Adaptive Vision-Based Control for Rope-Climbing Robot Manipulator

Sun, Guoqiang; Li, Xiang; Li, Peng; Yue, Linzhu; Yu, Zhen; Zhou, Yang; Liu, Yunhui

doi:10.1109/iros40897.2019.8967976

Cited by 7 publications

(6 citation statements)

References 20 publications

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“…Then, the features' norm distance would be computed and feedback to design the control coupling input for the multiple DMP generalization. As a wellknown physically-based model, the mass-spring-damper model is widely used to model deformable objects, such as a rope [14] and a cloth [15] in 2D. This work also assumes that the deformable object is modeled by the mass-spring-damper model.…”

Section: Problem Statementmentioning

confidence: 99%

Coupled Multiple Dynamic Movement Primitives Generalization for Deformable Object Manipulation

Cui

Lai

et al. 2022

IEEE Robot. Autom. Lett.

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Dynamic Movement Primitives (DMP) are widely applied in movement representation due to their ability to encode tasks using generalization properties. However, the coupled multiple DMP generalization cannot be directly solved based on the original DMP formula. Prior works provide satisfactory performance for the coupled DMP generalization in rigid object manipulation, but their extension to deformable objects may degrade due to the intrinsic uncertainty of the deformable model structure and parameters. This paper introduces an adaptive term to replace the fixed term to couple multiple DMP generalizations and model the deformable object using the classic mass-spring-damper model. Based on the modeling, the manipulation of a deformable object can be treated as a second-order system, which provides additional implementation flexibility and robustness in deformable object transportation. To validate the proposed method, we perform extensive simulations for cooperatively transporting a rope and a deformable thin film, imitating the manipulation with a semi-ellipse trajectory and M-shape trajectory. We further implement our method on a dual-arm robot platform for rope manipulation with depth visual feedback. Both simulation and experiment results demonstrate satisfactory DMP generalization, collision avoidance, and configuration preservation.

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Section: Problem Statementmentioning

confidence: 99%

Coupled Multiple Dynamic Movement Primitives Generalization for Deformable Object Manipulation

Cui

Lai

et al. 2022

IEEE Robot. Autom. Lett.

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“…Compared with the poleclimbing robot (Chen et al, 2019;Du et al, 2020) and wall-climbing robot (Liu et al, 2020;Schmidt and Berns, 2013), which are also used mainly for overhead applications, the rope-climbing robot has more flexibility because it can be deployed easily just by setting up some guide ropes. In recent years, rope-climbing robots have been more and more popular with various applications (Alhassan et al, 2020;Cho et al, 2013;Li et al, 2019;Sun et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

FWMR-II: a modular link-type rope-climbing robot with the finger-wheeled mechanism

Gao

et al. 2021

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Purpose The rope-climbing robot that can cling to a rope for locomotion has been a popular piece of equipment for some overhead applications due to its high flexibility. In view of problems left by existing rope-climbing robots, this paper aims to propose a new-style rope-climbing robot named Finger-wheeled mechanism robot (FWMR)-II to improve their performance. Design/methodology/approach FWMR-II adopts a modular and link-type mechanical structure. With the finger-wheeled mechanism (FWM) module, the robot can achieve smooth and quick locomotion and good capability of obstacle-crossing on the rope and with the link module based on a spatial parallel mechanism, the robot adaptability for rope environments is improved further. The kinematic models that can present configurations of the FWM module and link module of the robot are established and for typical states of the obstacle-crossing process, the geometric definitions and constraints that can present the robot position relative to the rope are established. The simulation is performed with the optimization calculating method to obtain the robot adaptability for rope environments and the experiment is also conducted with the developed prototype to verify the robot performance. Findings From the simulation results, the adaptability for rope environments of FWMR-II are obtained and the advantage of FWMR-II compared with FWMR-I is also proved. The experiment results give a further verification for the robot design and analysis work. Practical implications The robot proposed in this study can be used for inspection of power transmission lines, inspection and delivery in mine and some other overhead applications. Originality/value An ingenious modular link-type robot is proposed to improve existing rope-climbing robots and the method established in this study is worthy of reference for obstacle-crossing analysis of other rope-climbing robots.

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“…Many climbing mechanisms with diverse features have been developed, since the ability of climbing is one of the crucial aspects of wall cleaning robots [11,12]. In this regard, cleaning robots that climb vertical structures with support of additional mechanical structures, such as ropes/cables [13][14][15] driven by gantry cranes, and rail mechanisms [16,17], have been developed. However, portability to different locations is one of the main concerns of mechanisms that uses the support of additional structures.…”

Section: Introductionmentioning

confidence: 99%

Design and Control of a Wall Cleaning Robot with Adhesion-Awareness

et al. 2020

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Wall cleaning robots are developed to cater to the demands of the building maintenance sector. The ability to climb vertical surfaces is one of the crucial requirements of a wall cleaning robot. Robots that can climb vertical surfaces by adhesion to a surface are preferred since those do not require additional support structures. Vacuum suction mechanisms are widely used in this regard. The suction force acting on the robot due to the negative pressure built up is used by these robots for the adhesion. A robot will fall off or overturn when the pressure difference drops down a certain threshold. In contrast, if the pressure difference becomes too high, the excessive amount of frictional forces will hinder the locomotion ability. Moreover, a wall cleaning robot should be capable of adapting the adhesion force to maintain the symmetry between safe adhesion and reliable locomotion since adhesion forces which are too low or too high hinder the safety of adhesion and reliability of locomotion respectively. Thus, the pressure difference needs to be sustained within a desired range to ensure a robot’s safety and reliability. However, the pressure difference built up by a vacuum system may unpredictably vary due to unexpected variation of air leakages due to irregularities in surfaces. The existing wall cleaning robots that use vacuum suction mechanisms for adhesion are not aware of the adhesion status, or subsequently responding to them. Therefore, this paper proposes a design for a wall cleaning robot that is capable of adapting vacuum power based on the adhesion-awareness to improve safety and reliability. A fuzzy inference system is proposed here to adapt the vacuum power based on the variation of the adhesion and the present power setting of the vacuum. Moreover, an application of fuzzy logic to produce a novel controlling criterion for a wall cleaning robot to ensure safety and reliability of operation is proposed. A fuzzy inference system was used to achieve the control goals, since the exact underlying dynamics of the vacuum-adhesion cannot be mathematically modeled. The design details of the robot are presented with due attention to the proposed control strategy. Experimental results confirmed that the performance of a robot with proposed adhesion-awareness surpasses that of a robot with no adhesion-awareness in the aspects of safety, reliability, and efficiency. The limitations of the work and future design suggestions are also discussed.

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Adaptive Vision-Based Control for Rope-Climbing Robot Manipulator

Cited by 7 publications

References 20 publications

Coupled Multiple Dynamic Movement Primitives Generalization for Deformable Object Manipulation

Coupled Multiple Dynamic Movement Primitives Generalization for Deformable Object Manipulation

FWMR-II: a modular link-type rope-climbing robot with the finger-wheeled mechanism

Design and Control of a Wall Cleaning Robot with Adhesion-Awareness

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