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Attention-based efficient robot grasp detection network Research Article

Xiaofei QIN, Wenkai HU, Chen XIAO, Changxiang HE, Songwen PEI, Xuedian ZHANG,xiaofei.qin@usst.edu.cn,obmmd_zxd@163.com

Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 10,   Pages 1430-1444 doi: 10.1631/FITEE.2200502

Abstract: To balance the inference speed and detection accuracy of a grasp detection algorithm, which are bothimportant for robot grasping tasks, we propose an ; structured pixel-level grasp detection named theA high intersection over union (IoU) value between the predicted grasp rectangle and the ground truthdoes not necessarily mean a high-quality grasp configuration, but might cause a collision.Codes are available at https://github.com/robvincen/robot_gradethttps://github.com/robvincen/robot_gradet

Keywords： Robot grasp detection     Attention mechanism     Encoder–     decoder     Neural network    

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Contact detection with multi-information fusion for quadruped robot locomotion under unstructured terrain

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0760-4

Abstract: Reliable foot-to-ground contact state detection is crucial for the locomotion control of quadruped robotsTo improve the reliability and accuracy of contact detection for quadruped robots, a detection approachThe approach combines the internal state information of the robot with the measurements from externalstrategy for unexpected foot-to-ground contacts can correct the control actions of each leg of the robotThe experiments are conducted on the experimental prototype, and results validate the contact detection

Keywords： multi-information fusion     contact detection     quadruped robot     probabilistic contact model     unstructured    

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Grasp Planning and Visual Servoing for an Outdoors Aerial Dual Manipulator Article

Pablo Ramon-Soria, Begoña C. Arrue, Anibal Ollero

Engineering 2020, Volume 6, Issue 1,   Pages 77-88 doi: 10.1016/j.eng.2019.11.003

Abstract: This paper covers three principal aspects for this task: object detection and pose estimation, graspplanning, and in-flight grasp execution.The results from the detection algorithm—that is, the object’s pose—are used to updateare not reachable due to the UAV’s oscillations, the algorithm switches to the next feasible grasp

Keywords： Aerial manipulation     Grasp planning     Visual servoing    

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A modified YOLOv4 detection method for a vision-based underwater garbage cleaning robot Research Article

Manjun TIAN, Xiali LI, Shihan KONG, Licheng WU, Junzhi YU,tianmanjun2018@163.com,xiaer_li@163.com,kongshihan@pku.edu.cn,wulicheng@tsinghua.edu.cn,junzhi.yu@ia.ac.cn

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 8,   Pages 1217-1228 doi: 10.1631/FITEE.2100473

Abstract: We propose a garbage detection method based on a , allowing high-speed and high-precision .With the purpose of further improvement on the detection accuracy, YOLOv4 is transformed into a four-scaledetection method.To improve the detection speed, model pruning is applied to the new model.By virtue of the improved detection methods, the robot can collect garbage autonomously.

Keywords： Object detection     Aquatic environment     Garbage cleaning robot     Modified YOLOv4    

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Review of human–robot coordination control for rehabilitation based on motor function evaluation

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 2, doi: 10.1007/s11465-022-0684-4

Abstract: As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliaryOne of the main elements of such a human–robot coupling system is a control system to ensure human–robotThis review aims to summarise the development of human–robot coordination control and the associatedrehabilitation needs regarding lower limbs are analysed in detail, forming the basis for the human–robotThen, human–robot coordination is discussed in terms of three aspects: modelling, perception and control

Keywords： human–robot coupling     lower limb rehabilitation     exoskeleton robot     motor assessment     dynamical model    

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Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 4, doi: 10.1007/s11465-022-0687-1

Abstract: linear actuator (CDLA) capable of bidirectional motion is proposed in this study to design a masticatory robotThis work also exploits the proposed CDLA and designs a masticatory robot called Southeast Universitymasticatory robot (SMAR) to solve existing problems, such as bulky driving linkage and position changeChewing experiments are carried out on the developed masticatory robot to verify whether the CDLA can

Keywords： masticatory robot     cable-driven     linear actuator     parallel robot     stiffness analysis    

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Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 2,   Pages 271-284 doi: 10.1007/s11465-020-0623-1

Abstract: A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposedThe dynamic alternating tripod trotting gait is developed to control the robot, and the parameters ofFinally, the method is integrated on a hexapod robot and tested by real experiments.Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam.

Keywords： terrain classification     hexapod robot     legged robot     adaptive locomotion     gait control    

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Design and modeling of continuum robot based on virtual-center of motion mechanism

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0739-6

Abstract: Continuum robot has attracted extensive attention since its emergence.Thus, it is well suited for use as a continuum robot joint.Second, the VCM mechanism is combined to form a flexural joint suitable for the continuum robot.Furthermore, the motion performance of the designed continuum robot is evaluated.compressive strength is approximately 1915 N/mm, and the repeatable positioning accuracies of the continuum robot

Keywords： VCM mechanism     continuum robot     flexural joint     pseudo-rigid body model     cable-driven    

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Strategy for robot motion and path planning in robot taping

Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDÉN,Victor MALMGREN

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 195-203 doi: 10.1007/s11465-016-0390-1

Abstract: We have introduced an automatic robot taping system consisting of a robot manipulator, a rotating platformA collision avoidance algorithm is introduced for the robot taping manipulation.

Keywords： robot taping     path planning     robot manipulation     3D scanning    

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A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm

Prases K. MOHANTY,Dayal R. PARHI

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 4,   Pages 317-330 doi: 10.1007/s11465-014-0304-z

Abstract:

Planning of the shortest/optimal route is essential for efficient operation of autonomous mobile robotnew meta-heuristic algorithm, has been implemented for solving the path planning problem of mobile robotobjective function that satisfied the conditions of obstacle avoidance and target seeking behavior of robotDepending upon the value of objective function of each weed in colony, the robot avoids obstacles andThe optimal trajectory is generated with this navigational algorithm when robot reaches its destination

Keywords： mobile robot     obstacle avoidance     Invasive Weed Optimization     navigation    

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An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2,   Pages 197-200 doi: 10.1007/s11465-007-0033-7

Abstract: Using two micro-motors, a novel omni-direction miniature wheeled robot is designed on the basis of theThe robot takes advantage of the Bluetooth technology to wirelessly transmit data at a short distanceThe visual navigation and control system allow the robot to navigate and track the target and to accomplish

Keywords： measuring     distance     autonomous locomotion     advantage     navigation    

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Analytical dynamic solution of a flexible cable-suspended manipulator

Mahdi BAMDAD

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 4,   Pages 350-359 doi: 10.1007/s11465-013-0271-9

Abstract:

Cable-suspended manipulators are used in large scale applications with, heavy in weight and long in span cables. It seems impractical to maintain cable assumptions of smaller robots for large scale manipulators. The interactions among the cables, platforms and actuators can fully evaluate the coupled dynamic analysis. The structural flexibility of the cables becomes more pronounced in large manipulators. In this paper, an analytic solution is provided to solve cable vibration. Also, a closed form solution can be adopted to improve the dynamic response to flexibility. The output is provided by the optimal torque generation subject to the actuator limitations in a mechatronic sense. Finally, the performance of the proposed algorithm is examined through simulations.

Keywords： parallel robot     flexible cable     suspended robot     dynamic    

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Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 1,   Pages 8-8 doi: 10.1007/s11465-021-0664-0

Abstract: With the widespread application of legged robot in various fields, the demand for a robot with high locomotionAdding an extra arm is a useful but general method for a legged robot to obtain manipulation ability.Hence, this paper proposes a novel hexapod robot with two integrated leg–arm limbs that obtain dexterousThis robot provides a new approach to building a multifunctional locomotion platform.

Keywords： leg–arm integration     hexapod robot     fixed coordinated manipulation     mobile manipulation    

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Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA

Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 2,   Pages 166-172 doi: 10.1631/FITEE.1400183

Abstract: subjected to wheel slippage and skid and solves it using a logic-based control scheme for a wheeled mobile robotThe robot successfully followed the desired circular trajectory in the presence of wheel slippage and

Keywords： Robot modeling     Robot navigation     Slip and skid control     Wheeled mobile robots    

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Landing control method of a lightweight four-legged landing and walking robot

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 4, doi: 10.1007/s11465-022-0707-1

Abstract: The rover can complete the detection on relatively flat terrain of the lunar surface well, but its detectionA lightweight four-legged landing and walking robot called “FLLWR” is designed in this study.The robot integrates the functions of a lander and a rover, including folding, deploying, repetitive

Keywords： landing and walking robot     lunar exploration     buffer landing     compliance control    

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Title Author Date Type Operation

Attention-based efficient robot grasp detection network

Xiaofei QIN, Wenkai HU, Chen XIAO, Changxiang HE, Songwen PEI, Xuedian ZHANG,xiaofei.qin@usst.edu.cn,obmmd_zxd@163.com

Journal Article

Contact detection with multi-information fusion for quadruped robot locomotion under unstructured terrain

Journal Article

Grasp Planning and Visual Servoing for an Outdoors Aerial Dual Manipulator

Pablo Ramon-Soria, Begoña C. Arrue, Anibal Ollero

Journal Article

A modified YOLOv4 detection method for a vision-based underwater garbage cleaning robot

Manjun TIAN, Xiali LI, Shihan KONG, Licheng WU, Junzhi YU,tianmanjun2018@163.com,xiaer_li@163.com,kongshihan@pku.edu.cn,wulicheng@tsinghua.edu.cn,junzhi.yu@ia.ac.cn

Journal Article

Review of human–robot coordination control for rehabilitation based on motor function evaluation

Journal Article

Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

Journal Article

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Journal Article

Design and modeling of continuum robot based on virtual-center of motion mechanism

Journal Article

Strategy for robot motion and path planning in robot taping

Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDÉN,Victor MALMGREN

Journal Article

A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm

Prases K. MOHANTY,Dayal R. PARHI

Journal Article

An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

Journal Article

Analytical dynamic solution of a flexible cable-suspended manipulator

Mahdi BAMDAD

Journal Article

Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration

Journal Article

Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA

Journal Article

Landing control method of a lightweight four-legged landing and walking robot

Journal Article