a detailed analysis of the various deep reinforcement learning methods used for grasping strategy optimization,emphasizing the strengths and weaknesses of each algorithm.It also presents a comprehensive framework for training the DRL models,including simulation environment setup,the optimization process,and the evaluation metrics for grasping success.The results demonstrate that the proposed approach significantly enhances the accuracy and stability of the robotic arm in performing grasping tasks.The study further explores the challenges in training deep reinforcement learning models for real-time robotic applications and offers solutions for improving the efficiency and reliability of grasping strategies.
基金supported by the National Key R&D Program of China(NO.2024YFB3409900)the China Postdoctoral Science Foundation(NO.2023M730845)the Heilongjiang Postdoctoral Fund(NO.LBH-Z23182)。
文摘Currently,numerous biomimetic robots inspired by natural biological systems have been developed.However,creating soft robots with versatile locomotion modes remains a significant challenge.Snakes,as invertebrate reptiles,exhibit diverse and powerful locomotion abilities,including prey constriction,sidewinding,accordion locomotion,and winding climbing,making them a focus of robotics research.In this study,we present a snake-inspired soft robot with an initial coiling structure,fabricated using MXene-cellulose nanofiber ink printed on pre-expanded polyethylene film through direct ink writing technology.The controllable fabrication of initial coiling structure soft robot(ICSBot)has been achieved through theoretical calculations and finite element analysis to predict and analyze the initial structure of ICSBot,and programmable ICSBot has been designed and fabricated.This robot functions as a coiling gripper capable of grasping objects with complex shapes under near infrared light stimulation.Additionally,it demonstrates multi-modal crawling locomotion in various environments,including confined spaces,unstructured terrains,and both inside and outside tubes.These results offer a novel strategy for designing and fabricating coiling-structured soft robots and highlight their potential applications in smart and multifunctional robotics.
基金Supported by the National Natural Science Foundation of China(Grant No.52405530)the Beijing Natural Science Foundation(Grant No.L243009)the Beijing Institute of Technology Research Fund Program for Young Scholars。
文摘Recent years have witnessed unprecedented development in humanoid robotics,with dexterous hand grasping emerging as a focal research area across industrial and academic sectors.To track the state-of-the-art dexterous hand grasp,a review of dexterous hand grasp based on bibliometric analysis is executed.The related studies on dexterous hand grasp are collected from the Web of Science for analysis,where the publication details and cooperation situations from the perspectives of country,institute,etc.are discussed.The keywords cluster is adopted to find the hot research topic of dexterous hand grasp.The development trend of dexterous hand grasp is explored based on the top 25 keywords with the strongest citation bursts.The review findings indicate that precision control via multimodal fusion,autonomous task understanding and intelligent decision,and in-hand dexterous manipulation are top three hotspots in future.
