Cooperative Manipulation of Deformable Objects by Single-Leader–Dual-Follower Teleoperation

Huang, Darong; Li, Bin; Li, Yanan; Yang, Chenguang

doi:10.1109/tie.2021.3139228

Cited by 17 publications

(5 citation statements)

References 34 publications

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“…The robot was able to adapt to changing conditions and successfully navigate through different environments. The development of intelligent robots also requires the integration of various control systems [5]. In a study conducted by, a hierarchical control system was developed for an intelligent robot.…”

Section: Literature Surveymentioning

confidence: 99%

A Review on the Emerging Developments in Ai: Robotics

Uzair,

Khan

2023

IJEAST

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The development of intelligent robots is a complex process that requires careful consideration of various factors. The key to creating a successful intelligent robot is to define its purpose, select the right hardware, develop robust software, implement machine learning algorithms, ensure safety, test extensively, and continuously improve its capabilities. By following these suggestions, developers can create intelligent robots that can perform a range of tasks, learn from their environment, and adapt to new situations. Intelligent robots have the potential to revolutionize various industries by improving efficiency, safety, and productivity. Intelligent robots also can operate in hazardous environments where human workers would be at risk, such as in nuclear power plants, oil refineries, and other industrial settings. The review provides guidance, updates, and issues in the development of the intelligent robot.

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Section: Literature Surveymentioning

confidence: 99%

A Review on the Emerging Developments in Ai: Robotics

Uzair,

Khan

2023

IJEAST

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“…Other sensing systems based on monolithic structure flexure and photo-sensors were introduced in [95]. Additionally, hybrid sensor systems have been utilized to incorporate feedback in the control loop [96] .…”

Section: Other Types Of Sensorsmentioning

confidence: 99%

From Teleoperation to Autonomous Robot-assisted Microsurgery: A Survey

Zhang

Fang

et al. 2022

Mach. Intell. Res.

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Robot-assisted microsurgery (RAMS) has many benefits compared to traditional microsurgery. Microsurgical platforms with advanced control strategies, high-quality micro-imaging modalities and micro-sensing systems are worth developing to further enhance the clinical outcomes of RAMS. Within only a few decades, microsurgical robotics has evolved into a rapidly developing research field with increasing attention all over the world. Despite the appreciated benefits, significant challenges remain to be solved. In this review paper, the emerging concepts and achievements of RAMS will be presented. We introduce the development tendency of RAMS from teleoperation to autonomous systems. We highlight the upcoming new research opportunities that require joint efforts from both clinicians and engineers to pursue further outcomes for RAMS in years to come.

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“…To a real-world industrial system, it is inherent to exist the nonlinearity. [3][4][5][6] However, for a nonlinear system, the optimal control depends on the solution of the HJB equation relevant to the system dynamic. Different from the linear system case, which just depends on solving the linear Riccati equation, 7 the HJB equation is solved using an analytical method that is almost impossible because of the strong nonlinearity characteristic.…”

Section: Introductionmentioning

confidence: 99%

“…To a real‐world industrial system, it is inherent to exist the nonlinearity 3–6 . However, for a nonlinear system, the optimal control depends on the solution of the HJB equation relevant to the system dynamic.…”

Section: Introductionmentioning

confidence: 99%

Optimized tracking control using reinforcement learning and backstepping technique for canonical nonlinear unknown dynamic system

Song,

Li,

Wen

2024

Optim Control Appl Methods

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The work addresses the optimized tracking control problem by combining both reinforcement learning (RL) and backstepping technique for the canonical nonlinear unknown dynamic system. Since such dynamic system contains multiple state variables with differential relation, the backstepping technique is considered by making a virtual control sequence in accordance with Lyapunov functions. In the last backstepping step, the optimized actual control is derived by performing the RL under identifier‐critic‐actor structure, where RL is to overcome the difficulty coming from solving Hamilton‐Jacobi‐Bellman (HJB) equation. Different from the traditional RL optimizing methods that find the RL updating laws from the square of the HJB equation's approximation, this optimized control is to find the RL training laws from the negative gradient of a simple positive definite function, which is equivalent to the HJB equation. The result shows that this optimized control can obviously alleviate the algorithm complexity. Meanwhile, it can remove the requirement of known dynamic as well. Finally, theory and simulation indicate the feasibility of this optimized control.

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Cooperative Manipulation of Deformable Objects by Single-Leader–Dual-Follower Teleoperation

Abstract: Article (Accepted Version) http://sro.sussex.ac.uk Huang, Darong, Li, Bin, Li, Yanan and Yang, Chenguang (2022) Cooperative manipulation of deformable objects by single-leader-dual-follower teleoperation. IEEE Transactions on Industrial Electronics. p. 1.

Cited by 17 publications

References 34 publications

A Review on the Emerging Developments in Ai: Robotics

A Review on the Emerging Developments in Ai: Robotics

From Teleoperation to Autonomous Robot-assisted Microsurgery: A Survey

Optimized tracking control using reinforcement learning and backstepping technique for canonical nonlinear unknown dynamic system

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