[{"id":6665,"link":"https:\/\/ancorasir.com\/?p=6665","name":"%e7%a7%91%e7%a0%94%e5%9b%a2%e9%98%9f%ef%bd%9cdesign-learning-research-group-participated-in-iros2024-for-1-competition-and-2-workshops-with-3-robots%ef%bd%9cday-1","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2024\/10\/\u79d1\u7814\u56e2\u961f-IROS2024-Day1-ADNEC-WorkshopMagiClaw-25-scaled.jpg?fit=2560%2C1707&ssl=1","alt":""},"title":"\u79d1\u7814\u56e2\u961f\uff5cDesign & Learning Research Group Participated in IROS2024 for 1 Competition and 2 Workshops with 3 Robots\uff5cDay 1","excerpt":"Showcased our latest development in MagiClaw at the IROS2024 Workshop on Environment Dynamics Matters. Received great feedback and support from the crowd and recieved the Excellence Practice Award. Confirmed our schedule for the competition tomorrow with Peter, joined the presentation by Prof. Hadaddin, and ran into U-Xuan and many colleageus on-site. Had a great meal at the China Restaurant and see you tomorrow at IROS2024 @ Abu Dhabi.","content":"For Day 1, we showcased our latest development in MagiClaw at the IROS2024 Workshop on Environment Dynamics Matters. Received great feedback and support from the crowd and recieved the Excellence Practice Award. Confirmed our schedule for the competition tomorrow with Peter, joined the presentation by Prof. Hadaddin, and ran into U-Xuan and many colleageus on-site. Had a great meal at the China Restaurant and see you tomorrow at IROS2024 @ Abu Dhabi. | The Design and Learning Research Group is participating in this year's IROS conference with a team of seven members led by Prof. Song Chaoyang and six lab members, including Dr. Guo Ning, Han Xudong, Sun Haoran, Wu Tianyu, Ge Sheng, and Xu Ronghan, for one competition and two workshops with three robots.\n\n\n\n\n\nhttps:\/\/bionicdl.ancorasir.com\/?p=1982\n\n\n\n\nMagiClaw for Workshop on Environment Dynamics Matters\n\n\n\nWe sincerely thank the organizers of the IROS2024 Workshop on Environment Dynamics Matters: Embodied Navigation to Movable Objects for accepting our late extended abstract submission. We were excited to share our latest development on the DeepClaw toolkit and eager to collect feedback from our fellow researchers on improving our design before we formally roll out the system for everyone to use.\n\n\n\n\n\n\n\nBetween 2015 and 1017, Dr. Song and Dr. Wan developed the original version of the DeepClaw system at Monash University as an internal library for conducting benchmarking research and experiments on robotic manipulation. After moving to SUSTech in 2018, with help from Ge Sheng, Sun Haoran, Dr. Liu Xiaobo, and Dr. Guo Ning (both were first-year doctoral students back then), the DeepClaw package was broadened to include software interfaces for all robots available in the lab with several demos, including the Jigsaw Puzzle demo that won the ICARM2023 Best Paper Award Finalist. Later, we redesigned the DeepClaw system with aluminum extrusions for rapid reconfiguration and used it for teaching ME336 on Collaborative Robot Learning. Dr. Wang Haokun (an undergraduate student back then) developed DeepClaw 2.0 with Qiu Nuofan and Wang Teng by introducing a pair of modified grilling tongs with our Soft Polyhedral Network fingers and developed an open-sourced user interface for data collection. During COVID-19, the DeepClaw system underwent another redevelopment round by Dong Yujian, Xiao Yang, and Wei Jinqu. It became portable as a toolkit with an online interface to be better used for teaching ME336. This educational effort was recognized by UNESCO and won an international teaching award. The design iteration of the DeepClaw system goes hand in hand with our research on vision-based tactile sensing with the Soft Polyhedral Networks. \n\n\n\n\n\nAfter using the DeepClaw Toolkit for teaching ME336 for three years and with several of our latest developments on vision-based tactile sensing, we felt now is probably a perfect time to evolve the DeepClaw system again. We are soft-launching MagiClaw during this workshop organized by Prof. Liu Huaping, Prof. David Hsu, Prof. Guo Di, Dr. Tao Kong, and Prof. Abhishek Gupta. \n\n\n\n\n\n\n\n\n\n\n\nMagiClaw systematically integrates our years of development in vision-based tactile sensing with multi-modal embodiment of physical interactions using the patented design of the Soft Polyhedral Networks and our years of teaching experience with ME336 on Collaborative Robot Learning. \n\n\n\n\n\n\n\nWe redesigned MagiClaw by adding two vision-based Soft Polyhedral Networks at the fingertip of a fully 3D-printed robotic gripper with dimensions matching OnRobot's RG6. We separate the hand-held section from the gripper section so that users can easily customize based on the gripper system available to their labs. We also introduced active actuation of the gripper so that it can be used alternatively as a standard robotic gripper on the standard flange of their collaborative robots. \n\n\n\n\n\n\n\nA big change from the previous version is the introduction of an iPhone with lidar cameras as the core sensor for perceiving the scene with high-quality RGBD and depth sensing. (We use a second-hand one to reduce cost). Multi-modal data collected by the iPhone and the 6D tactile sensing and shape sensing from the fingers are streamed simultaneously to a web interface via a Raspberry Pi. We developed a website (deepclaw.com) and an iOS app (MagiClaw) to work with the hardware, aiming at streamlining the data collection, processing, and reuse at a low cost.\n\n\n\n\n\n\n\nWe are also working with an industrial design firm to improve the hardware's ergonomics and refine the web and app's performance before officially launching it to the general public. This is also why we came to IROS2024 in Abu Dhabi and participated in the workshop to receive valuable feedback from our fellow researchers with similar interests.\n\n\n\n\n\n\n\n\n\n\n\nThe crowd seems very interested in our MagiClaw system and wants to know more about it. We received a lot of feedback and requests during the workshop poster session. We felt incredibly honored and sincerely appreciate all comments and suggestions, which we intend to integrate further into our system in the next few months.\n\n\n\n\n\n\n\nReceiving the Excellence Practice Award\n\n\n\n\n\n\n\n\n\n\n\nA Taste of Oriental at the China Restaurant\n\n\n\nOur students took a long trip, starting with a cab from the campus to the port, a ferry, two connecting flights, a cab to the hotel the next day early in the morning, and another cab to the ADNEC site for IROS2024, followed by a full-day workshop. Never travel with an empty stomach, and it's time to have a good meal. Two of our members were so tired that they had to return to the hotel for a good sleep and recharge. No worries, as we bought them some nice Fried Rich and Noodles to carry on through the night~\n\n\n\nThanks to Xudong's excellent taste of choice, we found this boutique dining place, the China Restaurant, with more than 40 years of history in Abu Dhabi. It was great chatting with the restaurant owner, an elegant Chinese lady who has lived in Abu Dhabi for over 30 years. We also had a great experience receiving service from the Indian gentleman on the food and Chinese tea. It has fantastic decoration and exquisite ceilings maintained since 1994, bringing us back to Jacky Chen's movies through time with the delicious and familiar taste of Chinese food. It seems Abu Dhabi has much more to offer than the desert and sea seen on the plane's map.\n\n\n\n\n\n\n\nLook Forward to the Next Day\n\n\n\nBesides the above activities, our members listened to many great talks and met some old friends. During the registration, we ran into Mr. Chen Jianming from NOKOV, who will organize a dinner session with many colleagues the next day. We later found out that NOKOV was also a sponsor of the Workshop we participated in today. Some of us joined Prof. Sami Hadaddin's talk on a brief history of force and motion control. Prof. Haddadin is also an organizer of the MSVC competition. Running into Prof. Tan U-Xuan from the Singapore University of Technology and Design was also great. Good luck to U-Xuan and the researchers in Singapore who are running to co-host IROS in 2028.\n\n\n\n\n\n\n\nDr. Guo and Xudong were lucky to run into Perte So in Hall 5, one of the organizers for the euRONBIN MSVC competition @ IROS2024. We confirmed our timeslot for testing our robot, which will be on Wednesday morning. Good luck to team DLRG with the on-site competition and demonstration ~\n\n\n\n\n\n\n\nTomorrow\n\n\n\nThe next day, Haoran and Dr. Guo will attend the Workshop on Benchmarking via Competitions in Robotic Grasping and Manipulation in the morning. They will present our CopGNN solution used for the ICRA 2024 Cloth Manipulation competition, which is also part of the euRONBIN project. Please refer to this link to learn more about our solution during the competition. Last week, Prof. Wan also presented the research version of our solution at WAFR2024 in Chicago, USA. Feel free to drop by our poster stand for feedback and discussion ~~~\n\n\n\nTo be continued with the Design and Learning Research Group ~","author":{"name":"Design and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"Oct 15, 2024","dateGMT":"2024-10-15 04:24:45","modifiedDate":"2024-10-15 13:55:48","modifiedDateGMT":"2024-10-15 05:55:48","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":6,"sec":29},"status":"publish"},{"id":6663,"link":"https:\/\/ancorasir.com\/?p=6663","name":"%e7%a7%91%e7%a0%94%e5%9b%a2%e9%98%9f%ef%bd%9cdesign-learning-research-group-participated-in-iros2024-for-1-competition-and-2-workshops-with-3-robots%ef%bd%9cday-0","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2024\/10\/\u79d1\u7814\u56e2\u961f-IROS2024-Day0-DohaAirport-GroupPhoto-2-scaled.jpeg?fit=2560%2C1920&ssl=1","alt":""},"title":"\u79d1\u7814\u56e2\u961f\uff5cDesign & Learning Research Group Participated in IROS2024 for 1 Competition and 2 Workshops with 3 Robots\uff5cDay 0","excerpt":"The Design and Learning Research Group is participating in this year's IROS conference with a team of seven members led by Prof. Song Chaoyang and six lab members, including Dr. Guo Ning, Han Xudong, Sun Haoran, Wu Tianyu, Ge Sheng, and Xu Ronghan, for one competition and two workshops with three robots. We will share our journey to Abu Dhabi through this post-series. We wish everyone a safe and enriching trip to share our research, meet old colleagues, and make new friends.","content":"The Design and Learning Research Group is participating in this year's IROS conference with a team of seven members led by Prof. Song Chaoyang and six lab members, including Dr. Guo Ning, Han Xudong, Sun Haoran, Wu Tianyu, Ge Sheng, and Xu Ronghan, for one competition and two workshops with three robots. We will share our journey to Abu Dhabi through this post-series. We wish everyone a safe and enriching trip to share our research, meet old colleagues, and make new friends.\n\n\n\n\n\n\n1 Competition\n\n\n\n\nThe euROBIN Manipulation Skill Versatility Challenge @ IROS2024\n\n\n\n\n\n\n2 Workshops\n\n\n\n\nOn Benchmarking via Competitions in Robotic Grasping and Manipulation\n\n\n\nOn Environment Dynamics Matters: Embodied Navigation to Movable Objects\n\n\n\n\n\n\n3 Robots\n\n\n\n\nDexterous Gripper\n\n\n\nMagiClaw System\n\n\n\nOvercontrained Robot\n\n\n\n\n\n\n\n\n\n\n\n6 Students\n\nDr. Guo Ning: Joined the SUSTech Ph.D. Program in 2019 and recently defended his doctoral thesis.\n\n\n\nSun Haoran: Joined the SUSTech-HKU Joint Doctoral Program in 2021. Jointly supervised with Prof. Pan Jia at HKU.\n\n\n\nHan Xudong: Joined the SUSTech Ph.D. Program in 2022.\n\n\n\nWu Tianyu: Joined the SUSTech Ph.D. Program in 2023. Jointly supervised with Prof. Pan Jia at HKU.\n\n\n\nGe Sheng: Joined the SUSTech Master Program in 2021.\n\n\n\nXu Ronghan: Joined the SUSTech Master Program in 2022.\n\n\n\n\n\n\nArriving at Abu Dhabi, UAE\n\n\n\nIt's never easy to travel long distances, especially as a team. Thanks to Ms. Fu Tian's timely arrangement, we embarked on our trip on October 13 from Shenzhen Port, flew out from Hong Kong, transited to Doha, and finally arrived at Zayed International Airport in Abu Dhabi at 0400 on October 14.\n\n\n\n\n\n\n\nTo be continued with the Design and Learning Research Group ~","author":{"name":"Design and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"Oct 15, 2024","dateGMT":"2024-10-15 02:44:20","modifiedDate":"2024-10-15 10:48:38","modifiedDateGMT":"2024-10-15 02:48:38","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=217\" rel=\"category\">Conference<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=217\" rel=\"category\">Conference<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":1,"sec":21},"status":"publish"},{"id":6658,"link":"https:\/\/ancorasir.com\/?p=6658","name":"%e5%ad%a6%e6%9c%af%e8%ae%ba%e6%96%87%ef%bd%9cpresentation-at-wafr2024-invited-poster-at-iros2024-workshop-and-a-joint-paper-to-be-submitted-to-tro","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2024\/10\/\u5b66\u672f\u8bba\u6587-WAFR2024-GroupPhoto.png?fit=3000%2C2250&ssl=1","alt":""},"title":"\u5b66\u672f\u8bba\u6587\uff5cPresentation at WAFR2024, Invited Poster at IROS2024 Workshop, and a Joint Paper to be Submitted to TRO","excerpt":"Recently, Prof. WAN Fang from the School of Design at the Southern University of Science and Technology participated in the 16th Workshop on Algorithmic Foundations in Robotics (WAFR), held in Chicago, USA, from Oct 7th to 9th, introducing our research on using Graph Neural Networks to learn goal-conditioned manipuation of fabrics with environment-aware dynamics. WAFR is the world-leading platform on motion planning and robotic algorithms. Prof. WAN led the Team Greater Bay to participate in the ICRA2024 Cloth Manipulation Competition in Japan earlier this year. Next week, by invitation from the competition organizers, we will join the IROS 2024 Workshop on Benchmarking via Competitions in Robotic Grasping and Manipulation to present our solutions during the competition. We will also submit a joint manuscript with the competition organizers and the participating teams on fabric manipulation to the IEEE Transactions on Robotics soon.","content":"\u5357\u65b9\u79d1\u6280\u5927\u5b66\u8bbe\u8ba1\u5b66\u9662\u52a9\u7406\u6559\u6388\u4e07\u82b3\u535a\u58eb\u4e8e2024\u5e7410\u67087\u65e5\uff5e9\u65e5\uff0c\u53c2\u52a0\u5728\u7f8e\u56fd\u829d\u52a0\u54e5\u4e3e\u529e\u7684\u7b2c\u5341\u516d\u5c4a\u673a\u5668\u4eba\u7b97\u6cd5\u57fa\u7840\u7814\u8ba8\u4f1a\uff08Workshop on the Algorithmic Foundations of Robotics\uff09\uff0c\u4ecb\u7ecd\u56e2\u961f\u53c2\u52a0ICRA2024\u5e03\u6599\u64cd\u63a7\u6311\u6218\u8d5b\u671f\u95f4\u5f00\u53d1\u7684\u5e03\u6599\u64cd\u63a7\u56fe\u795e\u7ecf\u7f51\u7edc\u7b97\u6cd5\u53ca\u5176\u76f8\u5173\u7814\u7a76\uff0c\u4e07\u82b3\u535a\u58eb\u4f5c\u4e3aTeam Greater Bay\u7684\u9886\u961f\u53c2\u52a0\u8be5\u9879\u8d5b\u4e8b\u3002\u6211\u4eec\u9488\u5bf9\u5e03\u6599\u4e0e\u5916\u90e8\u73af\u5883\u7269\u54c1\u7269\u7406\u4ea4\u4e92\u8fc7\u7a0b\u7684\u56fe\u795e\u7ecf\u7f51\u7edc\u5efa\u6a21\uff0c\u4ec5\u901a\u8fc7\u673a\u5668\u4eba\u7684\u5355\u6b21\u629b\u7529\u5373\u53ef\u5b9e\u73b0\u5bf9\u5e03\u6599\u76ee\u6807\u4f4d\u7f6e\u4e0e\u59ff\u6001\u7684\u64cd\u63a7\u5b9e\u73b0\u3002WAFR\u662f\u673a\u5668\u4eba\u8fd0\u52a8\u89c4\u5212\u7b97\u6cd5\u9886\u57df\u7684\u56fd\u9645\u9ad8\u6c34\u5e73\u4f1a\u8bae\u3002\u672c\u6b21\u88ab\u63a5\u6536\u7684\u8bba\u6587\uff0c\u4e5f\u662f\u8fd120\u5e74\u6765\u9996\u6b21\u7531\u6765\u81ea\u4e2d\u56fd\u5185\u5730\u9ad8\u6821\u62c5\u4efb\u7b2c\u4e00\u4f5c\u8005\u4e0e\u901a\u8baf\u4f5c\u8005\u5728\u8be5\u4f1a\u8bae\u4e0a\u53d1\u8868\u7814\u7a76\u8bba\u6587\u3002\u8be5\u8bba\u6587\u7684\u7b2c\u4e00\u4f5c\u8005\u662f\u5357\u65b9\u79d1\u5927-\u9999\u6e2f\u5927\u5b66\u8054\u5408\u57f9\u517b\u7684\u6768\u6797\u701a\u535a\u58eb\uff0c\u7531\u8bbe\u8ba1\u4e0e\u5b66\u4e60\u7814\u7a76\u5b9e\u9a8c\u5ba4\u52a9\u7406\u6559\u6388\u5b8b\u8d85\u9633\u535a\u58eb\u4e0e\u9999\u6e2f\u5927\u5b66\u526f\u6559\u6388\u6f58\u4f73\u535a\u58eb\u62c5\u4efb\u5171\u540c\u901a\u8baf\u4f5c\u8005\u3002\u8fd1\u671f\u6211\u4eec\u53d7\u9080\u53c2\u52a0\u5728\u963f\u8054\u914b\u9996\u90fd\u963f\u5e03\u624e\u6bd4\u4e3e\u529e\u7684IROS2024\u7814\u8ba8\u4f1a\u3010Workshop on Benchmarking via Competitions in Robotic Grasping and Manipulation\u3011\uff0c\u6838\u5fc3\u53c2\u8d5b\u961f\u5458\u3001\u5357\u65b9\u79d1\u5927-\u9999\u6e2f\u5927\u5b66\u8054\u5408\u57f9\u517b\u535a\u58eb\u7814\u7a76\u751f\u5b59\u6d69\u7136\u4e5f\u5c06\u73b0\u573a\u53c2\u4f1a\uff0c\u8fdb\u4e00\u6b65\u4ecb\u7ecd\u6211\u4eec\u7684\u53c2\u8d5b\u65b9\u6848\u4e0e\u76f8\u5173\u7814\u7a76\u3002\u4e0e\u8d5b\u4e8b\u4e3b\u529e\u65b9\u5408\u4f5c\uff0c\u6211\u4eec\u4e5f\u5c06\u8fd1\u671f\u8054\u5408\u5411\u673a\u5668\u4eba\u5b66\u9ad8\u6c34\u5e73\u671f\u520aIEEE Transactions on Robotics\u63d0\u4ea4\u5408\u4f5c\u8bba\u6587\u3002\u671f\u5f85\u5728IROS\u7684\u4f1a\u573a\u4e0e\u5404\u4f4d\u5e08\u751f\u7684\u73b0\u573a\u4ea4\u6d41\u7814\u8ba8\uff5e\n\n\n\nRecently, Prof. WAN Fang from the School of Design at the Southern University of Science and Technology participated in the 16th Workshop on Algorithmic Foundations in Robotics (WAFR), held in Chicago, USA, from Oct 7th to 9th, introducing our research on using Graph Neural Networks to learn goal-conditioned manipuation of fabrics with environment-aware dynamics. WAFR is the world-leading platform on motion planning and robotic algorithms. Prof. WAN led the Team Greater Bay to participate in the ICRA2024 Cloth Manipulation Competition in Japan earlier this year. Next week, by invitation from the competition organizers, we will join the IROS 2024 Workshop on Benchmarking via Competitions in Robotic Grasping and Manipulation to present our solutions during the competition. We will also submit a joint manuscript with the competition organizers and the participating teams on fabric manipulation to the IEEE Transactions on Robotics soon.\n\n\n\n- WAFR2024: https:\/\/bionicdl.ancorasir.com\/?p=1277\n\n\n\n- IROS2024 Workshop: https:\/\/bionicdl.ancorasir.com\/?p=1605\n\n\n\n- ICRA2024 Competition: https:\/\/cse.usf.edu\/\/~yusun\/rgmc\/2024.html\n\n\n\n\nOne Fling to Goal @ WAFR2024\n\n\n\nProf. WAN Fang recently participated in the 16th Workshop on the Algorithmic Foundations of Robotics (WAFR) in Chicago, USA, to share our latest collaboration with Prof. PAN Jia on Environment-Aware Dynamics for Goal-Conditioned Fabric Manipulation, or One Fling to Goal. Fabric manipulation dynamically is commonly seen in manufacturing and domestic settings. While dynamically manipulating a fabric piece to reach a target state is highly efficient, this task presents considerable challenges due to the varying properties of different fabrics, complex dynamics when interacting with environments, and meeting required goal conditions. To address these challenges, we present One Fling to Goal, an algorithm capable of handling fabric pieces with diverse shapes and physical properties across various scenarios. Our method learns a graph-based dynamics model equipped with environmental awareness. With this dynamics model, we devise a real-time controller to enable high-speed fabric manipulation in one attempt, requiring less than 3 seconds to finish the goal-conditioned task. We experimentally validate our method on a goal-conditioned manipulation task in five diverse scenarios. Our method significantly improves this goal-conditioned task, achieving an average error of 13.2mm in complex scenarios. Our method can be seamlessly transferred to real-world robotic systems and generalized to unseen scenarios in a zero-shot manner. \n\n\n\n\nFor further details regarding this paper and Prof. Wan's presentation, please refer to this link: https:\/\/bionicdl.ancorasir.com\/?p=1277.\n\n\n\n\n\n\n\n\n\n\n\n\nPresented by Dr. Fang Wan @ Chicago, USA, during WAFR2024.In industrial settings, swiftly and accurately moving fabrics to target positions for downstream tasks is a common operation. Workers often employ dynamic flinging motions to enhance efficiency. This observation raises our first challenge: Can we train robots to achieve precise fabric positioning in one fling?Previous research often involves robots making multiple attempts to learn the delta dynamics between each trial, continuously optimizing the fling trajectory to reach the target position. However, multiple trials reduce efficiency and delta dynamics are difficult to generalize to complex environments, typically only being effective in flat scenarios.Furthermore, fabric properties significantly influence the outcome of the fling. For example, With the same trajectory, more elastic fabrics tend to produce more wrinkles, needs a lighter Fling. This diversity leads to our second challenge: How can we adjust the fling trajectory when fabric properties are unknown?Beyond industrial applications, fabric manipulation tasks are commonly-used in daily life, where environments are more complex and often involve interactions between the fabric and surrounding objects. This complexity introduces our third challenge: Can we encode the rich interaction between fabric and environment for robotic manipulation?To address these challenges, we propose 1Fling2Goal. Our objective is to manipulate the fabric dynamically into the target state with only one fling in complex environments. We utilize a dual-arm robot setup and an RGB-D camera to capture real-time state of the fabric. Our method is tested across various complex scenarios, as shown on the right, where environmental objects are randomly placed within the workspace, and corresponding fabric target states are defined.We begin by training a dynamic model of the fabric where the state is represented as a point cloud. We employ a Graph Neural Network (GNN) to predict the fabric's point-wise velocities at the next time step, capturing the complex dynamics involved in fabric manipulation.To enhance the dynamic model's performance during interactions with the environment, we integrate environmental information into the node features of our GNN. We term this approach Environment-Aware State Representation. For each node vi, we calculate the distance between the fabric xi and the nearest object point qj in the environment. Later we will show our model more accurately predicts motions by involving fabric-environment contact.We collected training data from the PyFlex simulation environment. During data collection, we randomized key parameters related to fabric properties, such as weight and size. Which allows our model to have good generalization capabilities across different fabrics.With the dynamic model, we implement a two-stage model-based control strategy to optimize the fling trajectory. In stage one, we acquire the fabric's current state using the RGB-D camera.In this work, we simplify potential trajectory to a fling-then-pull movement, which can be parameterized by a single turning point. To get an initial estimation of the fling trajectory, we randomly sample 50 turning points.And then utilize the dynamic model to infer the final state for each sampled trajectory. We select the optimal trajectory whose final state has the minimum distance to the target state.Despite this initial estimation, unknown fabric properties may prevent accurate task completion. Therefore, we implement real-time refinement of the fling trajectory. At every ten time steps, we sample 9 delta actions to adjust the current action of the initial estimation. Here delta actions include faster, slower flinging movements, as well as no change to the initial estimation.We select the best delta actions based on the dynamic model's inference. For instance, if we detect that the fabric is highly elastic, we adjust by reducing the fling speed appropriately.At each control step, we update the fling trajectory and the fabric's current state, ensuring that adjustments are responsive to real-time observations and predictions.Through this iterative process, the fabric is eventually manipulated to reach the target state.We evaluate the performance of the proposed GNN dynamic model through a series of comparative experiments. The results show that incorporating environmental awareness into the fabric representation and collecting data across multiple scenarios significantly improve the model's accuracy and generalization. The video on the right illustrates our model's ability to accurately predict the fabric's motion, even during contact with environmental objects.For the goal-conditioned fabric manipulation task, we compared our method with state-of-the-art approaches such as FlingBot and IRP. We also conducted ablation studies on key components of our algorithm, namely environmental awareness and Model predictive control. The experimental results indicate that our method exhibits notable stability and generalization, especially in complex environments.Here, we present simulation results across different scenarios, including Flat Scenario without environment awareness, and Blue particles represent the fabric's state, while red arrows indicate velocity of the fabric's motion. The green rectangles show the fabric's target state for visualization purpose; We use the fabric's point cloud to compute the distance between current state and the target state.Platform Scenario, Hemisphere Scenario, andPole Scenario with Environment Awareness.The proposed two-stage strategy transfers seamlessly to real-world robotic experiments. we randomly place the fabric within the workspace and allow the robot to plan an initial trajectory to fling the fabric to the target position and do real-time adjustment according the RGBD observation. Our method proves to be effective across various settings, including flat surfaces.platforms, hemispheres, poles, andstools. We also validate our approach onunseen fabrics with novel shapes and unseen folded target states. It works well since our dynamic model is generalized and target-free. And the control strategy is applicable to any feasible target.In summary, we propose a method that encodes environmental information into the dynamic model of fabric, achieving precise fabric manipulation in one fling. Our approach addresses the challenges of unknown fabric properties and complex environmental interactions.There are some limitations. Inaccurate perception due to fling speed and partial observation can sometimes cause the fabric to contact the environment too abruptly, leading to task failure. Additionally, the model\u2019s effectiveness can be limited when interacting with unseen fabric configurations that differ drastically from the training data. Future work will focus on improving the robustness to perception accuracy and extending the model to more diverse task configurations.Presented by Dr. Fang Wan @ Chicago, USA, during WAFR2024.\n\n\n\n\n\n\n\nCopGNN @ IROS2024\n\n\n\nThe theoretical foundation of the algorithm presented at WAFR2024 was initially proposed in Prof. Wan's Youth Grant under the Natural Science Foundation of China Grant 62206119, awarded in 2021. An earlier development of this work was initially submitted to CoRL. After receiving feedback from the reviewer and reviewing the latest literature from recent research, we organized this work for the ICRA2024 Competition on Fabric Manipulation through Team Greater Bay with Prof. Wan as the Team Lead and various members from Prof. Song Chaoyang @ SUSTech and Prof. Pan Jia @ HKU. We tailored the algorithm specifically for the competition and developed the CopGNN algorithm, providing an end-to-end solution to achieve cloth coverage prediction via Graph Neural Networks. Recently, we were invited to the Poster Session of the IROS2024 Workshop on Benchmarking via Competitions in Robotic Grasping and Manipulation. Feel free to join us in Abu Dhabi, UAE, for further discussion. A key member of Team Greater Bay, Mr. Sun Haoran, will also join IROS for this workshop and present our work during the poster session. \n\n\n\n\nFor further details regarding this paper, please refer to this link: https:\/\/bionicdl.ancorasir.com\/?p=1605.\n\n\n\n\n\n\n\n\n\n\nA Collaborative Work for IEEE Transactions on Robotics\n\n\n\nTogether with the organizer of the ICRA2024 Cloth Competition and all participating teams, we recently finished wrapping up a joint manuscript to be submitted to the IEEE Transactions on Robotics. Thanks a lot to the IDLab-AIRO at Ghent University for organizing and the euROBin Project for funding this competition. We will share further information on this work once we've finalized the formal submission with the lead author, Victor-Louis De Gusseme, from Ghent University.","author":{"name":"Design and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"Oct 13, 2024","dateGMT":"2024-10-12 20:29:44","modifiedDate":"2024-10-13 04:29:47","modifiedDateGMT":"2024-10-12 20:29:47","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=35\" rel=\"category\">Academic Report<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=66\" rel=\"category\">Competition<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=147\" rel=\"category\">Conference Papers<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=56\" rel=\"category\">Publication<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=34\" rel=\"category\">Workshop<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=35\" rel=\"category\">Academic Report<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=66\" rel=\"category\">Competition<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=147\" rel=\"category\">Conference Papers<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=56\" rel=\"category\">Publication<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=34\" rel=\"category\">Workshop<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":8,"sec":19},"status":"publish"},{"id":6631,"link":"https:\/\/ancorasir.com\/?p=6631","name":"euronbin-msvc-iros2024-part2","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2024\/10\/\u5b66\u751f\u7ade\u8d5b-IROS2024MSVC-Team-FeaturedDemo.png?fit=1163%2C489&ssl=1","alt":""},"title":"\u5b66\u751f\u7ade\u8d5b\uff5cDesign & Learning Research Group (DLRG) Advances to On-Site Round of euROBIN MSVC Challenge at IROS 2024","excerpt":"The Design & Learning Research Group successfully completed the online presentation for the competition on September 30, 2024. Despite several unexpected challenges, the students participated actively and showcased their talents. Ultimately, as one of the three teams out of the seven participating teams in this global competition, they achieved qualifying results for the next round. Next, our team will fly to the IROS2024 venue in Abu Dhabi next Sunday for an on-site demonstration. We welcome participating researchers to attend and provide valuable guidance. This is the team's first time participating in this competition, and we wish them great success! We also sincerely thank the Technical University of Munich team for organizing this event.","content":"The Design & Learning Research Group successfully completed the online presentation for the competition on September 30, 2024. Despite several unexpected challenges, the students participated actively and showcased their talents. Ultimately, as one of the three teams out of the seven participating teams in this global competition, they achieved qualifying results for the next round. Next, our team will fly to the IROS2024 venue in Abu Dhabi next Sunday for an on-site demonstration. We welcome participating researchers to attend and provide valuable guidance. This is the team's first time participating in this competition, and we wish them great success! We also sincerely thank the Technical University of Munich team for organizing this event.\n\n\n\n\u2013\u00a0euROBIN MSVC @ IROS 2024\n\n\n\n\nDLRG: Design & Learning Research Group\n\n\n\n\n\n\n\nList of Competing Teams\n\n\n\nTeam NameAffiliationsCountryACIN-samuriceTU WienAustriab-it-botsHochschule Bonn-Rhine-SiegGermanyDesign & Learning Research GroupSouthern University of Science and TechnologyChinaRoboPigTechnical University of Applied Sciences W\u00fcrzburg-SchweinfurtGermanyYu LaboratoryChiba UniversityJapanPlatonicsTU DelftThe Netherlandsautonomous:goUniversity of Belgrade School of Electrical EngineeringSerbia\n\n\n\nDesign & Learning Research Group\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\nSystem Setup\n\n\n\n\n\n\n\nVideo Presentation\n\n\n\n\n\n\n\nFive Uncut Continuous Trails\n\n\n\n\n\n\n\nBattery Removal Manipulation\n\n\n\n\n\n\n\nCheck out the [GitHub] for more\n\n\n\nBest of luck to the team for tonight's online presentation with the expert jury and a big thanks to the competition organizers.\n\n\n\nGood luck and Have Fun! Design & Learning Research Group, and all competing teams~\n\n\n\nIROS 2024 Venue Guide\n\n\n\nThe competition will be held at Hall 5 of the ADNEC Convention Center:\n\n\n\n\nNext Monday (October 14th): The event organizers will prepare for the robot setup.\n\n\n\nTuesday to Wednesday: Teams will be grouped to debug robot hardware.\n\n\n\nWednesday (1.5 hours): The workshop for the competition.\n\n\n\nThursday (1 hour): The event's live presentation and awards ceremony.\n\n\n\n\nFor detailed scheduling, please refer to the competition website: https:\/\/sites.google.com\/view\/eurobin-msvc","author":{"name":"Design and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"Oct 6, 2024","dateGMT":"2024-10-06 10:14:25","modifiedDate":"2024-10-06 21:15:32","modifiedDateGMT":"2024-10-06 13:15:32","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=66\" rel=\"category\">Competition<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=34\" rel=\"category\">Workshop<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=151\" rel=\"category\">\u5b66\u751f\u7ade\u8d5b<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=66\" rel=\"category\">Competition<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=34\" rel=\"category\">Workshop<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=151\" rel=\"category\">\u5b66\u751f\u7ade\u8d5b<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":1,"sec":25},"status":"publish"},{"id":6599,"link":"https:\/\/ancorasir.com\/?p=6599","name":"euronbin-msvc-iros2024","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2024\/09\/\u5b66\u751f\u7ade\u8d5b-IROS2024MSVC-Team-Summary.jpg?fit=1792%2C1080&ssl=1","alt":""},"title":"\u5b66\u751f\u7ade\u8d5b\uff5cDesign & Learning Research Group Joins euROBIN Manipulation Skill Versatility Challenge at IROS 2024 in Abu Dhabi","excerpt":"Design and Learning Research Group assembled a team with Dr. Guo Ning, Han Xudong, Sun Haoran led by Prof. Song Chaoyang to participate in the euROBIN Manipulation Skill Versatility Challenge competition to be held at IROS2024 onsite in Abu Dhabi, UAE. We officially present our solution with the fastest trial finishing the task within 28.17 seconds. Look forward to the online competition to be held tonight and wish the best of luck for the team, and all teams participating the competition.","content":"\"A decentralized event followed by a three-day on-site competition to showcase autonomous manipulation skills of state-of-the-art robot platforms for the circular economy.\"\n\n\n\n- euROBIN MSVC @ IROS 2024\n\n\n\n\nThe euROBIN Manipulation Skill Versatility Challenge, part of IROS 2024 in Abu Dhabi, focuses on developing autonomous robotic manipulation skills to support the circular economy. Teams will work on disassembling electronic waste using versatile robot skills. Selected teams will receive a competition task board and demonstrate their solutions both remotely and at the conference. The challenge aims to advance automation for e-waste processing and promote sustainability. The event includes various phases, from task development to on-site presentations and evaluations by an expert jury.\n\n\n\n\nCompetition Homepage: Google Site\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\nList of Competing Teams\n\n\n\nTeam NameAffiliationsCountryACIN-samuriceTU WienAustriab-it-botsHochschule Bonn-Rhine-SiegGermanyDesign & Learning Research GroupSouthern University of Science and TechnologyChinaRoboPigTechnical University of Applied Sciences W\u00fcrzburg-SchweinfurtGermanyYu LaboratoryChiba UniversityJapanPlatonicsTU DelftThe Netherlandsautonomous:goUniversity of Belgrade School of Electrical EngineeringSerbia\n\n\n\nDesign & Learning Research Group\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\nSystem Setup\n\n\n\n\n\n\n\nVideo Presentation\n\n\n\n\n\n\n\nFive Uncut Continuous Trails\n\n\n\n\n\n\n\nBattery Removal Manipulation\n\n\n\n\n\n\n\nCheck out the [GitHub] for more\n\n\n\nBest of luck to the team for tonight's online presentation with the expert jury and a big thanks to the competition organizers.\n\n\n\nGood luck and Have Fun! Design & Learning Research Group, and all competing teams~","author":{"name":"Design and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"Sep 30, 2024","dateGMT":"2024-09-30 02:48:45","modifiedDate":"2024-10-06 21:18:01","modifiedDateGMT":"2024-10-06 13:18:01","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=66\" rel=\"category\">Competition<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=34\" rel=\"category\">Workshop<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=151\" rel=\"category\">\u5b66\u751f\u7ade\u8d5b<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=66\" rel=\"category\">Competition<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=34\" rel=\"category\">Workshop<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=151\" rel=\"category\">\u5b66\u751f\u7ade\u8d5b<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":1,"sec":2},"status":"publish"},{"id":6581,"link":"https:\/\/ancorasir.com\/?p=6581","name":"%e5%ad%a6%e7%94%9f%e8%8e%b7%e5%a5%96%ef%bd%9c2024%e5%b9%b4%e8%af%be%e9%a2%98%e7%bb%84%e6%8c%87%e5%af%bc%e5%ad%a6%e7%94%9f%e5%8f%82%e5%8a%a0%e3%80%8c%e7%ac%ac%e5%8d%81%e5%9b%9b%e5%b1%8a","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2024\/06\/\u5b66\u751f\u83b7\u5956-2024\u5e74\u7b2c\u5341\u56db\u5c4a\u6311\u6218\u676f\u4e2d\u56fd\u5927\u5b66\u751f\u521b\u4e1a\u8ba1\u5212\u7ade\u8d5b\u5e7f\u4e1c\u7701\u5206\u8d5b\u533a\uff5c\u7701\u7ea7\u91d1\u5956\u7701\u7ea7\u94f6\u5956\uff5c\u9ec4\u56fd\u9756\u3001\u5415\u4fca\u7eac\u3001\u5f20\u5b50\u5c1a\u7b49\u5434\u5929\u79b9\u3001\u845b\u5347\u3001\u8463\u6986\u5065\u7b49.jpg?fit=1208%2C634&ssl=1","alt":""},"title":"\u5b66\u751f\u83b7\u5956\uff5c2024\u5e74\u8bfe\u9898\u7ec4\u6307\u5bfc\u5b66\u751f\u53c2\u52a0\u300c\u7b2c\u5341\u56db\u5c4a\u201c\u6311\u6218\u676f\u201d\u5e7f\u4e1c\u5927\u5b66\u751f\u521b\u4e1a\u8ba1\u5212\u7ade\u8d5b\u300d\u83b7\u91d1\u5956\u3001\u94f6\u5956\u5404\u4e00\u9879\uff0c\u795d\u8d3a\u83b7\u5956\u540c\u5b66","excerpt":"2024\u5e74\u8bfe\u9898\u7ec4\u6307\u5bfc\u5b66\u751f\u53c2\u52a0\u300c\u7b2c\u5341\u56db\u5c4a\u201c\u6311\u6218\u676f\u201d\u5e7f\u4e1c\u5927\u5b66\u751f\u521b\u4e1a\u8ba1\u5212\u7ade\u8d5b\u300d\u83b7\u91d1\u5956\u3001\u94f6\u5956\u5404\u4e00\u9879\uff1b\u795d\u8d3a\u9ec4\u56fd\u9756\u3001\u8bb8\u620e\u6c49\u3001\u9ec4\u5149\u6bc5\u3001\u6731\u6842\u4eae\u3001\u5415\u4fca\u7eac\u3001\u5b8b\u9633\u3001\u65c1\u6bb7\u3001\u90b1\u5586\u3001\u9a6c\u701a\u537f\u3001\u5f20\u5b50\u5c1a\u540c\u5b66\uff0c\u611f\u8c22\u73af\u5883\u7cfb\u90d1\u7130\u8001\u5e08\u3001\u5316\u5b66\u7cfb\u8c22\u5c0f\u6c5f\u8001\u5e08\u7684\u6280\u672f\u6307\u5bfc\u4e0e\u9f0e\u529b\u652f\u6301\uff1b\u795d\u8d3a\u5434\u5929\u79b9\u3001\u90b1\u8bfa\u51e1\u3001\u845b\u5347\u3001\u97e9\u864e\u3001\u9a6c\u749f\u9a81\u3001\u97e9\u65ed\u4e1c\u3001\u8463\u6986\u5065\u3001\u6731\u5b50\u7444\u3001\u6731\u6c38\u707f\u3001\u6f58\u709c\u540c\u5b66\uff0c\u611f\u8c22\u8bbe\u8ba1\u5b66\u9662\u4e07\u82b3\u8001\u5e08\u3001\u5b66\u5de5\u90e8\u674e\u65af\u660e\u8001\u5e08\u7684\u6280\u672f\u6307\u5bfc\u4e0e\u9f0e\u529b\u652f\u6301","content":"\u73b2\u73d1\u7ba1\u4fa6\uff5c2024\u5e74\u7b2c\u5341\u56db\u5c4a\u201c\u6311\u6218\u676f\u201d\u5e7f\u4e1c\u5927\u5b66\u751f\u521b\u4e1a\u8ba1\u5212\u7ade\u8d5b\uff5c\u91d1\u5956\n\n\n\n\u795d\u8d3a\u9ec4\u56fd\u9756\u3001\u8bb8\u620e\u6c49\u3001\u9ec4\u5149\u6bc5\u3001\u6731\u6842\u4eae\u3001\u5415\u4fca\u7eac\u3001\u5b8b\u9633\u3001\u5e9e\u6bb7\u3001\u90b1\u5586\u3001\u9a6c\u701a\u537f\u3001\u5f20\u5b50\u5c1a\u540c\u5b66\n\n\n\n\u611f\u8c22\u73af\u5883\u7cfb\u90d1\u7130\u8001\u5e08\u3001\u5316\u5b66\u7cfb\u8c22\u5c0f\u6c5f\u8001\u5e08\u7684\u6280\u672f\u6307\u5bfc\u4e0e\u9f0e\u529b\u652f\u6301\n\n\n\n\n\n\n\n\u4e91\u667a\u79d1\u5de5\uff5c2024\u5e74\u7b2c\u5341\u56db\u5c4a\u201c\u6311\u6218\u676f\u201d\u5e7f\u4e1c\u5927\u5b66\u751f\u521b\u4e1a\u8ba1\u5212\u7ade\u8d5b\uff5c\u91d1\u5956\n\n\n\n\u795d\u8d3a\u5434\u5929\u79b9\u3001\u90b1\u8bfa\u51e1\u3001\u845b\u5347\u3001\u97e9\u864e\u3001\u9a6c\u749f\u9a81\u3001\u97e9\u65ed\u4e1c\u3001\u8463\u6986\u5065\u3001\u6731\u5b50\u7444\u3001\u6731\u6c38\u707f\u3001\u6f58\u709c\u540c\u5b66\n\n\n\n\u611f\u8c22\u8bbe\u8ba1\u5b66\u9662\u4e07\u82b3\u8001\u5e08\u3001\u5b66\u5de5\u90e8\u674e\u65af\u660e\u8001\u5e08\u7684\u6280\u672f\u6307\u5bfc\u4e0e\u9f0e\u529b\u652f\u6301","author":{"name":"Design and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"Sep 23, 2024","dateGMT":"2024-09-23 02:11:19","modifiedDate":"2024-09-23 10:30:16","modifiedDateGMT":"2024-09-23 02:30:16","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=148\" rel=\"category\">Award<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=151\" rel=\"category\">\u5b66\u751f\u7ade\u8d5b<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=148\" rel=\"category\">Award<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=151\" rel=\"category\">\u5b66\u751f\u7ade\u8d5b<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":0,"sec":2},"status":"publish"},{"id":5082,"link":"https:\/\/ancorasir.com\/?p=5082","name":"%e7%a7%91%e7%a0%94%e5%9b%a2%e9%98%9f%ef%bd%9c%e7%a5%9d%e8%b4%ba%e6%b8%af%e5%a4%a7%e8%81%94%e5%9f%b9%e5%8d%9a%e5%a3%ab%e7%94%9f%e9%a1%be%e5%ae%87%e5%b9%b3%e9%80%9a%e8%bf%87%e7%ad%94%e8%be%a9%e3%80%81","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2024\/09\/\u79d1\u7814\u56e2\u961f-2024-J-TRO-ProprioceptiveState-News.png?fit=976%2C768&ssl=1","alt":""},"title":"\u79d1\u7814\u56e2\u961f\uff5c\u795d\u8d3a\u6e2f\u5927\u8054\u57f9\u535a\u58eb\u751f\u987e\u5b87\u5e73\u901a\u8fc7\u7b54\u8fa9\u3001\u6700\u65b0\u8bba\u6587\u88abTRO\u63a5\u6536\uff08SI-Tactile 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\u518d\u6b21\u795d\u8d3a\u987e\u535a\u58eb\u3001\u90ed\u535a\u58eb\u3001\u97e9\u65ed\u4e1c\u3001\u949f\u6811\u4e54","content":"\u8fd1\u65e5\uff0c\u8bfe\u9898\u7ec4\u4e0e\u9999\u6e2f\u5927\u5b66\u6f58\u4f73\u6559\u6388\u8054\u5408\u57f9\u517b\u7684\u535a\u58eb\u7814\u7a76\u751f\u987e\u5b87\u5e73\u987a\u5229\u901a\u8fc7\u7b54\u8fa9\uff08\u795d\u8d3a\u987e\u535a\u58eb\uff09\u3001\u7531\u90ed\u5b81\u535a\u58eb\u3001\u5357\u65b9\u79d1\u5927\u535a\u58eb\u7814\u7a76\u751f\u97e9\u65ed\u4e1c\u3001\u5357\u65b9\u79d1\u5927\u535a\u58eb\u7814\u7a76\u751f\u949f\u6811\u4e54\u64b0\u5199\u7684\u6700\u65b0\u8bba\u6587\u88abT-RO\uff08Tactile Robotics\u7279\u520a\uff09\u63a5\u6536\n\n\n\n- \u518d\u6b21\u795d\u8d3a\u987e\u535a\u58eb\u3001\u90ed\u535a\u58eb\u3001\u97e9\u65ed\u4e1c\u3001\u949f\u6811\u4e54\n\n\n\n\n\n\n\n\n\u795d\u8d3a\u6e2f\u5927\u8054\u57f9\u535a\u58eb\u751f\u987e\u5b87\u5e73\u901a\u8fc7\u7b54\u8fa9\n\n\n\n\n\n\n\n\u987e\u5b87\u5e73\uff5c2020\u7ea7\uff5c\u5357\u65b9\u79d1\u6280\u5927\u5b66-\u9999\u6e2f\u5927\u5b66\u8054\u5408\u57f9\u517b\u535a\u58eb\u7814\u7a76\u751f\n\n\n\n\n\u672c\u79d1\uff1a\u5357\u65b9\u79d1\u6280\u5927\u5b66\n\n\n\n\u7814\u7a76\u65b9\u5411\uff1a\u8fc7\u7ea6\u675f\u673a\u6784\u5b66\u3001\u8ba1\u7b97\u8bbe\u8ba1\n\n\n\n\u200b\u5357\u65b9\u79d1\u6280\u5927\u5b66\u5bfc\u5e08\uff1a\u5b8b\u8d85\u9633\u535a\u58eb\n\n\n\n\u200b\u9999\u6e2f\u5927\u5b66\u5bfc\u5e08\uff1a\u6f58\u4f73\u535a\u58eb\n\n\n\n\u200b\u9999\u6e2f\u5927\u5b66\u526f\u5bfc\u5e08\uff1aWANG Wenping\u535a\u58eb\n\n\n\n\u535a\u58eb\u8bba\u6587\u9898\u76ee\uff1a\n\nComputational Design and Energy-Efficient Optimization of Overconstrained Robotic Limbs\n\n\n\n\n\n\u90e8\u5206\u7814\u7a76\u6210\u679c\uff1a\n\nYuping Gu, ..., Jia Pan*, ..., Chaoyang Song* (2023). \u201cComputational Design Towards Energy Efficient Optimization in Overconstrained Robotic Limbs.\u201d Journal of Computational Design and Engineering, 10(5):1941\u20131956.\n\nhttps:\/\/doi.org\/10.1093\/jcde\/qwad083\n\n\n\nSelected as the Editor\u2019s Choice.\n\n\n\n\n\nYuping Gu, ..., Jia Pan, Chaoyang Song* (2022). \u201cOverconstrained Coaxial Design of Robotic Legs with Omni-directional Locomotion.\u201d Mechanism and Machine Theory, 176(10):105018.\n\nhttps:\/\/doi.org\/10.1016\/j.mechmachtheory.2022.105018\n\n\n\n\n\nShihao Feng, Yuping Gu, ..., Jia Pan, Chaoyang Song* (2021). \u201cAn Overconstrained Robotic Leg with Coaxial Quasi-direct Drives for Omni-directional Ground Mobility.\u201d IEEE International Conference on Robotics and Automation (ICRA), Xi\u2019an, China, 30 May-5 June 2021, pp. 11477-11484.\n\nhttps:\/\/doi.org\/10.1109\/ICRA48506.2021.9561829\n\n\n\n\n\nYuping Gu, ..., Jia Pan*, Chaoyang Song* (2024). \u201cOne-DoF Robotic Design of Overconstrained Limbs with Energy-Efficient, Self-Collision-Free Motion.\u201d IEEE Transactions on Robotics.\n\nUnder Review\n\n\n\n\n\n\n\n\n\n\n\n\n\u6700\u65b0\u8bba\u6587\u88abTRO\u63a5\u6536\uff08SI-Tactile Robotics\uff09\n\n\n\n\n\n\n\n\u8fd1\u65e5\uff0c\u7531\u90ed\u5b81\u535a\u58eb\u3001\u5357\u65b9\u79d1\u5927\u535a\u58eb\u7814\u7a76\u751f\u97e9\u65ed\u4e1c\u3001\u5357\u65b9\u79d1\u5927\u535a\u58eb\u7814\u7a76\u751f\u949f\u6811\u4e54\u4f5c\u4e3a\u5171\u540c\u7b2c\u4e00\u4f5c\u8005\u7684\u7814\u7a76\u8bba\u6587\u88abIEEE Transactions on Robotics\u671f\u520aTactile Robotics\u7279\u520a\u63a5\u6536\uff0c\u8be5\u671f\u520a\u662f\u673a\u5668\u4eba\u5b66\u9886\u57df\u7684\u56fd\u9645\u9876\u7ea7\u671f\u520a\u3002\n\n\n\n\n\u7279\u522b\u611f\u8c22\u6d77\u6d0b\u7cfb\u6797\u95f4\u9662\u58eb\uff08\u535a\u58eb\u7814\u7a76\u751f\u949f\u6811\u4e54\u5bfc\u5e08\uff09\u957f\u671f\u4ee5\u6765\u5bf9\u8bfe\u9898\u7ec4\u5f00\u62d3\u9762\u5411\u6c34\u4e0b\u673a\u5668\u4eba\u9886\u57df\u7814\u7a76\u7684\u5927\u529b\u652f\u6301\uff1b\n\n\n\n\u7279\u522b\u611f\u8c22\u6df1\u5733\u5e02\u9ccd\u6e90\u79d1\u6280\u5bf9\u672c\u9879\u76ee\u5728\u6c34\u4e0b\u673a\u5668\u4eba\u786c\u4ef6\u4e0e\u6c34\u4e0b\u673a\u5668\u4eba\u6d4b\u8bd5\u573a\u5730\u7b49\u65b9\u9762\u7684\u5927\u529b\u652f\u6301\u3002\n\n\n\n\nNing Guo, ..., Chaoyang Song* (2023). \u201cProprioceptive State Estimation for Amphibious Tactile Sensing.\u201d IEEE Transactions on Robotics, Forthcoming, (Early Access).\n\n\n\n\nhttps:\/\/doi.org\/10.1109\/TRO.2024.3463509","author":{"name":"Design and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"Sep 7, 2024","dateGMT":"2024-09-07 04:11:35","modifiedDate":"2024-10-07 00:02:02","modifiedDateGMT":"2024-10-06 16:02:02","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=150\" rel=\"category\">DEFENCE<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=146\" rel=\"category\">Journal Articles<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=23\" rel=\"category\">People<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=25\" rel=\"category\">Ph.D.<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=56\" rel=\"category\">Publication<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=150\" rel=\"category\">DEFENCE<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=146\" rel=\"category\">Journal Articles<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=23\" rel=\"category\">People<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=25\" rel=\"category\">Ph.D.<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=56\" rel=\"category\">Publication<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":0,"sec":48},"status":"publish"},{"id":5073,"link":"https:\/\/ancorasir.com\/?p=5073","name":"%e7%a7%91%e7%a0%94%e5%9b%a2%e9%98%9f%ef%bd%9c%e7%a5%9d%e8%b4%ba%e5%8d%97%e6%96%b9%e7%a7%91%e5%a4%a7%e5%8d%9a%e5%a3%ab%e7%a0%94%e7%a9%b6%e7%94%9f%e9%83%ad%e5%ae%81%e3%80%81%e5%88%98%e5%b0%8f%e5%8d%9a","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2024\/08\/\u79d1\u7814\u56e2\u961f-2024\u5e74\u535a\u58eb\u7814\u7a76\u751f-\u5357\u65b9\u79d1\u5927\uff5c\u5e08\u751f\u5408\u7167.jpg?fit=2000%2C1333&ssl=1","alt":""},"title":"\u79d1\u7814\u56e2\u961f\uff5c\u795d\u8d3a\u5357\u65b9\u79d1\u5927\u535a\u58eb\u7814\u7a76\u751f\u90ed\u5b81\u3001\u5218\u5c0f\u535a\u987a\u5229\u901a\u8fc7\u535a\u58eb\u7814\u7a76\u751f\u7b54\u8fa9","excerpt":"2024\u5e748\u670828\u65e5\uff0c\u5357\u65b9\u79d1\u6280\u5927\u5b66\u5de5\u5b66\u9662\u4e3e\u884c\u4e86\u4e00\u573a\u535a\u58eb\u7814\u7a76\u751f\u7b54\u8fa9\uff0c2019\u7ea7\u535a\u58eb\u7814\u7a76\u751f\u90ed\u5b81\u548c\u5218\u5c0f\u535a\u987a\u5229\u901a\u8fc7\u3002\u90ed\u5b81\u672c\u79d1\u548c\u7855\u58eb\u5747\u6bd5\u4e1a\u4e8e\u54c8\u5c14\u6ee8\u5de5\u4e1a\u5927\u5b66\uff0c\u535a\u58eb\u8bfe\u9898\u7814\u7a76\u9886\u57df\u4e3a\u8f6f\u4f53\u673a\u5668\u4eba\u63a7\u5236\u4e0e\u5b66\u4e60\uff0c\u535a\u58eb\u8bba\u6587\u7814\u7a76\u67d4\u6027\u89c6\u89e6\u89c9\u5f62\u53d8\u53ca\u673a\u5668\u4eba\u4e24\u6816\u7075\u5de7\u64cd\u4f5c\u6280\u672f\u3002\u5218\u5c0f\u535a\u672c\u79d1\u6bd5\u4e1a\u4e8e\u5317\u4eac\u7406\u5de5\u5927\u5b66\uff0c\u7855\u58eb\u6bd5\u4e1a\u4e8e\u4e2d\u56fd\u79d1\u5b66\u9662\u5927\u5b66\uff0c\u535a\u58eb\u7814\u7a76\u9886\u57df\u4e3a\u673a\u5668\u89c6\u89c9\u4e0e\u673a\u5668\u4eba\u6293\u53d6\uff0c\u535a\u58eb\u8bba\u6587\u7814\u7a76\u67d4\u6027\u591a\u9762\u4f53\u7f51\u7edc\u3002\u795d\u8d3a\u90ed\u535a\u58eb\u3001\u5218\u535a\u58eb\uff5e","content":"2024\u5e748\u670828\u65e5\uff0c\u5728\u5357\u65b9\u79d1\u6280\u5927\u5b66\u5de5\u5b66\u9662\u5317\u697c529\u5ba4\uff0c\u8bfe\u9898\u7ec4\u5728\u5357\u65b9\u79d1\u5927\u62db\u6536\u7684\u9996\u6279\u535a\u58eb\u7814\u7a76\u751f\u90ed\u5b81\u3001\u5218\u5c0f\u535a\uff0c\u8fdb\u884c\u4e86\u5386\u65f6\u4e09\u4e2a\u534a\u5c0f\u65f6\u7684\u535a\u58eb\u7814\u7a76\u751f\u7b54\u8fa9\uff0c\u6700\u7ec8\u7ecf\u8fc7\u8bc4\u59d4\u4e13\u5bb6\u7684\u4e00\u81f4\u610f\u89c1\u987a\u5229\u901a\u8fc7\u7b54\u8fa9\u3002\n\n\n\n- \u795d\u8d3a\u90ed\u535a\u58eb\u3001\u5218\u535a\u58eb\uff5e\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\u795d\u8d3a\u5357\u65b9\u79d1\u5927\u535a\u58eb\u7814\u7a76\u751f\u90ed\u5b81\uff0c\u987a\u5229\u901a\u8fc7\u535a\u58eb\u7814\u7a76\u751f\u7b54\u8fa9\n\n\n\n\n\n\n\n\u90ed\u5b81\uff5c2019\u7ea7\uff5c\u5357\u65b9\u79d1\u6280\u5927\u5b66\u535a\u58eb\u7814\u7a76\u751f\n\n\n\n\n\u672c\u79d1\/\u7855\u58eb\uff1a\u54c8\u5c14\u6ee8\u5de5\u4e1a\u5927\u5b66\n\n\n\n\u7814\u7a76\u65b9\u5411\uff1a\u8f6f\u4f53\u673a\u5668\u4eba\u63a7\u5236\u3001\u673a\u5668\u4eba\u5b66\u4e60\n\n\n\n\u535a\u58eb\u8bba\u6587\u9898\u76ee\uff1a\n\n\u67d4\u6027\u89c6\u89e6\u89c9\u5f62\u53d8\u91cd\u5efa\u611f\u77e5\u673a\u7406\u53ca\u5176\u673a\u5668\u4eba\u4e24\u6816\u7075\u5de7\u64cd\u4f5c\u5e94\u7528\n\n\n\n\n\n\u90e8\u5206\u7814\u7a76\u6210\u679c\uff1a\n\nNing Guo#, Xudong Han#, Shuqiao Zhong#, ..., Chaoyang Song* (2024).\u00a0\u201cProprioceptive State Estimation for Amphibious Tactile Sensing.\u201d\u00a0IEEE Transactions on Robotics, Forthcoming, (Early Access).\n\nhttps:\/\/doi.org\/10.1109\/TRO.2024.3463509\n\n\n\nSpecial Issue on Tactile Robotics\n\n\n\n\n\nNing Guo, ..., Chaoyang Song* (2024). \u201cReconstructing Soft Robotic Touch via In-Finger Vision.\u201d Advanced Intelligent Systems (OnlineFirst): 2400022.\n\nhttps:\/\/doi.org\/10.1002\/aisy.202400022\n\n\n\nSelected as the Front Cover for\u00a0the October 2024 Issue.\n\n\n\n\n\nXudong Han,\u00a0Ning Guo, ..., Chaoyang Song* (2024). \u201cOn Flange-Based 3D Hand-Eye Calibration for Soft Robotic Tactile Welding.\u201d\u00a0Measurement, 238(October): 115376.\n\nhttps:\/\/doi.org\/10.1016\/j.measurement.2024.115376\n\n\n\n\n\nNing Guo, ..., Chaoyang Song* (2024). \u201cAutoencoding a Soft Touch to Learn Grasping from On-land to Underwater.\u201d Advanced Intelligent Systems, 6(1):2300382.\n\nhttps:\/\/doi.org\/10.1002\/aisy.202300382\n\n\n\nSelected as the Front Cover for the January 2024 Issue.\n\n\n\n\n\n\n\n\n\n\n\n\n\u795d\u8d3a\u5357\u65b9\u79d1\u5927\u535a\u58eb\u7814\u7a76\u751f\u5218\u5c0f\u535a\uff0c\u987a\u5229\u901a\u8fc7\u535a\u58eb\u7814\u7a76\u751f\u7b54\u8fa9\n\n\n\n\n\n\n\n\u5218\u5c0f\u535a\uff5c2019\u7ea7\uff5c\u5357\u65b9\u79d1\u6280\u5927\u5b66\u535a\u58eb\u7814\u7a76\u751f\n\n\n\n\n\u672c\u79d1\uff1a\u5317\u4eac\u7406\u5de5\u5927\u5b66\uff5c\u7855\u58eb\uff1a\u4e2d\u56fd\u79d1\u5b66\u9662\u5927\u5b66\n\n\n\n\u7814\u7a76\u65b9\u5411\uff1a\u673a\u5668\u89c6\u89c9\u3001\u673a\u5668\u4eba\u6293\u53d6\n\n\n\n\u535a\u58eb\u8bba\u6587\u9898\u76ee\uff1a\n\n\u9762\u5411\u673a\u5668\u4eba\u64cd\u63a7\u5b66\u4e60\u7684\u67d4\u6027\u591a\u9762\u4f53\u7f51\u7edc\u672c\u4f53\u611f\u77e5\u6280\u672f\u53ca\u5176\u673a\u7406\u7814\u7a76\n\n\n\n\n\n\u90e8\u5206\u7814\u7a76\u6210\u679c\uff1a\n\nXiaobo Liu#, Xudong Han#, ..., Chaoyang Song* (2024). \u201cProprioceptive Learning with Soft Polyhedral Networks.\u201d The International Journal of Robotics Research (OnlineFirst).\n\nhttps:\/\/doi.org\/10.1177\/02783649241238765\n\n\n\n\n\nXiaobo Liu, ..., Chaoyang Song* (2023). \u201cBio-inspired Proprioceptive Touch of a Soft Finger with Inner-Finger Kinesthetic Perception.\u201d Biomimetics, 8(6):501.\n\nhttps:\/\/doi.org\/10.3390\/biomimetics8060501\n\n\n\n\n\nTianyu Wu#, Yujian Dong#, Xiaobo Liu#, ..., Chaoyang Song* (2024). \u201cVision-based Tactile Intelligence with Soft Robotic Metamaterial.\u201d Materials & Design, 238(February):112629.\n\nhttps:\/\/doi.org\/10.1016\/j.matdes.2024.112629\n\n\n\n\n\nHaokun Wang#, Xiaobo Liu#, ..., Chaoyang Song* (2022). \u201cDeepClaw 2.0: A Data Collection Platform for Learning Human Manipulation.\u201d Frontiers in Robotics and AI, 9:787291.\n\nhttps:\/\/doi.org\/10.3389\/frobt.2022.787291\n\n\n\n\n\n\n\n\n\n\n\n\n\u7b54\u8fa9\u59d4\u5458\u4f1a\u6210\u5458\n\n\n\n\n\u7b54\u8fa9\u59d4\u5458\u4f1a\u4e3b\u5e2d\uff1a\n\n\u6768\u518d\u8dc3 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\u535a\u58eb\uff08\u7814\u7a76\u52a9\u7406\u6559\u6388\u3001\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\uff09\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\u611f\u8c22\u5404\u4f4d\u8bc4\u59d4\u4e13\u5bb6\u5bf9\u4e24\u4f4d\u540c\u5b66\u7684\u8bc4\u5ba1\u610f\u89c1\u4e0e\u79ef\u6781\u80af\u5b9a\uff5e\n\n\n\n\n\n\n\n\n\n\n\n\u518d\u6b21\u795d\u8d3a\u90ed\u535a\u58eb\u3001\u5218\u535a\u58eb\uff5e","author":{"name":"Design and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"Aug 29, 2024","dateGMT":"2024-08-29 04:13:39","modifiedDate":"2024-10-07 01:04:19","modifiedDateGMT":"2024-10-06 17:04:19","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=150\" rel=\"category\">DEFENCE<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=23\" rel=\"category\">People<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=25\" rel=\"category\">Ph.D.<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=150\" rel=\"category\">DEFENCE<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=23\" rel=\"category\">People<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=25\" rel=\"category\">Ph.D.<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":1,"sec":7},"status":"publish"},{"id":5067,"link":"https:\/\/ancorasir.com\/?p=5067","name":"%e7%a7%91%e7%a0%94%e5%9b%a2%e9%98%9f%ef%bd%9c%e8%8e%b7%e6%89%b9%e5%9b%bd%e8%87%aa%e7%84%b6%e9%9d%a2%e4%b8%8a%e9%a1%b9%e7%9b%ae%e3%80%81%e6%b8%af%e5%a4%a7%e8%81%94%e5%9f%b9%e5%8d%9a%e5%a3%ab%e7%94%9f","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2024\/08\/\u79d1\u7814\u56e2\u961f-2024-C-WARF2024-1Fling2Goal-News.png?fit=1720%2C1806&ssl=1","alt":""},"title":"\u79d1\u7814\u56e2\u961f\uff5c\u83b7\u6279\u56fd\u81ea\u7136\u9762\u4e0a\u9879\u76ee\u3001\u6e2f\u5927\u8054\u57f9\u535a\u58eb\u751f\u6768\u6797\u701a\u901a\u8fc7\u7b54\u8fa9\u3001\u6700\u65b0\u8bba\u6587\u88abWAFR2024\u63a5\u6536","excerpt":"\u8fd1\u671f\uff0c\u8bfe\u9898\u7ec4\u83b7\u6279\u56fd\u81ea\u7136\u9762\u4e0a\u9879\u76ee1\u9879\u3001\u4e0e\u9999\u6e2f\u5927\u5b66\u6f58\u4f73\u6559\u6388\u8054\u5408\u57f9\u517b\u7684\u535a\u58eb\u7814\u7a76\u751f\u6768\u6797\u701a\u987a\u5229\u901a\u8fc7\u7b54\u8fa9\uff08\u795d\u8d3a\u6768\u535a\u58eb\uff09\u3001\u6768\u535a\u58eb\u7684\u6700\u65b0\u8bba\u6587\u88abWARF2024\u63a5\u6536\u3002\u6b64\u5916\uff0c\u672c\u5468\u5357\u65b9\u79d1\u5927\u535a\u58eb\u7814\u7a76\u751f\u90ed\u5b81\u3001\u5218\u5c0f\u535a\u4e5f\u5c06\u8fce\u6765\u4ed6\u4eec\u7684\u535a\u58eb\u7b54\u8fa9\uff0c\u9884\u795d\u987a\u5229\uff5e","content":"\u83b7\u6279\u56fd\u81ea\u7136\u9762\u4e0a\u9879\u76ee\n\n\n\n\n\n\n\n\u611f\u8c22\u8bc4\u5ba1\u4e13\u5bb6\u5bf9\u672c\u9879\u76ee\u7684\u6b63\u9762\u8bc4\u4ef7\u4e0e\u79ef\u6781\u80af\u5b9a\uff0c\u540c\u65f6\u4e5f\u611f\u8c22\u6613\u5a1f\u535a\u58eb\u53c2\u4e0e\u672c\u6b21\u9762\u4e0a\u9879\u76ee\u7684\u8054\u5408\u7533\u62a5\n\n\n\n\n\n\n\n\u6e2f\u5927\u8054\u57f9\u535a\u58eb\u751f\u6768\u6797\u701a\u901a\u8fc7\u7b54\u8fa9\n\n\n\n\n\n\n\n\u6768\u6797\u701a\uff5c2019\u7ea7\uff5c\u5357\u65b9\u79d1\u6280\u5927\u5b66-\u9999\u6e2f\u5927\u5b66\u8054\u5408\u57f9\u517b\u535a\u58eb\u7814\u7a76\u751f\n\n\n\n\n\u672c\u79d1\uff1a\u6e05\u534e\u5927\u5b66\n\n\n\n\u7814\u7a76\u65b9\u5411\uff1a\u67d4\u6027\u64cd\u63a7\u3001\u673a\u5668\u4eba\u5b66\u4e60\u3001\u56fe\u795e\u7ecf\u7f51\u7edc\n\n\n\n\u200b\u5357\u65b9\u79d1\u6280\u5927\u5b66\u5bfc\u5e08\uff1a\u5b8b\u8d85\u9633\u535a\u58eb\n\n\n\n\u200b\u9999\u6e2f\u5927\u5b66\u5bfc\u5e08\uff1a\u6f58\u4f73\u535a\u58eb\n\n\n\n\u200b\u9999\u6e2f\u5927\u5b66\u526f\u5bfc\u5e08\uff1aWANG Wenping\u535a\u58eb\n\n\n\n\u535a\u58eb\u8bba\u6587\u9898\u76ee\uff1a\n\nRigid-Soft Interactive Learning for Robotic Manipulation\n\n\n\n\n\n\u90e8\u5206\u7814\u7a76\u6210\u679c\uff1a\n\nLinhan Yang, \u2026, Chaoyang Song*, Jia Pan*\u00a0(2024). \u201cOne Fling to Goal: Environment-aware Dynamics for Goal-conditioned Fabric Flinging.\u201d\u00a0Workshop on the Algorithmic Foundations of Robotics (WAFR2024), Chicago, USA. (Accepted)\n\nhttps:\/\/www.algorithmic-robotics.org\/\n\n\n\n\n\nHaoran Sun, Linhan Yang, \u2026, Chaoyang Song*, Jia Pan*\u00a0(2024). \u201cCopGNN: Learning End-to-End Cloth Coverage Prediction via Graph Neural Networks.\u201d\u00a0IROS 2024 Workshop on Benchmarking via Competitions in Robotic Grasping and Manipulation, Abu Dhabi, UAE. (Accepted)\n\nhttps:\/\/sites.google.com\/view\/iros2024-workshop-bench-in-rgm\/\n\n\n\n\n\nLinhan Yang, \u2026, Jia Pan, Chaoyang Song*\u00a0(2021). \u201cLearning-based Optoelectronically Innervated Tactile Finger for Rigid-Soft Interactive Grasping.\u201d\u00a0IEEE Robotics and Automation Letters, 6(2):3817\u20133824.\n\nhttps:\/\/doi.org\/10.1109\/LRA.2021.3065186\n\n\n\n\n\nLinhan Yang, \u2026, Jia Pan, Chaoyang Song*\u00a0(2020). \u201cRigid-Soft Interactive Learning for Robust Grasping.\u201d\u00a0IEEE Robotics and Automation Letters, 5(2):1720\u20131727.\n\nhttps:\/\/doi.org\/10.1109\/lra.2020.2969932\n\n\n\n\n\n\n\n\n\u795d\u8d3a\u6768\u535a\u58eb\uff5e\n\n\n\n\n\n\n\n\u6700\u65b0\u8bba\u6587\u88abWAFR2024\u63a5\u6536\n\n\n\n\n\n\n\n\u8fd1\u65e5\uff0c\u7531\u6768\u6797\u701a\u535a\u58eb\u4f5c\u4e3a\u7b2c\u4e00\u4f5c\u8005\u64b0\u5199\u7684\u4f1a\u8bae\u8bba\u6587\u88abThe 16th International Workshop on the Algorithmic Foundations of Robotics\u4f1a\u8bae\u63a5\u6536\uff0c\u8be5\u4f1a\u8bae\u662f\u673a\u5668\u4eba\u7b97\u6cd5\u9886\u57df\u7684\u56fd\u9645\u9876\u7ea7\u4f1a\u8bae\uff0c\u662f\u5357\u79d1\u5927\u5728\u8be5\u4f1a\u8bae\u4e0a\u53d1\u8868\u7684\u9996\u7bc7\u901a\u8baf\u5355\u4f4d\u8bba\u6587\uff0c\u4e5f\u662f\u8fd1\u5341\u4f59\u5e74\u6765\u56fd\u5185\u9ad8\u6821\u5355\u4f4d\u5728\u8be5\u4f1a\u8bae\u4e0a\u53d1\u8868\u7684\u9996\u7bc7\u7b2c\u4e00\u4f5c\u8005\u3001\u901a\u8baf\u4f5c\u8005\u8bba\u6587\u3002\n\n\n\n\u518d\u6b21\u795d\u8d3a\u6768\u535a\u58eb\uff5e","author":{"name":"Design and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"Aug 25, 2024","dateGMT":"2024-08-24 22:52:54","modifiedDate":"2024-10-06 21:51:48","modifiedDateGMT":"2024-10-06 13:51:48","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=150\" rel=\"category\">DEFENCE<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=23\" rel=\"category\">People<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=25\" rel=\"category\">Ph.D.<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=150\" rel=\"category\">DEFENCE<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=23\" rel=\"category\">People<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=25\" 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9th Robotic Grasping and Manipulation Competition - Cloth Track 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9th Robotic Grasping and Manipulation Competition - Cloth Track Competition\uff5c\u56fd\u9645\u7ea7\u7b2c\u4e94\u540d\n\n\n\n\n\n\n\nLink to the Competition | Link to the Cloth 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and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"Jun 28, 2024","dateGMT":"2024-06-28 07:07:45","modifiedDate":"2024-06-28 15:17:14","modifiedDateGMT":"2024-06-28 07:17:14","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=66\" rel=\"category\">Competition<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=26\" rel=\"category\">Master<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=23\" rel=\"category\">People<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=25\" rel=\"category\">Ph.D.<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=24\" rel=\"category\">Undergraduate<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=66\" rel=\"category\">Competition<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=26\" rel=\"category\">Master<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=23\" rel=\"category\">People<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=25\" rel=\"category\">Ph.D.<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=24\" rel=\"category\">Undergraduate<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":0,"sec":8},"status":"publish"},{"id":4889,"link":"https:\/\/ancorasir.com\/?p=4889","name":"%e5%ad%a6%e7%94%9f%e8%8e%b7%e5%a5%96%ef%bd%9c2023%e5%b9%b4sustechdl%e8%af%be%e9%a2%98%e7%bb%84%e5%ad%a6%e7%94%9f%e8%8e%b7%e5%a5%96%e5%b0%8f%e8%ae%b0%ef%bc%8c%e8%bf%9f%e5%88%b0%e7%9a%84%e7%a5%9d","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2024\/06\/\u5b66\u751f\u83b7\u5956-2023\u5e74\u56fd\u9645\u81ea\u52a8\u5316\u79d1\u5b66\u4e0e\u5de5\u7a0b\u4f1a\u8bae\u5eb7\u590d\u81ea\u52a8\u5316\u6700\u4f73\u4f1a\u8bae\u8bba\u6587\u5956\uff5c\u56fd\u9645\u7ea7\u6700\u4f73\u4f1a\u8bae\u8bba\u6587\u5956\uff5c\u90ed\u5b87\u82b9\u3001\u5f20\u9555\u6b63\u3001\u90b1\u671b\u5f18\u6770-rotated.jpg?fit=1176%2C832&ssl=1","alt":""},"title":"\u5b66\u751f\u83b7\u5956\uff5c2023\u5e74SUSTechDL\u8bfe\u9898\u7ec4\u5b66\u751f\u83b7\u5956\u5c0f\u8bb0\uff0c\u8fdf\u5230\u7684\u795d\u8d3a\u9001\u7ed9\u5404\u4f4d\u540c\u5b66","excerpt":"\u90ed\u5b87\u82b9\u3001\u5f20\u9555\u6b63\u3001\u90b1\u671b\u5f18\u6770\uff0c2023\u5e74\u56fd\u9645\u81ea\u52a8\u5316\u79d1\u5b66\u4e0e\u5de5\u7a0b\u4f1a\u8bae\u5eb7\u590d\u81ea\u52a8\u5316\u6700\u4f73\u4f1a\u8bae\u8bba\u6587\u5956\uff0c\u56fd\u9645\u7ea7\u6700\u4f73\u4f1a\u8bae\u8bba\u6587\u5956\uff5c\u5218\u5c0f\u535a\u3001\u845b\u5347\u3001\u738b\u660a\u5764\u3001\u5b59\u6d69\u7136\uff0c2023\u5e74ICARM2023\u5165\u56f4\u6700\u4f73\u4f1a\u8bae\u8bba\u6587\u5956\uff0c\u56fd\u9645\u7ea7\u6700\u4f73\u4f1a\u8bae\u8bba\u6587\u5956\uff5c\u987e\u8283\u516e\u3001\u9648\u6654\u6960\u3001\u5f20\u695a\u70e8\uff0c2023\u5e74\u4e2d\u56fd\u5927\u5b66\u751f\u673a\u68b0\u5de5\u7a0b\u521b\u65b0\u521b\u610f\u5927\u8d5b\u673a\u68b0\u4ea7\u54c1\u6570\u5b57\u5316\u8bbe\u8ba1\u8d5b\uff0c\u56fd\u5bb6\u7ea7\u4e00\u7b49\u5956\uff5c\u5434\u5f66\u8fb0\u3001\u9ec4\u56fd\u9756\u3001\u5468\u946b\u5b87\uff0c2023\u5e74\u4e2d\u56fd\u5927\u5b66\u751f\u673a\u68b0\u5de5\u7a0b\u521b\u65b0\u521b\u610f\u5927\u8d5b\u673a\u68b0\u4ea7\u54c1\u6570\u5b57\u5316\u8bbe\u8ba1\u8d5b\uff0c\u56fd\u5bb6\u7ea7\u4e09\u7b49\u5956\uff5c\u5434\u5929\u79b9\u3001\u8463\u6986\u5065\uff0c2023\u5e74\u5e7f\u4e1c\u7701\u7814\u7a76\u751f\u5b66\u672f\u8bba\u575b 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rel=\"category\">Ph.D.<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":0,"sec":10},"status":"publish"},{"id":4819,"link":"https:\/\/ancorasir.com\/?p=4819","name":"24%e5%b9%b4%e6%98%a5%e5%ad%a3%e3%80%8cme336%e4%ba%ba%e5%b7%a5%e6%99%ba%e8%83%bd%e4%b8%8e%e6%9c%ba%e5%99%a8%e4%ba%ba%e5%ae%a2%e5%ba%a7%e6%8a%a5%e5%91%8a%e3%80%8d%ef%bc%9a%e9%82%b1%e5%bc%ba-qqfly","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2024\/05\/GuestLectureSeries-2024-Spring-Qiu-Qiang-scaled-1-e1716348879204.jpg?fit=1796%2C1348&ssl=1","alt":""},"title":"\u8bfe\u7a0b\u6559\u5b66\uff5c24\u5e74\u6625\u5b63\u300cME336\u4eba\u5de5\u667a\u80fd\u4e0e\u673a\u5668\u4eba\u5ba2\u5ea7\u62a5\u544a\u300d\uff1a\u90b1\u5f3a\/qqfly","excerpt":"\u672a\u6765\uff0c\u673a\u5668\u4eba\u5c06\u65e0\u5904\u4e0d\u5728\uff0c\u4e3a\u4eba\u7c7b\u751f\u6d3b\u548c\u5de5\u4f5c\u63d0\u4f9b\u5e2e\u52a9\u3002\u7136\u800c\uff0c\u5c06\u8fd9\u4e00\u613f\u666f\u8f6c\u53d8\u4e3a\u73b0\u5b9e\u4f3c\u4e4e\u8fd8\u6709\u4e00\u4e9b\u8ddd\u79bb\u2014\u2014\u5b66\u672f\u754c\u8fd0\u52a8\u89c4\u5212\u3001\u6a21\u4eff\u5b66\u4e60\u3001\u5177\u8eab\u667a\u80fd\u7b49\u6982\u5ff5\u4e0e\u6280\u672f\u5c42\u51fa\u4e0d\u7a77\uff1b\u4e1a\u754c\u5374\u8fd8\u4f9d\u8d56\u4f20\u7edf\u7684\u793a\u6559\u673a\u5668\u4eba\u3002\u673a\u5668\u4eba\u662f\u7528\u6765\u5b8c\u6210\u5177\u4f53\u201c\u5de5\u4f5c\u201d\u7684\uff0c\u8fd9\u5c31\u8981\u6c42\u5e94\u7528\u8005\u4e0d\u4ec5\u8981\u7cbe\u901a\u201c\u673a\u5668\u4eba\u5b66\u201d\uff0c\u8fd8\u9700\u6df1\u5165\u7406\u89e3\u5404\u9879\u201c\u5de5\u4f5c\u201d\u7684\u5177\u4f53\u9700\u6c42\u3002\u5f53\u524d\uff0c\u673a\u5668\u4eba\u7684\u5e7f\u6cdb\u5e94\u7528\u53d7\u9650\u4e8e\u7f16\u7a0b\u7684\u590d\u6742\u6027\u548c\u4e13\u4e1a\u77e5\u8bc6\u7684\u8981\u6c42\uff0c\u8fd9\u963b\u788d\u4e86\u673a\u5668\u4eba\u6280\u672f\u7684\u63a8\u5e7f\u548c\u521b\u65b0\u3002\u201c\u673a\u5668\u4eba\u65e0\u5904\u4e0d\u5728\u201d\u7684\u5173\u952e\uff0c\u5728\u4e8e\u7b80\u5316\u673a\u5668\u4eba\u7f16\u7a0b\u2014\u2014\u5982\u4f55\u8ba9\u7f16\u7a0b\u8fc7\u7a0b\u65e2\u7b80\u5355\u53c8\u901a\u7528\uff0c\u4f7f\u5f97\u6bcf\u4e2a\u4eba\u90fd\u80fd\u53c2\u4e0e\u8fdb\u6765\uff1f\u4e0d\u9700\u8981\u6df1\u539a\u7684\u6280\u672f\u80cc\u666f\uff0c\u4e5f\u4e0d\u9700\u62c5\u5fc3\u4e0d\u540c\u673a\u5668\u4eba\u95f4\u7684\u5dee\u5f02\uff0c\u6211\u4eec\u5c06\u63a2\u8ba8\u4e00\u4e2a\u53ef\u89c1\u7684\u672a\u6765\uff0c\u5176\u4e2d\u4efb\u4f55\u4eba\u90fd\u80fd\u591f\u521b\u9020\u3001\u7f16\u7a0b\u548c\u64cd\u63a7\u673a\u5668\u4eba\u3002\u4ece\u5b66\u8005\u5230\u5f00\u53d1\u8005\uff0c\u518d\u5230\u666e\u901a\u7528\u6237\uff0c\u4efb\u4f55\u4eba\u90fd\u80fd\u8f7b\u677e\u5730\u9a71\u52a8\u673a\u5668\u4eba\uff0c\u901a\u8fc7\u4ee3\u7801\u6fc0\u6d3b\u7269\u7406\u4e16\u754c\uff0c\u5b9e\u73b0\u4ed6\u4eec\u7684\u60f3\u8c61\u548c\u521b\u610f\u3002","content":"","author":{"name":"Design and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"May 21, 2024","dateGMT":"2024-05-21 07:32:31","modifiedDate":"2024-06-27 19:03:00","modifiedDateGMT":"2024-06-27 11:03:00","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=35\" rel=\"category\">Academic Report<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=79\" rel=\"category\">ME336<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=34\" rel=\"category\">Workshop<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=35\" rel=\"category\">Academic Report<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=79\" rel=\"category\">ME336<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=34\" rel=\"category\">Workshop<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":0,"sec":0},"status":"publish"},{"id":4775,"link":"https:\/\/ancorasir.com\/?p=4775","name":"me336%e5%8d%8f%e4%bd%9c%e6%9c%ba%e5%99%a8%e4%ba%ba%e5%ad%a6%e4%b9%a0","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2024\/03\/240325-ME336.png?fit=693%2C520&ssl=1","alt":""},"title":"ME336\u534f\u4f5c\u673a\u5668\u4eba\u5b66\u4e60\uff5cME336 Collaborative Robot Learning","excerpt":"\u300aME336\u534f\u4f5c\u673a\u5668\u4eba\u5b66\u4e60\u300b\u662f\u4e00\u95e8\u9762\u5411\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u5668\u4eba\u5de5\u7a0b\u4e13\u4e1a\u5927\u4e09\u3001\u5927\u56db\u5e74\u7ea7\u5f00\u6388\u7684\u672c\u79d1\u751f\u4e13\u4e1a\u9009\u4fee\u8bfe\uff0c\u53c2\u8bfe\u5b66\u751f\u4e5f\u5305\u62ec\u6765\u81ea\u673a\u68b0\u5de5\u7a0b\u3001\u529b\u5b66\u822a\u7a7a\u4e0e\u822a\u5929\u5de5\u7a0b\u3001\u7535\u5b50\u5de5\u7a0b\u3001\u8ba1\u7b97\u673a\u79d1\u5b66\u4e0e\u5de5\u7a0b\u7b49\u76f8\u5173\u4e13\u4e1a\u672c\u79d1\u751f\u3002\u7531\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u52a9\u7406\u6559\u6388\u5b8b\u8d85\u9633\u535a\u58eb\u62c5\u4efb\u8d23\u4efb\u6559\u5e08\uff0c\u662f\u56fd\u5185\u9996\u95e8\u4ee5\u673a\u5668\u4eba\u5b66\u4e60\u4e3a\u4e3b\u9898\u7684\u673a\u5668\u4eba\u5de5\u7a0b\u4e13\u4e1a\u8bfe\u7a0b\uff0c\u901a\u8fc7\u591a\u5b66\u79d1\u4ea4\u53c9\u7684\u65b9\u5f0f\uff0c\u878d\u5408\u4e86\u4ee5\u534f\u4f5c\u673a\u5668\u4eba\u4e3a\u4ee3\u8868\u7684\u65b0\u5174\u673a\u5668\u4eba\u786c\u4ef6\u7cfb\u7edf\u3001\u4ee5\u673a\u5668\u5b66\u4e60\u4e3a\u5f15\u9886\u7684\u4eba\u5de5\u667a\u80fd\u6280\u672f\u3001\u4ee5\u53ca\u4ee5\u300c\u9879\u76ee\u5b9e\u8df5-\u5ba2\u5ea7\u62a5\u544a-\u6559\u5177\u7814\u5236-\u7ebf\u4e0a\u540c\u6b65-\u53cc\u8bed\u6559\u5b66\u300d\u76f8\u7ed3\u5408\u7684\u65b0\u5de5\u79d1\u6559\u5b66\u65b9\u6cd5\u521b\u65b0\u3002","content":"\u8bfe\u7a0b\u7b80\u4ecb\n\n\n\n\u300aME336\u534f\u4f5c\u673a\u5668\u4eba\u5b66\u4e60\u300b\u662f\u4e00\u95e8\u9762\u5411\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u5668\u4eba\u5de5\u7a0b\u4e13\u4e1a\u5927\u4e09\u3001\u5927\u56db\u5e74\u7ea7\u5f00\u6388\u7684\u672c\u79d1\u751f\u4e13\u4e1a\u9009\u4fee\u8bfe\uff0c\u53c2\u8bfe\u5b66\u751f\u4e5f\u5305\u62ec\u6765\u81ea\u673a\u68b0\u5de5\u7a0b\u3001\u529b\u5b66\u822a\u7a7a\u4e0e\u822a\u5929\u5de5\u7a0b\u3001\u7535\u5b50\u5de5\u7a0b\u3001\u8ba1\u7b97\u673a\u79d1\u5b66\u4e0e\u5de5\u7a0b\u7b49\u76f8\u5173\u4e13\u4e1a\u672c\u79d1\u751f\u3002\u7531\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u52a9\u7406\u6559\u6388\u5b8b\u8d85\u9633\u535a\u58eb\u62c5\u4efb\u8d23\u4efb\u6559\u5e08\uff0c\u662f\u56fd\u5185\u9996\u95e8\u4ee5\u673a\u5668\u4eba\u5b66\u4e60\u4e3a\u4e3b\u9898\u7684\u673a\u5668\u4eba\u5de5\u7a0b\u4e13\u4e1a\u8bfe\u7a0b\uff0c\u901a\u8fc7\u591a\u5b66\u79d1\u4ea4\u53c9\u7684\u65b9\u5f0f\uff0c\u878d\u5408\u4e86\u4ee5\u534f\u4f5c\u673a\u5668\u4eba\u4e3a\u4ee3\u8868\u7684\u65b0\u5174\u673a\u5668\u4eba\u786c\u4ef6\u7cfb\u7edf\u3001\u4ee5\u673a\u5668\u5b66\u4e60\u4e3a\u5f15\u9886\u7684\u4eba\u5de5\u667a\u80fd\u6280\u672f\u3001\u4ee5\u53ca\u4ee5\u300c\u9879\u76ee\u5b9e\u8df5-\u5ba2\u5ea7\u62a5\u544a-\u6559\u5177\u7814\u5236-\u7ebf\u4e0a\u540c\u6b65-\u53cc\u8bed\u6559\u5b66\u300d\u76f8\u7ed3\u5408\u7684\u65b0\u5de5\u79d1\u6559\u5b66\u65b9\u6cd5\u521b\u65b0\u3002\n\n\n\nThe \"ME336 Collaborative Robotics Learning\" is an undergraduate elective course offered to third and fourth-year students majoring in Robotics Engineering at Southern University of Science and Technology (SUSTech), with participants also including undergraduates from related majors such as Mechanical Engineering, Mechanics, Aeronautics and Astronautics Engineering, Electronic Engineering, Computer Science and Engineering. Dr. Song Chaoyang, an Assistant Professor in the Department of Mechanical and Energy Engineering at SUSTech, serves as the lead instructor. This course is the first in China to focus on robotics learning in the field of robotics engineering. It integrates emerging robotic hardware systems represented by collaborative robots, artificial intelligence technologies led by machine learning, and innovative engineering education methods combining \"project practice, guest lectures, teaching aid development, online synchronization, and bilingual teaching\" through interdisciplinary integration.\n\n\n\n\n\n\n\n\u6559\u5b66\u7279\u8272\n\n\n\n\u8be5\u8bfe\u7a0b\u76ee\u524d\u4f5c\u4e3a\u300c\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u5668\u667a\u80fd\u8bbe\u8ba1\u4e0e\u5b66\u4e60\u865a\u62df\u6559\u7814\u5ba4\u300d\u7684\u6838\u5fc3\u8bfe\u7a0b\u4e4b\u4e00\uff0c\u7ecf\u8fc7\u591a\u5e74\u8fed\u4ee3\u53d1\u5c55\uff0c\u5df2\u7ecf\u9010\u6b65\u5b9e\u73b0\u6559\u5b66\u5185\u5bb9\u3001\u6559\u5b66\u65b9\u6cd5\u3001\u6559\u5b66\u5de5\u5177\u3001\u6559\u5b66\u56e2\u961f\u7b49\u591a\u65b9\u9762\u7684\u8fed\u4ee3\u4e0e\u4f18\u5316\uff0c\u81f4\u529b\u4e8e\u501f\u52a9\u8bbe\u8ba1\u79d1\u5b66\u65b9\u6cd5\u6784\u5efa\u4e00\u5957\u4e0e\u53c2\u8bfe\u540c\u5b66\u4ea4\u6d41\u53cd\u9988\u5e76\u6df1\u5ea6\u5408\u4f5c\u4e3a\u6838\u5fc3\u7684\u5357\u79d1\u5927\u7279\u8272\u300c\u8de8\u8bfe\u7a0b\u3001\u8fde\u8d2f\u5f0f\u3001\u5927\u56e2\u961f\u300d\u65b0\u5de5\u79d1\u6559\u6539\u6210\u679c\u3002\n\n\n\nCurrently, as a core course of the \"SUSTech Virtual Research and Teaching Group for Intelligent Design and Learning of Machines,\" the course has undergone iterative development and optimization in teaching content, methods, tools, and team over the years, aiming to build a SUSTech-specific \"cross-course, coherent, large-team\" engineering education reform achievement centered on deep cooperation and communication with participating students through design science methods.\n\n\n\n\n\n\n\n\u6559\u5b66\u6210\u679c\n\n\n\n\u81ea2019\u5e74\u6625\u5b63\u9996\u6b21\u6388\u8bfe\u81f3\u4eca\uff0c\u53c2\u8bfe\u5b66\u751f\u4eba\u6570\u9010\u5e74\u63d0\u5347\u5e76\u5b9e\u73b0\u4e866\u500d\u589e\u957f\u3002\u57fa\u4e8e\u8be5\u8bfe\u7a0b\u7814\u5236\u7684DeepClaw\u67d4\u6027\u529b\u89e6\u89c9\u4fbf\u643a\u5f0f\u6559\u5177\u7cfb\u7edf\uff08\u5177\u4f53\u53ef\u53c2\u89c1https:\/\/deepclaw.ancorasir.com\/\uff09\uff0c\u4e8e2023\u5e7412\u6708\u7ecf\u8fc7\u5168\u7403\u8bc4\u9009\uff0c\u83b7\u5f97\u7531\u8054\u5408\u56fd\u6559\u79d1\u6587\u7ec4\u7ec7\u9ad8\u7b49\u6559\u80b2\u7814\u7a76\u4e2d\u5fc3\u9996\u5c4a\u9881\u53d1\u7684\u300a\u9ad8\u7b49\u6559\u80b2\u6570\u5b57\u5316\u5148\u950b\u6848\u4f8b\u5956\u300b\u3002\n\n\n\nSince its first offering in the spring of 2019, the number of students enrolled in the course has increased sixfold. The DeepClaw flexible force tactile portable teaching aid system developed based on this course (see https:\/\/deepclaw.ancorasir.com\/) was awarded the \"Higher Education Digitalization Pioneer Case Award\" by the UNESCO Higher Education Research Center in December 2023 after global selection.\n\n\n\n\n\n\n\n\u5ba2\u5ea7\u62a5\u544a\n\n\n\n\u672c\u8bfe\u7a0b\u5728\u6559\u5b66\u8fc7\u7a0b\u4e2d\uff0c\u79ef\u6781\u9080\u8bf7\u56fd\u5185\u5916\u6765\u81ea\u4ea7\u4e1a\u754c\u4ee5\u53ca\u5b66\u672f\u754c\u4eba\u5de5\u667a\u80fd\u4e0e\u673a\u5668\u4eba\u6280\u672f\u7684\u9752\u5e74\u4e13\u5bb6\u4e0e\u5b66\u8005\uff0c\u8d70\u8fdb\u5357\u79d1\u5927\u8bfe\u5802\uff0c\u6bcf\u5e74\u901a\u8fc7ME336\u8bfe\u7a0b\u5f00\u5c55\u300a\u673a\u5668\u4eba\u4e0e\u4eba\u5de5\u667a\u80fd\u5ba2\u5ea7\u62a5\u544a\u8bba\u575b\u300b\uff0c\u8ba9\u53c2\u8bfe\u5b66\u751f\u53ef\u4ee5\u901a\u8fc7\u5ba2\u5ea7\u4e13\u5bb6\u7684\u5b66\u672f\u4e0e\u6280\u672f\u62a5\u544a\u5185\u5bb9\u3001\u7ed3\u5408\u5176\u4e13\u4e1a\u5b66\u4e60\u4e0e\u804c\u4e1a\u6210\u957f\u7ecf\u5386\uff0c\u8fdb\u4e00\u6b65\u4e86\u89e3\u8bfe\u5802\u4ee5\u5916\u7684\u673a\u5668\u4eba\u5b66\u4e60\u9886\u57df\u524d\u6cbf\u5e94\u7528\u6848\u4f8b\u4e0e\u6280\u672f\u53d1\u5c55\u65b9\u5411\uff0c\u4e3a\u540c\u5b66\u4eec\u63d0\u4f9b\u4e00\u4e2a\u56f4\u7ed5\u673a\u5668\u4eba\u5b66\u4e60\u4e3a\u4e3b\u9898\u7684\u5168\u65b9\u4f4d\u89c6\u89d2\u3002\n\n\n\nIn the teaching process, the course actively invites young experts and scholars from the industry and academia in artificial intelligence and robotics technology from both domestic and international communities to enter SUSTech classrooms. Through the ME336 course, the \"Robotics and Artificial Intelligence Guest Lecture Forum\" is held annually, allowing participating students to further understand the cutting-edge applications and technological developments in the field of robotics learning outside the classroom through the academic and technical reports of guest experts, combined with their professional and career growth experiences, providing a comprehensive perspective on robotics learning.\n\n\n\n\n\n\n\n\u6559\u5177\u7814\u53d1\n\n\n\n\u673a\u5668\u4eba\u5b66\u4e60\u4f5c\u4e3a\u4e00\u95e8\u5c06\u673a\u5668\u5b66\u4e60\u4e0e\u673a\u5668\u4eba\u6280\u672f\u76f8\u7ed3\u5408\u524d\u6cbf\u5b66\u79d1\uff0c\u662f\u76ee\u524d\u56fd\u9645\u5b66\u672f\u7814\u7a76\u7684\u524d\u6cbf\u70ed\u70b9\uff0c\u4e5f\u662f\u4f01\u4e1a\u62db\u8058\u65f6\u9700\u6c42\u5f3a\u70c8\u7684\u4eba\u624d\u57f9\u517b\u91cd\u8981\u65b9\u5411\u3002\u9700\u8981\u540c\u5b66\u4eec\u4ea4\u53c9\u878d\u5408\u4eba\u5de5\u667a\u80fd\u4e0e\u673a\u5668\u4eba\u5b66\u4e24\u4e2a\u5b66\u79d1\u65b9\u5411\u7684\u57fa\u7840\u7406\u8bba\u4e0e\u524d\u6cbf\u6280\u672f\uff0c\u540c\u65f6\u9488\u5bf9\u6765\u81ea\u73b0\u5b9e\u751f\u6d3b\u4e0e\u4f01\u4e1a\u7814\u53d1\u8fc7\u7a0b\u4e2d\u51fa\u73b0\u7684\u591a\u65b9\u9762\u5e94\u7528\u6311\u6218\uff0c\u8fdb\u884c\u591a\u5b66\u79d1\u4ea4\u53c9\u878d\u5408\u7684\u77e5\u8bc6\u5b66\u4e60\u4e0e\u6280\u80fd\u638c\u63e1\u3002\u6b64\u524d\u5728\u8bf8\u5982\u7f8e\u56fd\u65af\u5766\u798f\u5927\u5b66\u3001\u52a0\u5dde\u5927\u5b66\u4f2f\u514b\u5229\u5206\u6821\u3001\u5fb7\u5dde\u5927\u5b66\u5965\u65af\u6c40\u5206\u6821\u3001\u5fb7\u56fd\u9a6c\u666e\u6240\u4eba\u5de5\u667a\u80fd\u7814\u7a76\u9662\u3001\u6c49\u5821\u5927\u5b66\u7b49\u9662\u6821\u5148\u884c\u5f00\u6388\u8fc7\u4ee5\u673a\u5668\u4eba\u5b66\u4e60\u4e3a\u4e3b\u9898\u7684\u5b9e\u9a8c\u6027\u8bfe\u7a0b\uff0c\u4f46\u5728\u56fd\u5185\u5c1a\u5c5e\u7a7a\u767d\u3002\n\n\n\nRobotics learning, as a frontier discipline combining machine learning and robotics technology, is a current hot topic in international academic research and an important direction for talent cultivation in high demand by enterprises. Students are required to integrate the basic theories and cutting-edge technologies of artificial intelligence and robotics, and to master interdisciplinary knowledge and skills to address various application challenges in real life and enterprise R&D processes. Experimental courses on robotics learning have been offered in institutions such as Stanford University, University of California, Berkeley, University of Texas at Austin, Max Planck Institute for Intelligent Systems, and University of Hamburg, but such courses are still a new field in China.\n\n\n\n\n\n\n\n\u6559\u5b66\u6a21\u5f0f\n\n\n\n\u8fd9\u4e9b\u8bfe\u7a0b\u4e00\u65b9\u9762\u4e3a\u300aME336\u534f\u4f5c\u673a\u5668\u4eba\u5b66\u4e60\u300b\u8bfe\u7a0b\u7684\u987a\u5229\u5f00\u6388\u63d0\u4f9b\u4e86\u5b9d\u8d35\u7684\u6559\u5b66\u7ecf\u9a8c\uff0c\u540c\u65f6\u4e5f\u5bf9\u5f00\u6388\u8fd9\u95e8\u65b0\u8bfe\u63d0\u51fa\u4e86\u8bf8\u591a\u6311\u6218\uff0c\u5305\u62ec\u7f3a\u5c11\u89c4\u8303\u7684\u673a\u5668\u4eba\u5b66\u4e60\u4e13\u4e1a\u6559\u6750\u3001\u9700\u8981\u7ed3\u5408\u4e2d\u82f1\u6587\u53cc\u8bed\u5f00\u5c55\u7406\u8bba\u52a0\u5b9e\u8df5\u7684\u6559\u5b66\u8fc7\u7a0b\u3001\u9700\u8981\u8ba1\u7b97\u786c\u4ef6\u4e0e\u673a\u5668\u4eba\u786c\u4ef6\u76f8\u7ed3\u5408\u7684\u5b9e\u9a8c\u6559\u5b66\u573a\u5730\u4e0e\u8bbe\u5907\u3001\u9700\u8981\u4e00\u7fa4\u53ef\u4ee5\u5728\u673a\u5668\u5b66\u4e60\u4e0e\u673a\u5668\u4eba\u6280\u672f\u65b9\u9762\u4e92\u4e3a\u8865\u5145\u7684\u6559\u5b66\u652f\u6491\u56e2\u961f\u7b49\u3002\u901a\u8fc7\u8fd1\u5e74\u6765\u7684ME336\u8bfe\u7a0b\u8fed\u4ee3\u4ee5\u53ca\u4e0e\u6bcf\u5c4a\u53c2\u8bfe\u540c\u5b66\u7684\u4ea4\u6d41\u53cd\u9988\uff0c\u7279\u522b\u63d0\u51fa\u5e76\u5b9e\u8df5\u4e86\u300c\u79ef\u6781\u5438\u5f15\u4e0a\u4e00\u5c4a\u53c2\u8bfe\u540c\u5b66\u914d\u5408\u8bfe\u7a0b\u6307\u5bfc\u8001\u5e08\u3001\u5b9e\u8d28\u6027\u7684\u53c2\u4e0e\u5230\u4e0b\u4e00\u5c4a\u8bfe\u7a0b\u5b9e\u8df5\u6559\u5b66\u73af\u8282\u7684\u8bfe\u7a0b\u4f18\u5316\u8bbe\u8ba1\u300d\u7684\u5357\u79d1\u5927\u7279\u8272\u6559\u6539\u65b9\u6848\uff0c\u5728\u591a\u4e2a\u5357\u79d1\u5927\u6559\u6539\u9879\u76ee\u7684\u652f\u6301\u4e0b\uff0c\u9010\u6b65\u5f62\u6210\u4e86\u76ee\u524d\u7684\u300aME336\u534f\u4f5c\u673a\u5668\u4eba\u5b66\u4e60\u300b\u8bfe\u7a0b\u6559\u5b66\u6a21\u5f0f\uff08\u5177\u4f53\u53ef\u53c2\u89c1https:\/\/me336.ancorasir.com\/\uff09\u3002\n\n\n\nThese courses have provided valuable teaching experience for the successful offering of the \"ME336 Collaborative Robotics Learning\" course, while also presenting many challenges, including the lack of standardized textbooks for robotics learning, the need for bilingual teaching combining theory and practice, the need for experimental teaching facilities and equipment combining computing hardware and robotic hardware, and the need for a teaching support team that can complement each other in machine learning and robotics technology. Through the iteration of the ME336 course in recent years and the communication and feedback from each cohort of participating students, the SUSTech-specific education reform proposal of \"actively attracting students from the previous cohort to substantially participate in the next cohort's practical teaching under the guidance of course instructors\" has been proposed and practiced. With the support of various SUSTech education reform projects, the current teaching model of the \"ME336 Collaborative Robotics Learning\" course has been gradually formed (see https:\/\/me336.ancorasir.com\/).\n\n\n\n\n\n\n\n\u8bfe\u7a0b\u9879\u76ee\n\n\n\n\u8be5\u8bfe\u7a0b\u5305\u542b\u5982\u4e0b\u56db\u4e2a\u65b9\u9762\u7684\u57f9\u517b\u76ee\u6807\uff0c\u5305\u62ec1\uff09\u5b66\u4e60\u4f7f\u7528\u57fa\u4e8e\u89c6\u89c9\u7684\u673a\u5668\u5b66\u4e60\u548c\u4eba\u5de5\u667a\u80fd\u6280\u672f\u3001\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\u6784\u5efa\u673a\u5668\u4eba\u7cfb\u7edf\u7684\u57fa\u7840\u77e5\u8bc6\uff1b2\uff09\u4e86\u89e3\u6784\u5efa\u57fa\u4e8e\u5b66\u4e60\u7684\u673a\u5668\u4eba\u64cd\u63a7\u7cfb\u7edf\u6240\u9762\u4e34\u7684\u6280\u672f\u6311\u6218\uff1b3\uff09\u719f\u6089\u673a\u5668\u4eba\u5b66\u4e60\u4e2d\u5404\u79cd\u6a21\u6001\u9a71\u52a8\u548c\u6570\u636e\u9a71\u52a8\u7684\u539f\u7406\u548c\u7b97\u6cd5\uff1b4\uff09\u80fd\u591f\u8bc4\u4f30\u3001\u6c9f\u901a\u548c\u5e94\u7528\u57fa\u4e8e\u4eba\u5de5\u667a\u80fd\u7684\u6280\u672f\u89e3\u51b3\u673a\u5668\u4eba\u5b66\u4e2d\u7684\u95ee\u9898\u3002\n\n\n\nThe course has the following four training objectives: 1) Learning to use vision-based machine learning and artificial intelligence technologies, and acquiring fundamental knowledge for building robotic systems in the real world; 2) Understanding the technical challenges faced in constructing learning-based robotic manipulation systems; 3) Familiarizing with various modality-driven and data-driven principles and algorithms in robotics learning; 4) Being able to evaluate, communicate, and apply AI-based technologies to solve problems in robotics.\n\n\n\n\n\n\n\n\u53c2\u52a0\u8fd9\u95e8\u8bfe\u7a0b\u7684\u540c\u5b66\u9700\u8981\u5177\u5907\u591a\u65b9\u9762\u524d\u671f\u57fa\u7840\uff0c\u5305\u62ec1\uff09\u57fa\u7840\u6570\u636e\u7ed3\u6784\u548c\u7b97\u6cd5\u77e5\u8bc6\uff0c\u4ee5\u53ca\u8ba1\u7b97\u673a\u7f16\u7a0b\u7684\u5b9e\u8df5\u6280\u80fd\uff1b2\uff09\u7cbe\u901aPython\u662f\u5fc5\u9700\u7684\uff0c\u5bf9C\/C++\u6709\u8f83\u9ad8\u6c34\u5e73\u7684\u719f\u6089\u5ea6\u662f\u4e00\u4e2a\u52a0\u5206\u9879\uff1b3\uff09\u719f\u6089\u5fae\u79ef\u5206\u3001\u7edf\u8ba1\u5b66\u548c\u7ebf\u6027\u4ee3\u6570\u3001\u9700\u8981\u5f3a\u5927\u7684\u6570\u5b66\u6280\u80fd\uff1b4\uff09\u4f18\u5148\u8003\u8651\u5728\u673a\u5668\u4eba\u5b66\u3001\u673a\u5668\u5b66\u4e60\u548c\u4eba\u5de5\u667a\u80fd\u65b9\u9762\u7684\u8bfe\u7a0b\u5b66\u4e60\u548c\/\u6216\u76f8\u5f53\u7ecf\u9a8c\u3002\n\n\n\nStudents participating in this course need to have a multifaceted foundation, including 1) basic knowledge of data structures and algorithms, as well as practical skills in computer programming; 2) proficiency in Python is required, and a higher level of familiarity with C\/C++ is a plus; 3) familiarity with calculus, statistics, and linear algebra, requiring strong mathematical skills; 4) priority consideration for coursework and\/or equivalent experience in robotics, machine learning, and artificial intelligence.\n\n\n\n\u5728\u8bfe\u7a0b\u5b66\u4e60\u8fc7\u7a0b\u4e2d\uff0c\u9664\u6838\u5fc3\u7406\u8bba\u4e0e\u6280\u672f\uff0c\u540c\u5b66\u4eec\u8fd8\u9700\u8981\u7efc\u5408\u7406\u89e3\u5e76\u5b9e\u8df5\u591a\u65b9\u9762\u7684\u6280\u80fd\uff0c\u5305\u62ec\uff1a1\uff09\u6839\u636e\u529f\u80fd\u548c\u73af\u5883\u8981\u6c42\uff0c\u5728\u56e2\u961f\u8bbe\u7f6e\u4e2d\u5229\u7528\u6982\u5ff5\u751f\u6210\u65b9\u6cd5\uff0c\u8fbe\u6210\u673a\u5668\u4eba\u8bbe\u8ba1\u6982\u5ff5\u7684\u5171\u8bc6\uff1b2\uff09\u4ece\u529f\u80fd\u3001\u786c\u4ef6\u3001\u7b97\u6cd5\u548c\u7269\u7406\u73af\u5883\u7684\u89d2\u5ea6\u8bbe\u8ba1\u548c\u5f00\u53d1\u529f\u80fd\u6027\u673a\u5668\u4eba\u7a0b\u5e8f\uff1b3\uff09\u5e94\u7528\u5305\u62ec\u673a\u68b0\u5de5\u7a0b\u3001\u7535\u6c14\u5de5\u7a0b\u3001\u5e94\u7528\u6570\u5b66\u548c\u8ba1\u7b97\u673a\u79d1\u5b66\u5728\u5185\u7684\u5b66\u79d1\u57fa\u7840\uff0c\u7406\u89e3\u673a\u5668\u4eba\u7684\u667a\u80fd\u5316\u5e94\u7528\u5b9e\u73b0\uff1b4\uff09\u5728\u591a\u5a92\u4f53\u5c55\u793a\u548c\u62a5\u544a\u5199\u4f5c\u4e2d\u6c9f\u901a\u5e76\u5f62\u6210\u79d1\u5b66\u6709\u6548\u7684\u5de5\u7a0b\u51b3\u7b56\uff0c\u5e76\u901a\u8fc7\u8bbe\u8ba1\u3001\u7f16\u7a0b\u548c\u6d4b\u8bd5\u7ed3\u679c\u8fdb\u884c\u8bd5\u9a8c\u6027\u9a8c\u8bc1\u3002\n\n\n\nDuring the course, in addition to core theories and technologies, students also need to comprehensively understand and practice various skills, including: 1) using concept generation methods in team settings to reach consensus on robotic design concepts based on functional and environmental requirements; 2) designing and developing functional robotic programs from the perspectives of functionality, hardware, algorithms, and physical environment; 3) applying disciplinary foundations including mechanical engineering, electrical engineering, applied mathematics, and computer science to understand the intelligent application implementation of robots; 4) communicating and forming scientifically effective engineering decisions in multimedia presentations and report writing, and experimentally validating them through design, programming, and testing results.\n\n\n\n\n\n\n\n\u5b66\u751f\u83b7\u5956\n\n\n\n\u53c2\u8bfe\u540c\u5b66\u4f9d\u6258\u8bfe\u7a0b\u9879\u76ee\u5b66\u4e60\u5185\u5bb9\uff0c\u5148\u540e\u83b7\u5f97\u83b7\u5f97\u5357\u65b9\u79d1\u6280\u5927\u5b66\u5de5\u5b66\u9662\u7efc\u5408\u8bbe\u8ba1\u9879\u76ee\u4e00\u7b49\u5956\u3001\u4e8c\u7b49\u5956\u3001\u4e09\u7b49\u5956\u54041\u9879\u30012023\u5e74\u4e2d\u56fd\u5927\u5b66\u751f\u673a\u68b0\u5de5\u7a0b\u521b\u65b0\u521b\u610f\u5927\u8d5b\u673a\u68b0\u4ea7\u54c1\u6570\u5b57\u5316\u8bbe\u8ba1\u8d5b\u4e00\u7b49\u5956\u3001\u7b2c\u516d\u5c4a\u4e2d\u56fd\u56fd\u9645\u201c\u4e92\u8054\u7f51+\u201d\u5927\u5b66\u751f\u521b\u65b0\u521b\u4e1a\u5927\u8d5b\u6821\u7ea7\u4e09\u7b49\u5956\u3001\u7b2c\u5341\u4e8c\u5c4a\u201c\u6311\u6218\u676f\u201d\u5e7f\u4e1c\u5927\u5b66\u751f\u521b\u4e1a\u5927\u8d5b\u5927\u5b66\u751f\u521b\u4e1a\u8ba1\u5212\u7ade\u8d5b\u7701\u90e8\u7ea7\u4e8c\u7b49\u5956\u3001\u7b2c\u5341\u56db\u5c4a\u201c\u6311\u6218\u676f\u201d\u5e7f\u4e1c\u5927\u5b66\u751f\u521b\u4e1a\u5927\u8d5b\u5927\u5b66\u751f\u521b\u4e1a\u8ba1\u5212\u7ade\u8d5b\u6821\u7ea7\u4e8c\u7b49\u5956\u7b49\u591a\u4e2a\u5956\u9879\u3002\n\n\n\nBased on the course projects, students have won various awards including the First, Second, and Third Prizes of the Comprehensive Design Project of the School of Engineering at Southern University of Science and Technology, the First Prize of the Digital Design Competition of Mechanical Products in the 2023 China College Student Mechanical Engineering Innovation and Creativity Competition, the Third Prize of the School-level Competition in the Sixth China International \"Internet+\" College Student Innovation and Entrepreneurship Competition, the Second Prize of the Provincial-level Competition in the Twelfth \"Challenge Cup\" Guangdong College Student Entrepreneurship Competition, and the Second Prize of the School-level Competition in the Fourteenth \"Challenge Cup\" Guangdong College Student Entrepreneurship Competition.\n\n\n\n\n\n\n\n\u5b66\u751f\u8bba\u6587\n\n\n\n\u4f9d\u6258\u8bfe\u7a0b\u9879\u76ee\u5b66\u4e60\u5185\u5bb9\uff0c\u53c2\u8bfe\u540c\u5b66\u5df2\u7ecf\u5728\u5305\u62ecThe International Journal of Robotics Research\u3001Advanced Intelligent Systems\u3001Materials & Design\u3001IEEE Robotics and Automation Letters\u7b49\u9ad8\u6c34\u5e73\u5b66\u672f\u671f\u520a\u4ee5\u53caConference on Robot Learning (CoRL)\u3001AIM\u3001CASE\u3001RoboSoft\u3001ICARM\u7b49\u673a\u5668\u4eba\u65b9\u5411\u56fd\u9645\u5b66\u672f\u4f1a\u8bae\u4e0a\u53d1\u8868\u591a\u7bc7\u5b66\u672f\u7814\u7a76\u8bba\u6587\uff0c\u83b7\u5f97AIS\u671f\u520a\u5c01\u9762\u8bba\u65872\u6b21\u3001\u4f1a\u8bae\u6700\u4f73\u8bba\u6587\u59562\u6b21\u3002\n\n\n\nLeveraging the course project learning content, participating students have published several academic research papers in high-level academic journals such as The International Journal of Robotics Research, Advanced Intelligent Systems, Materials & Design, IEEE Robotics and Automation Letters, and international academic conferences in robotics such as Conference on Robot Learning (CoRL), AIM, CASE, RoboSoft, and ICARM. They have received two cover papers in AIS journal and two Best Paper Awards at conferences.\n\n\n\n\n\n\n\n\u6559\u7814\u878d\u5408\n\n\n\n\u300c\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u5668\u667a\u80fd\u8bbe\u8ba1\u4e0e\u5b66\u4e60\u865a\u62df\u6559\u7814\u5ba4\u300d\u7531\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u52a9\u7406\u6559\u6388\u5b8b\u8d85\u9633\u535a\u58eb\u7275\u5934\u7ec4\u5efa\uff0c\u6838\u5fc3\u6210\u5458\u8fd8\u5305\u62ec\u673a\u5668\u4eba\u7814\u7a76\u9662\u9662\u957f\u6234\u5efa\u751f\u9662\u58eb\u3001\u738b\u5ce5\u6559\u6388\u3001\u52a9\u7406\u6559\u6388\u6f58\u9633\u535a\u58eb\u3001\u52a9\u7406\u6559\u6388\u8d3e\u653f\u4e2d\u535a\u58eb\u3001\u7814\u7a76\u526f\u6559\u6388\u5218\u601d\u806a\u535a\u58eb\u7b49\uff0c\u4f9d\u6258\u6240\u6559\u6388\u7684\u673a\u68b0\u8bbe\u8ba1\u3001\u9ad8\u7b49\u673a\u6784\u5b66\u53ca\u5176\u5e94\u7528\u3001\u8f6f\u4f53\u673a\u5668\u4eba\u3001\u5148\u8fdb\u673a\u5668\u4eba\u9a71\u52a8\u6280\u672f\u3001\u673a\u5668\u4eba\u5efa\u6a21\u4e0e\u63a7\u5236\u7b49\u591a\u95e8\u5173\u8054\u9886\u57df\u6838\u5fc3\u8bfe\u7a0b\u7684\u6559\u5b66\u7ecf\u9a8c\u4e0e\u6559\u5b66\u5185\u5bb9\uff0c\u8054\u5408\u5f00\u5c55\u6559\u5b66\u4e0e\u79d1\u7814\u76f8\u7ed3\u5408\u7684\u65b0\u5de5\u79d1\u6559\u5b66\u6539\u9769\u4e0e\u5408\u4f5c\u3002\u865a\u62df\u6559\u7814\u5ba4\u6210\u5458\u6b64\u524d\u4e5f\u83b7\u6279\u4e86\u5305\u62ec\u5357\u65b9\u79d1\u6280\u5927\u5b66-\u9ebb\u7701\u7406\u5de5\u5b66\u9662\u673a\u68b0\u5de5\u7a0b\u7814\u7a76\u4e0e\u6559\u5b66\u8054\u5408\u4e2d\u5fc3\u9879\u76ee\u300aInteractive Human-Robot System for Robotics Education and Research\u300b\u3001\u5357\u65b9\u79d1\u6280\u5927\u5b66\u5de5\u5b66\u9662\u6559\u5b66\u521b\u65b0\u9879\u76ee\u300a\u534f\u4f5c\u673a\u5668\u4eba\u7528\u4e8e\u65b0\u5de5\u79d1\u4e92\u52a8\u6559\u5b66\u300b\u3001\u5357\u65b9\u79d1\u6280\u5927\u5b66\u6559\u80b2\u6559\u5b66\u7814\u7a76\u548c\u6539\u9769\u9879\u76ee\u300a\u8de8\u8bfe\u7a0b\u8fde\u8d2f\u5f0f\u5927\u56e2\u961f\u5b9e\u9a8c\u9879\u76ee\u65b0\u5de5\u79d1\u6559\u6539\u300b\u7b49\u591a\u4e2a\u4eba\u5de5\u667a\u80fd\u4e0e\u673a\u5668\u4eba\u65b0\u5de5\u79d1\u6559\u5b66\u6539\u9769\u9879\u76ee\u3002\u865a\u62df\u6559\u7814\u5ba4\u7684\u4ee3\u8868\u6027\u6210\u679c\u5305\u62ec2023\u5e7412\u6708\u83b7\u5f97\u7531\u8054\u5408\u56fd\u6559\u79d1\u6587\u7ec4\u7ec7\u9ad8\u7b49\u6559\u80b2\u7814\u7a76\u4e2d\u5fc3\u9996\u5c4a\u9881\u53d1\u7684\u300a\u9ad8\u7b49\u6559\u80b2\u6570\u5b57\u5316\u5148\u950b\u6848\u4f8b\u5956\u300b\uff0c\u540c\u65f6\u4e5f\u8d1f\u8d23\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u5668\u4eba\u793e\u56e2\u7684\u7ade\u8d5b\u6307\u5bfc\uff0c\u7ec4\u7ec7\u611f\u5174\u8da3\u7684\u540c\u5b66\u53c2\u52a0\u5305\u62ecRoboCon\u3001\u5168\u56fd\u5927\u5b66\u751f\u673a\u68b0\u8bbe\u8ba1\u5927\u8d5b\u7b49\u591a\u9879\u9ad8\u6c34\u5e73\u8d5b\u4e8b\u3002\n\n\n\nThe \"SUSTech Virtual Teaching Group for Machine Intelligence Design and Learning\" is led by Dr. Song Chaoyang, Assistant Professor in the Department of Mechanical and Energy Engineering at Southern University of Science and Technology, with core members including Academician Jian Sheng Dai, Dean of the Robotics Institute, Professor Zheng Wang, Assistant Professor Yang Pan, Assistant Professor Zheng Zhong Jia, and Associate Research Professor Si Cong Liu. Based on the teaching experience and content of core courses in related fields such as mechanical design, advanced mechanism theory and its applications, soft robotics, advanced robotic actuation technologies, and robotic modeling and control, the group collaboratively conducts new engineering education reforms and cooperation, combining teaching and research. The virtual research and teaching group has also been approved for several AI and robotics new engineering education reform projects, including the \"Interactive Human-Robot System for Robotics Education and Research\" project in the SUSTech-MIT Joint Center for Mechanical Engineering Research and Teaching, the \"Collaborative Robots for Interactive New Engineering Education\" project in the SUSTech School of Engineering Teaching Innovation Program, and the \"Cross-Course Coherent Large-Team Experimental Project New Engineering Education Reform\" project in the SUSTech Education and Teaching Research and Reform Program. The representative achievements of the virtual research and teaching group include receiving the \"Higher Education Digitalization Pioneer Case Award\" issued by the UNESCO Higher Education Research Center in December 2023, and also being responsible for the competition guidance of the SUSTech Robotics Club, organizing interested students to participate in high-level competitions including RoboCon and the National College Student Mechanical Design Competition.","author":{"name":"Design and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"Mar 26, 2024","dateGMT":"2024-03-26 01:49:15","modifiedDate":"2024-07-16 01:03:29","modifiedDateGMT":"2024-07-15 17:03:29","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=79\" rel=\"category\">ME336<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=79\" rel=\"category\">ME336<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":6,"sec":42},"status":"publish"},{"id":4754,"link":"https:\/\/ancorasir.com\/?p=4754","name":"%e6%9c%ba%e5%99%a8%e4%ba%ba%e7%9a%84%e7%ac%ac%e5%85%ad%e6%84%9f%ef%bc%9a%e6%9f%94%e6%80%a7%e8%a7%a6%e8%a7%89%ef%bd%9cenable-robots-sixth-sense-via-proprioceptive-learning","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2024\/03\/News-\uff082024-J-IJRR-SoftPolyhedralNetworks-scaled.jpg?fit=2560%2C1440&ssl=1","alt":""},"title":"\u673a\u5668\u4eba\u201c\u7b2c\u516d\u611f\u201d\u7684\u672c\u4f53\u611f\u77e5\u5b66\u4e60\uff5cEnable Robot's \"Sixth Sense\" via Proprioceptive Learning","excerpt":"\u672c\u8bba\u6587\u4ecb\u7ecd\u6211\u4eec\u83b7\u5f97\u7f8e\u56fd\u53d1\u660e\u4e13\u5229\u6388\u6743\u7684\u4e00\u79cd\u5173\u4e8e\u5168\u65b9\u5411\u81ea\u9002\u5e94\u67d4\u6027\u591a\u9762\u4f53\u7f51\u7edc\u7ed3\u6784\u7684\u89c6\u89e6\u878d\u5408\u672c\u4f53\u611f\u77e5\u5b66\u4e60\u6280\u672f\uff0c\u53ef\u4ee5\u5728\u5b9e\u73b0\u7269\u54c1\u5f62\u8c8c\u5168\u65b9\u5411\u81ea\u9002\u5e94\u5f62\u53d8\u7684\u540c\u65f6\uff0c\u901a\u8fc7\u6211\u4eec\u63d0\u51fa\u7684\u6307\u5185\u89c6\u89c9\u611f\u77e5\u65b9\u6848\u4ee5\u53ca\u67d4\u6027\u8d85\u6750\u6599\u52a8\u6001\u7c98\u5f39\u6027\u5efa\u6a21\uff0c\u7ed3\u5408\u673a\u5668\u4eba\u5b66\u4e60\u65b9\u6cd5\uff0c\u5b9e\u73b0\u9ad8\u6027\u80fd\u516d\u7ef4\u529b\u4e0e\u529b\u77e9\u7684\u7cbe\u7ec6\u68c0\u6d4b\u4ee5\u53ca\u5b9e\u65f6\u672c\u4f53\u5f62\u53d8\u4e09\u7ef4\u91cd\u5efa\uff0c\u53ef\u7528\u4e8e\u67d4\u6027\u529b\u89e6\u89c9\u611f\u77e5\u6293\u53d6\u3001\u63a5\u89e6\u7269\u54c1\u5f62\u8c8c\u91cd\u5efa\u7b49\u573a\u666f\uff0c\u540c\u65f6\u5177\u6709\u6781\u4f4e\u7684\u6210\u672c\u4f18\u52bf\u3001\u4e14\u80fd\u5728\u767e\u4e07\u6b21\u5faa\u73af\u4e0b\u4ecd\u80fd\u4fdd\u6301\u826f\u597d\u7684\u529b\u89e6\u89c9\u611f\u77e5\u6027\u80fd\uff0c\u5728\u76f8\u5173\u9886\u57df\u5177\u6709\u8f83\u597d\u7684\u6280\u672f\u524d\u6cbf\u4f18\u52bf\u4e0e\u6c34\u9646\u4e24\u6816\u5e94\u7528\u524d\u666f\u3002\u8be5\u8bba\u6587\u53d1\u8868\u4e8e\u300aThe International Journal of Robotics Research\u300b\uff0c\u5171\u540c\u7b2c\u4e00\u4f5c\u8005\u5305\u62ec\u5357\u65b9\u79d1\u6280\u5927\u5b66\u535a\u58eb\u7814\u7a76\u751f\u5218\u5c0f\u535a\u548c\u97e9\u65ed\u4e1c\uff0c\u5408\u4f5c\u4f5c\u8005\u5305\u62ec\u5357\u65b9\u79d1\u6280\u5927\u5b66\u529b\u822a\u7cfb\u6559\u6388\u6d2a\u4f1f\uff0c\u901a\u8baf\u4f5c\u8005\u4e3a\u8bbe\u8ba1\u5b66\u9662\u52a9\u7406\u6559\u6388\u4e07\u82b3\u3001\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u52a9\u7406\u6559\u6388\u5b8b\u8d85\u9633","content":"\u672c\u8bba\u6587\u4ecb\u7ecd\u6211\u4eec\u83b7\u5f97\u56fd\u5bb6\u53d1\u660e\u4e13\u5229\u53ca\u7f8e\u56fd\u4e13\u5229\u6388\u6743\u7684\u4e00\u79cd\u5173\u4e8e\u5168\u65b9\u5411\u81ea\u9002\u5e94\u67d4\u6027\u591a\u9762\u4f53\u7f51\u7edc\u7ed3\u6784\u7684\u89c6\u89e6\u878d\u5408\u672c\u4f53\u611f\u77e5\u5b66\u4e60\u6280\u672f\uff0c\u53ef\u4ee5\u5728\u5b9e\u73b0\u7269\u54c1\u5f62\u8c8c\u5168\u65b9\u5411\u81ea\u9002\u5e94\u5f62\u53d8\u7684\u540c\u65f6\uff0c\u901a\u8fc7\u6211\u4eec\u63d0\u51fa\u7684\u6307\u5185\u89c6\u89c9\u611f\u77e5\u65b9\u6848\u4ee5\u53ca\u67d4\u6027\u8d85\u6750\u6599\u52a8\u6001\u7c98\u5f39\u6027\u5efa\u6a21\uff0c\u7ed3\u5408\u673a\u5668\u4eba\u5b66\u4e60\u65b9\u6cd5\uff0c\u5b9e\u73b0\u9ad8\u6027\u80fd\u516d\u7ef4\u529b\u4e0e\u529b\u77e9\u7684\u7cbe\u7ec6\u68c0\u6d4b\u4ee5\u53ca\u5b9e\u65f6\u672c\u4f53\u5f62\u53d8\u4e09\u7ef4\u91cd\u5efa\uff0c\u53ef\u7528\u4e8e\u67d4\u6027\u529b\u89e6\u89c9\u611f\u77e5\u6293\u53d6\u3001\u63a5\u89e6\u7269\u54c1\u5f62\u8c8c\u91cd\u5efa\u7b49\u573a\u666f\uff0c\u540c\u65f6\u5177\u6709\u6781\u4f4e\u7684\u6210\u672c\u4f18\u52bf\u3001\u4e14\u80fd\u5728\u767e\u4e07\u6b21\u5faa\u73af\u4e0b\u4ecd\u80fd\u4fdd\u6301\u826f\u597d\u7684\u529b\u89e6\u89c9\u611f\u77e5\u6027\u80fd\uff0c\u5728\u76f8\u5173\u9886\u57df\u5177\u6709\u8f83\u597d\u7684\u6280\u672f\u524d\u6cbf\u4f18\u52bf\u4e0e\u6c34\u9646\u4e24\u6816\u5e94\u7528\u524d\u666f\u3002\u8be5\u8bba\u6587\u53d1\u8868\u4e8e\u300aThe International Journal of Robotics Research\u300b\uff0c\u5171\u540c\u7b2c\u4e00\u4f5c\u8005\u5305\u62ec\u5357\u65b9\u79d1\u6280\u5927\u5b66\u535a\u58eb\u7814\u7a76\u751f\u5218\u5c0f\u535a\u548c\u97e9\u65ed\u4e1c\uff0c\u5408\u4f5c\u4f5c\u8005\u5305\u62ec\u5357\u65b9\u79d1\u6280\u5927\u5b66\u529b\u822a\u7cfb\u6559\u6388\u6d2a\u4f1f\uff0c\u901a\u8baf\u4f5c\u8005\u4e3a\u8bbe\u8ba1\u5b66\u9662\u52a9\u7406\u6559\u6388\u4e07\u82b3\u3001\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u52a9\u7406\u6559\u6388\u5b8b\u8d85\u9633\n\n\n\nThe Soft Polyhedral Network with an embedded vision for physical interactions offers a low-cost, lightweight, and adaptive solution for robotic proprioception, capable of learning kinetic features for accurate real-time force and torque detection, and demonstrating its versatility in tasks like sensitive grasping and touch-based geometry reconstruction through over one million use cycles.\nDOI: https:\/\/doi.org\/10.1177\/02783649241238765\n\n\n\n2024\u5e743\u670813\u65e5\uff0c\u5357\u65b9\u79d1\u6280\u5927\u5b66\u56e2\u961f\u5728\u56fd\u9645\u5b66\u672f\u671f\u520aThe International Journal of Robotics Research\u4e0a\uff0c\u4ee5\u201cProprioceptive Learning with Soft Polyhedral Networks\u201d\u4e3a\u9898\u5728\u7ebf\u53d1\u8868\u7814\u7a76\u8bba\u6587\uff0c\u7cfb\u7edf\u4ecb\u7ecd\u4e86\u4e00\u7c7b\u53ef\u5b9e\u73b0\u5168\u65b9\u5411\u81ea\u9002\u5e94\u4ea4\u4e92\u7684\u67d4\u6027\u591a\u9762\u4f53\u7f51\u7edc\u7ed3\u6784\u8bbe\u8ba1\u65b9\u6cd5\uff0c\u7387\u5148\u63d0\u51fa\u57fa\u4e8e\u6307\u5185\u89c6\u89c9\u7684\u673a\u5668\u4eba\u672c\u4f53\u611f\u77e5\u5b66\u4e60\u6280\u672f\uff0c\u63ed\u793a\u4e86\u67d4\u6027\u8d85\u6750\u6599\u4e2d\u52a8\u6001\u7c98\u5f39\u6027\u529b\u5b66\u5bf9\u4e8e\u5927\u5f62\u53d8\u4e0b\u7cbe\u7ec6\u529b\u89e6\u89c9\u611f\u77e5\u5b66\u4e60\u7684\u5f71\u54cd\u673a\u5236\uff0c\u540c\u65f6\u5b9e\u73b0\u4e86\u67d4\u6027\u529b\u89c9\u7cbe\u7ec6\u68c0\u6d4b\u4ee5\u53ca\u5b9e\u65f6\u52a8\u89c9\u4e09\u7ef4\u91cd\u5efa\uff0c\u53ef\u7528\u4e8e\u673a\u5668\u4eba\u529b\u89e6\u89c9\u611f\u77e5\u6293\u53d6\u3001\u67d4\u6027\u667a\u80fd\u4eba\u673a\u4ea4\u4e92\u3001\u63a5\u89e6\u7269\u54c1\u5f62\u8c8c\u91cd\u5efa\u7b49\u5e94\u7528\u573a\u666f\uff0c\u4e14\u5728\u767e\u4e07\u6b21\u5faa\u73af\u4f7f\u7528\u4e0b\u4ecd\u80fd\u4fdd\u6301\u53ef\u9760\u7684\u89c6\u89e6\u878d\u5408\u672c\u4f53\u611f\u77e5\u6027\u80fd\u3002\u8be5\u8bba\u6587\u7684\u5171\u540c\u7b2c\u4e00\u4f5c\u8005\u4e3a2019\u7ea7\u535a\u58eb\u7814\u7a76\u751f\u5218\u5c0f\u535a\u548c2021\u7ea7\u535a\u58eb\u7814\u7a76\u751f\u97e9\u65ed\u4e1c\uff0c\u5408\u4f5c\u4f5c\u8005\u4e3a\u5357\u65b9\u79d1\u6280\u5927\u5b66\u529b\u822a\u7cfb\u6559\u6388\u6d2a\u4f1f\uff0c\u901a\u8baf\u4f5c\u8005\u4e3a\u521b\u65b0\u521b\u610f\u8bbe\u8ba1\u5b66\u9662\u52a9\u7406\u6559\u6388\u4e07\u82b3\u3001\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u52a9\u7406\u6559\u6388\u5b8b\u8d85\u9633\u3002\n\n\n\nIn robotics, one of the enduring challenges has been to replicate the dexterity and adaptability of human fingers. Our fingers possess a unique neuromuscular sense known as proprioception, which allows us to precisely handle objects by sensing position, movement, force, and effort. While considerable research has been into artificial skins and robotic end-effectors, achieving seamless integration of these components into a coherent robotic system has proven to be complex.\n\n\n\n\n\n\n\n\u672c\u4f53\u611f\u77e5\uff0c\u4e5f\u5c31\u662f\u4eba\u4eec\u5e38\u8bf4\u7684\u201c\u7b2c\u516d\u611f\u201d\uff0c\u662f\u4e00\u79cd\u901a\u8fc7\u8fd0\u52a8\u795e\u7ecf\u5143\u5e2e\u52a9\u6211\u4eec\u5b9e\u73b0\u5bf9\u8eab\u4f53\u56db\u80a2\u7a7a\u95f4\u59ff\u6001\u7684\u611f\u53d7\u4e0e\u8ba4\u77e5\u7684\u80fd\u529b\uff0c\u5305\u62ec\u5bf9\u5173\u8282\u4f4d\u7f6e\u4e0e\u8fd0\u52a8\u7684\u52a8\u89c9\u611f\u77e5\u3001\u4ee5\u53ca\u5bf9\u808c\u8089\u529b\u91cf\u4e0e\u7a0b\u5ea6\u7684\u529b\u89c9\u611f\u77e5\uff0c\u9700\u8981\u501f\u52a9\u808c\u8089\u9aa8\u9abc\u7cfb\u7edf\u4e0e\u591a\u79cd\u611f\u53d7\u5668\u5b98\u4e4b\u95f4\u7684\u76f8\u4e92\u914d\u5408\u5f97\u4ee5\u5b9e\u73b0\u3002\u5982\u4f55\u5b9e\u73b0\u673a\u5668\u667a\u80fd\u7684\u201c\u7b2c\u516d\u611f\u201d\u6280\u672f\uff0c\u662f\u7814\u5236\u65b0\u4e00\u4ee3\u667a\u80fd\u673a\u5668\u4eba\u6280\u672f\u7684\u4e00\u9879\u91cd\u8981\u6311\u6218\uff0c\u9700\u8981\u6a21\u4eff\u4eba\u7c7b\u624b\u6307\u5728\u6293\u53d6\u7269\u54c1\u65f6\u7684\u81ea\u9002\u5e94\u6027\u5305\u8986\u3001\u5173\u8282\u4f4d\u7f6e\u611f\u77e5\u3001\u4ee5\u53ca\u63a5\u89e6\u8fc7\u7a0b\u4e2d\u7684\u7cbe\u7ec6\u529b\u89e6\u89c9\u611f\u77e5\u7b49\u591a\u65b9\u9762\u6027\u80fd\uff0c\u5728\u5b9e\u73b0\u5bf9\u7269\u54c1\u5f62\u8c8c\u7cbe\u7ec6\u91cd\u5efa\u7684\u540c\u65f6\u8fd8\u9700\u8981\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\u4ee5\u66f4\u4f4e\u7684\u6210\u672c\u63d0\u4f9b\u7b80\u5355\u53ef\u9760\u4e14\u67d4\u6027\u667a\u80fd\u7684\u4ea4\u4e92\u65b9\u5f0f\uff0c\u76ee\u524d\u4ecd\u7136\u662f\u667a\u80fd\u673a\u5668\u4eba\u6280\u672f\u9886\u57df\u7684\u4e00\u5927\u96be\u9898\u3002\n\n\n\nOur research addresses this challenge by developing Soft Polyhedral Networks, a design that enables vision-based proprioception with passive adaptations in all directions. This work builds upon our previous research in vision-based tactile sensing, expanding its capabilities to include mechanically programmable adaptation under passive interaction. By transforming any polyhedral geometry into a soft network, we have created a system that can be integrated into robotic fingers, enhancing their ability to interact with the physical world and human operators.\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\u5728\u672c\u9879\u76ee\u7684\u524d\u671f\u7814\u7a76\u4e2d\uff0c\u5357\u79d1\u5927\u56e2\u961f\u81ea\u4e3b\u72ec\u7acb\u53d1\u660e\u4e86\u4e00\u79cd\u901a\u7528\u8bbe\u8ba1\u65b9\u6cd5\uff0c\u53ef\u5b9e\u73b0\u5177\u6709\u5168\u65b9\u5411\u5927\u5f62\u53d8\u81ea\u9002\u5e94\u6027\u80fd\u7684\u67d4\u6027\u591a\u9762\u4f53\u7f51\u7edc\u7ed3\u6784\uff08Soft Polyhedral Network\uff09\u8bbe\u8ba1\uff0c\u8be5\u7ed3\u6784\u5728\u975e\u7ed3\u6784\u5316\u7269\u7406\u4ea4\u4e92\u8fc7\u7a0b\u4e2d\u53ef\u4ee5\u63d0\u4f9b\u6210\u672c\u4f4e\u5ec9\u3001\u6027\u80fd\u4f18\u8d8a\u3001\u6c34\u9646\u901a\u7528\u3001\u7a33\u5b9a\u53ef\u9760\u7684\u5168\u65b9\u5411\u81ea\u9002\u5e94\u5305\u8986\u6027\u80fd\uff0c\u5e76\u5df2\u7ecf\u83b7\u5f97\u4e86\u591a\u9879\u56fd\u5bb6\u53d1\u660e\u4e13\u5229\u53ca\u7f8e\u56fd\u4e13\u5229\u6388\u6743\u3002\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u5357\u79d1\u5927\u7814\u7a76\u56e2\u961f\u8fdb\u4e00\u6b65\u63d0\u51fa\u57fa\u4e8e\u6307\u5185\u89c6\u89c9\u7684\u67d4\u6027\u4ea4\u4e92\u5fae\u578b\u8fd0\u52a8\u6355\u6349\u7cfb\u7edf\u8bbe\u8ba1\uff0c\u5b9e\u73b0\u5bf9\u67d4\u6027\u7f51\u7edc\u7ed3\u6784\u6574\u4f53\u5927\u5f62\u53d8\u8fc7\u7a0b\u7684\u9ad8\u5e27\u7387\u65e0\u906e\u6321\u5168\u65b9\u5411\u8fd0\u52a8\u6355\u6349\uff0c\u57fa\u4e8e\u5927\u89c4\u6a21\u6709\u9650\u5143\u4eff\u771f\u6570\u636e\u7684\u7cfb\u7edf\u91c7\u96c6\u4e0e\u5b9e\u9a8c\u6807\u5b9a\uff0c\u5b9e\u73b0\u4e86\u6574\u4e2a\u67d4\u6027\u591a\u9762\u4f53\u7f51\u7edc\u7ed3\u6784\u5b9e\u65f6\u5f62\u53d8\u7684\u4eff\u771f\u5411\u771f\u5b9e\uff08Sim2Real\uff09\u5b66\u4e60\uff0c\u5b9e\u73b0\u4e86\u5bf9\u8be5\u67d4\u6027\u591a\u9762\u4f53\u7f51\u7edc\u7ed3\u6784\u5173\u8282\u4f4d\u7f6e\u548c\u8fd0\u52a8\u7684\u9ad8\u6027\u80fd\u5b9e\u65f6\u52a8\u89c9\u611f\u77e5\u3002\n\n\n\nA key aspect of our design is adding a miniature motion-tracking system at the base of the robotic finger. This system allows us to capture and encode the soft network's whole-body deformation in real time by tracking the spatial movement of a fiducial marker placed inside. This capability enables us to study the viscoelasticity of the soft metamaterial in detail, an essential factor often overlooked in soft robotics.\n\n\n\n\n\n\n\n\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u5357\u79d1\u5927\u7814\u7a76\u56e2\u961f\u8fdb\u4e00\u6b65\u9488\u5bf9\u975e\u7ed3\u6784\u4ea4\u4e92\u8fc7\u7a0b\u4e2d\u7531\u4e8e\u7269\u7406\u63a5\u89e6\u5f15\u8d77\u7684\u529b\u89c9\u611f\u77e5\uff0c\u8fdb\u884c\u4e86\u6df1\u5165\u7814\u7a76\u3002\u5728\u672c\u7814\u7a76\u4e2d\u63d0\u51fa\u4e86\u57fa\u4e8e\u6307\u5185\u89c6\u89c9\u7684\u67d4\u6027\u7cbe\u7ec6\u529b\u89e6\u89c9\u611f\u77e5\u4e0e\u673a\u5668\u4eba\u5b66\u4e60\u6280\u672f\uff0c\u6df1\u5165\u7814\u7a76\u4e86\u8fd9\u4e00\u7c7b\u67d4\u6027\u8d85\u6750\u6599\u7f51\u7edc\u7ed3\u6784\u7684\u52a8\u6001\u7c98\u5f39\u6027\u673a\u7406\uff0c\u91c7\u7528\u89c6\u89e6\u878d\u5408\u7684\u65b9\u6cd5\u8fdb\u884c\u4e86\u7cbe\u7ec6\u7684\u529b\u89e6\u89c9\u8868\u5f81\u4e0e\u81ea\u9002\u5e94\u4ea4\u4e92\u6027\u80fd\u5b9e\u9a8c\uff0c\u9a8c\u8bc1\u4e86\u8be5\u65b9\u6848\u5728\u767e\u4e07\u6b21\u5faa\u73af\u6761\u4ef6\u4e0b\u4ecd\u5177\u6709\u826f\u597d\u7684\u529b\u89e6\u89c9\u611f\u77e5\u6027\u80fd\uff0c\u5e76\u901a\u8fc7\u5bf9\u67d4\u6027\u4ea4\u4e92\u901f\u5ea6\u9879\u7684\u5f15\u5165\uff0c\u663e\u8457\u63d0\u5347\u4e86\u5bf9\u67d4\u6027\u529b\u89e6\u89c9\u516d\u7ef4\u4ea4\u4e92\u529b\u4e0e\u529b\u77e9\u7684\u9884\u6d4b\u7cbe\u5ea6\u5e76\u8fbe\u5230\u56fd\u9645\u9886\u5148\u6c34\u5e73\uff0c\u53ef\u57fa\u4e8e\u6b64\u8fdb\u4e00\u6b65\u5b9e\u73b0\u5bf9\u5305\u62ec\u63a5\u89e6\u6469\u64e6\u529b\u7b49\u591a\u9879\u529b\u89c9\u611f\u77e5\u4e0e\u4ea4\u4e92\u6027\u80fd\u53c2\u6570\u7684\u7cbe\u786e\u4f30\u8ba1\u3002\n\n\n\nTo accurately model the viscoelasticity of the soft network for dynamic proprioception, we have developed a data-driven model that incorporates both deformation and kinetic input features. This approach has led to state-of-the-art force sensing, achieving accuracies of 0.25\/0.24\/0.35 N for force and 0.025\/0.034\/0.006 Nm for torque. The soft networks can be attached to almost any rigid or soft grippers of compatible sizes, providing high-performing proprioception and omni-directional adaptation at low costs in mechanical design and algorithmic computation.\n\n\n\n\n\n\n\n\u901a\u8fc7\u4e0a\u8ff0\u7684\u67d4\u6027\u52a8\u89c9\u4e0e\u7cbe\u7ec6\u529b\u89c9\u7684\u6df1\u5165\u7814\u7a76\uff0c\u5357\u79d1\u5927\u56e2\u961f\u7cfb\u7edf\u63d0\u51fa\u57fa\u4e8e\u67d4\u6027\u591a\u9762\u4f53\u7f51\u7edc\u7ed3\u6784\u7684\u672c\u4f53\u611f\u77e5\u5b66\u4e60\u6280\u672f\uff0c\u5b9e\u73b0\u4e86\u673a\u5668\u4eba\u6307\u672b\u7aef\u7684\u201c\u7b2c\u516d\u611f\u201c\u3002\u5728\u672c\u7814\u7a76\u4e2d\uff0c\u5357\u79d1\u5927\u56e2\u961f\u901a\u8fc7\u591a\u65b9\u9762\u7684\u7cfb\u7edf\u5b9e\u9a8c\uff0c\u5c55\u73b0\u4e86\u91c7\u7528\u6307\u5185\u89c6\u89c9\u7684\u67d4\u6027\u591a\u9762\u4f53\u7f51\u7edc\u7ed3\u6784\u5728\u517c\u5907\u6210\u672c\u4f4e\u5ec9\u3001\u6027\u80fd\u4f18\u8d8a\u3001\u6c34\u9646\u901a\u7528\u3001\u7a33\u5b9a\u53ef\u9760\u7b49\u786c\u4ef6\u4f18\u52bf\u540c\u65f6\uff0c\u501f\u52a9\u89c6\u89e6\u878d\u5408\u7cbe\u7ec6\u529b\u611f\u77e5\u6280\u672f\uff0c\u53ef\u4ee5\u80dc\u4efb\u591a\u79cd\u6781\u5177\u6311\u6218\u7684\u975e\u7ed3\u6784\u573a\u666f\u4e0b\u7684\u4eba\u673a\u4ea4\u4e92\u4efb\u52a1\uff0c\u5305\u62ec\u5bf9\u63a5\u89e6\u6469\u64e6\u529b\u7684\u7cbe\u51c6\u9884\u6d4b\u3001\u7269\u54c1\u51e0\u4f55\u5f62\u8c8c\u7684\u5927\u5f62\u53d8\u529b\u89e6\u89c9\u91cd\u5efa\u3001\u76f8\u6bd4\u521a\u6027\u6307\u672b\u7aef\u66f4\u52a0\u4f18\u8d8a\u7684\u529b\u89e6\u89c9\u611f\u77e5\u4e0e\u65e0\u635f\u6293\u53d6\u6027\u80fd\u3001\u4ee5\u53ca\u53ef\u4ee5\u4e0e\u4eba\u7c7b\u624b\u6307\u76f8\u63a5\u8fd1\u7684\u81ea\u9002\u5e94\u529b\u89e6\u89c9\u4ea4\u4e92\u6027\u80fd\u3002\u7ed3\u5408\u8be5\u4e13\u5229\u6388\u6743\u8bbe\u8ba1\u65b9\u6cd5\u7684\u901a\u7528\u6027\uff0c\u672a\u6765\u53ef\u62d3\u5c55\u54c1\u7c7b\u4e30\u5bcc\u3001\u5e94\u7528\u5e7f\u6cdb\u3001\u5e73\u4ef7\u53ef\u9760\u3001\u529b\u89e6\u611f\u77e5\u7684\u4eba\u673a\u4ea4\u4e92\u573a\u666f\uff0c\u7279\u522b\u5728\u8bf8\u5982\u9762\u5411\u5177\u8eab\u667a\u80fd\u7684\u591a\u6a21\u6001\u529b\u89e6\u89c9\u611f\u77e5\u4e0e\u5b66\u4e60\u3001\u6c34\u4e0b\u6781\u7aef\u73af\u5883\u4e0b\u7684\u7cbe\u7ec6\u529b\u89e6\u89c9\u7269\u54c1\u64cd\u63a7\u7b49\u4e0d\u540c\u751f\u6d3b\u3001\u5de5\u4e1a\u3001\u53ca\u7279\u79cd\u573a\u666f\uff0c\u5177\u6709\u826f\u597d\u7684\u79d1\u5b66\u7406\u8bba\u57fa\u7840\u4e0e\u5e7f\u9614\u7684\u6280\u672f\u5e94\u7528\u6f5c\u529b\u3002\n\n\n\n\u8be5\u7814\u7a76\u5f97\u5230\u4e86\u56fd\u5bb6\u81ea\u7136\u79d1\u5b66\u57fa\u91d1\u9752\u5e74\u57fa\u91d1\u9879\u76ee\u3001\u56fd\u5bb6\u81ea\u7136\u79d1\u5b66\u57fa\u91d1\u91cd\u70b9\u9879\u76ee\u3001\u6df1\u5733\u5e02\u57fa\u7840\u7814\u7a76\u4e13\u9879\u91cd\u70b9\u9879\u76ee\u3001\u6df1\u5733\u5e02\u667a\u80fd\u673a\u5668\u4eba\u4e0e\u67d4\u6027\u5236\u9020\u91cd\u70b9\u5b9e\u9a8c\u5ba4\u3001\u5e7f\u4e1c\u7701\u4eba\u4f53\u589e\u5f3a\u4e0e\u5eb7\u590d\u673a\u5668\u4eba\u91cd\u70b9\u5b9e\u9a8c\u5ba4\u7684\u8d44\u52a9\u3002\n\n\n\nIn conclusion, our research on Soft Polyhedral Networks represents a significant step forward in enhancing robotic systems' proprioceptive abilities. By combining vision-based sensing with soft robotics, we have developed an adaptable, accurate, and durable design, opening up new possibilities for robotic interaction with the physical world and human operators.\n\n\n\n\nXiaobo Liu#, Xudong Han#, Wei Hong, Fang Wan*, and Chaoyang Song* (2024). \u201cProprioceptive Learning with Soft Polyhedral Networks.\u201d The International Journal of Robotics Research, 0(0):1-20, (OnlineFirst).\ndoi: https:\/\/doi.org\/10.1177\/02783649241238765","author":{"name":"Design and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"Mar 14, 2024","dateGMT":"2024-03-14 03:17:22","modifiedDate":"2024-07-16 01:52:18","modifiedDateGMT":"2024-07-15 17:52:18","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=146\" rel=\"category\">Journal Articles<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=56\" rel=\"category\">Publication<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=146\" rel=\"category\">Journal Articles<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=56\" rel=\"category\">Publication<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":2,"sec":14},"status":"publish"},{"id":4814,"link":"https:\/\/ancorasir.com\/?p=4814","name":"24%e5%b9%b4%e6%98%a5%e5%ad%a3%e3%80%8cme336%e4%ba%ba%e5%b7%a5%e6%99%ba%e8%83%bd%e4%b8%8e%e6%9c%ba%e5%99%a8%e4%ba%ba%e5%ae%a2%e5%ba%a7%e6%8a%a5%e5%91%8a%e3%80%8d%ef%bc%9a%e7%8e%8b%e6%98%8a%e5%9d%a4","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2024\/05\/GuestLectureSeries-2024-Spring-Wang-Haokun-1446x2048-1-e1716348948919.png?fit=1446%2C1058&ssl=1","alt":""},"title":"24\u5e74\u6625\u5b63\u300cME336\u4eba\u5de5\u667a\u80fd\u4e0e\u673a\u5668\u4eba\u5ba2\u5ea7\u62a5\u544a\u300d\uff1a\u738b\u660a\u5764","excerpt":"Research on contact-aware motion planning and control methods for robots holds great potential for advancing their practical applications in various real-world scenarios. This presentation focuses on two critical causes of contact: the existence of multiple motion modes within the robot itself and interactions between the robot and objects in the environment. For instance, we explore the challenges posed by a quadrotor with a cable-suspended payload, which requires impact-aware planning and control. This joint system exhibits dual motion modes depending on the slackness of the cable and presents complex dynamics.","content":"","author":{"name":"Design and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"Mar 1, 2024","dateGMT":"2024-03-01 07:23:00","modifiedDate":"2024-05-22 11:40:16","modifiedDateGMT":"2024-05-22 03:40:16","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=35\" rel=\"category\">Academic Report<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=79\" rel=\"category\">ME336<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=34\" rel=\"category\">Workshop<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=35\" rel=\"category\">Academic Report<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=79\" rel=\"category\">ME336<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=34\" rel=\"category\">Workshop<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":0,"sec":0},"status":"publish"},{"id":4811,"link":"https:\/\/ancorasir.com\/?p=4811","name":"24%e5%b9%b4%e6%98%a5%e5%ad%a3%e3%80%8cme336%e4%ba%ba%e5%b7%a5%e6%99%ba%e8%83%bd%e4%b8%8e%e6%9c%ba%e5%99%a8%e4%ba%ba%e5%ae%a2%e5%ba%a7%e6%8a%a5%e5%91%8a%e3%80%8d%ef%bc%9ajoonho-lee","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2024\/05\/GuestLectureSeries-2024-Spring-Joonho-Lee-1447x2048-1-e1716349148591.jpg?fit=1447%2C1054&ssl=1","alt":""},"title":"24\u5e74\u6625\u5b63\u300cME336\u4eba\u5de5\u667a\u80fd\u4e0e\u673a\u5668\u4eba\u5ba2\u5ea7\u62a5\u544a\u300d\uff1aJoonho Lee","excerpt":"The success of legged robots in real world applications depends on their capability to autonomously operate in unstructured environments. Autonomous deployment of robotics systems in unknown environments comes with major challenges in different areas of legged robotics; locomotion, perception, navigation, and hardware design. In this talk, I will present our recent progress in tackling different challenges in legged robotics using recent deep learning methods. Over the last three years, we have expanded our walking robots' territory from the lab to arbitrary natural environments such as the Swiss Alps.","content":"","author":{"name":"Design and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"Jan 1, 2024","dateGMT":"2024-01-01 07:18:00","modifiedDate":"2024-05-22 11:39:13","modifiedDateGMT":"2024-05-22 03:39:13","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=35\" rel=\"category\">Academic Report<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=79\" rel=\"category\">ME336<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=34\" rel=\"category\">Workshop<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=35\" rel=\"category\">Academic Report<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=79\" rel=\"category\">ME336<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=34\" rel=\"category\">Workshop<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":0,"sec":0},"status":"publish"},{"id":4725,"link":"https:\/\/ancorasir.com\/?p=4725","name":"%e8%8d%a3%e8%8e%b7%e7%94%b1%e3%80%8c%e8%81%94%e5%90%88%e5%9b%bd%e6%95%99%e7%a7%91%e6%96%87%e7%bb%84%e7%bb%87-%e9%ab%98%e7%ad%89%e6%95%99%e8%82%b2%e5%88%9b%e6%96%b0%e4%b8%ad%e5%bf%83%e3%80%8d%e9%a2%81","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2023\/12\/231209-UNESCO-ICHEI-Award-Individual-Reduced.jpeg?fit=1024%2C724&ssl=1","alt":""},"title":"\u8363\u83b7\u7531\u300c\u8054\u5408\u56fd\u6559\u79d1\u6587\u7ec4\u7ec7-\u9ad8\u7b49\u6559\u80b2\u521b\u65b0\u4e2d\u5fc3\u300d\u9881\u53d1\u7684\u300c\u9ad8\u7b49\u6559\u80b2\u6570\u5b57\u5316\u5148\u950b\u6848\u4f8b\u5956\u300d\uff5cThe DeepClaw Project was Selected for the UNESCO-ICHEI Higher Education Digitalisation Pioneer Case Award","excerpt":"The UNESCO-ICHEI Higher Education Digitalisation Pioneer Case Award application highlights the transformative DeepClaw project led by Assistant Professor Chaoyang Song at the Southern University of Science and Technology. This innovative initiative addresses the critical need for accessible robotics education in developing countries like China. It underlines the crucial role of digital learning in bridging the gap by providing inclusive, cost-effective, and globally collaborative education opportunities. The project's objectives include developing a low-cost, portable system that combines tactile sensing and machine learning with soft robotics, aiming to democratize robotics education and foster innovation.","content":"The \"International Centre for Higher Education Innovation under the auspices of UNESCO Higher Education Digitalisation Pioneer Case Award\" (hereinafter referred to as the Pioneer Award) is an award established by the International Centre for Higher Education Innovation under the auspices of UNESCO (hereinafter referred to as UNESCO-ICHEI) to encourage and commend IIOE partner institutions\u00a0in the world\u00a0active\u00a0exploration, innovation and practice in the field of digitalization of higher education. The award sets up a specific theme every three years, and rewards teams and individuals who have made outstanding contributions to further promoting digital transformation, improving the quality of higher education teaching, and achieving sustainable development, and supports their exploration in promoting higher education innovation.\n\n\n\nThe theme of this year's Pioneer Award is\u00a0\"The Reform and Innovation of Blended Learning in Higher Education\", which aims to discover teams and individuals who are using information technology, blended learning and other means to promote the improvement of higher education teaching quality and efficiency.\nUNESCO-ICHEI Higher Education Digitalisation Pioneer Case Award\n\n\n\n\n\n\n\nThe UNESCO-ICHEI Higher Education Digitalisation Pioneer Case Award highlights the transformative DeepClaw project led by Assistant Professor Chaoyang Song at the Southern University of Science and Technology. This innovative initiative addresses the critical need for accessible robotics education in developing countries like China. It underlines the crucial role of digital learning in bridging the gap by providing inclusive, cost-effective, and globally collaborative education opportunities. The project's objectives include developing a low-cost, portable system that combines tactile sensing and machine learning with soft robotics, aiming to democratize robotics education and foster innovation.\n\n\n\n\n\n\n\nThe teaching design in the ME336 Collaborative Robot Learning course incorporates the DeepClaw system, offering clear, measurable learning objectives and a multifaceted learning journey. Blended teaching methods enrich the student experience by providing open-sourced resources, online access to the DeepClaw Toolkit, state-of-the-art simulation environments, and various digital technologies. The digital transformation has yielded remarkable learning outcomes, with students excelling in project presentations and publications and winning awards while contributing to the evolution of the DeepClaw Toolkit. Theme-based integrated projects have further enriched the learning experience, promoting research and innovation.\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\nThe DeepClaw project stands out for its innovative design, bridging the gap between simulation and real-world robotics applications. Its simplicity, affordability, and emphasis on tactile sensing and portability make it a unique and valuable teaching tool. The project's impact extends beyond national boundaries, offering digital resources accessible to students and researchers worldwide. Professor Chaoyang Song's leadership and commitment to digital education are evident in the project's ongoing development and its potential to revolutionize how students engage with robotics, fostering inclusivity, innovation, and research.\n\n\n\n\n\n\n\n\nPlease refer to the DeepClaw Project Webpage for further information.\nhttps:\/\/deepclaw.ancorasir.com\/","author":{"name":"Design and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"Dec 17, 2023","dateGMT":"2023-12-17 05:35:35","modifiedDate":"2024-03-14 11:25:22","modifiedDateGMT":"2024-03-14 03:25:22","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=148\" rel=\"category\">Award<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=79\" rel=\"category\">ME336<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=148\" rel=\"category\">Award<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=79\" rel=\"category\">ME336<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":2,"sec":12},"status":"publish"},{"id":3997,"link":"https:\/\/ancorasir.com\/?p=3997","name":"%e8%87%aa%e5%8a%a8%e7%bc%96%e7%a0%81%e6%b0%b4%e4%b8%8b%e5%ae%9e%e7%8e%b0%e8%a7%a6%e8%a7%89%e6%84%9f%e7%9f%a5","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2023\/10\/News-2023-J-AIS-AutoencodeSoftTouch.jpeg?fit=1920%2C1080&ssl=1","alt":""},"title":"\u53d8\u5206\u81ea\u7f16\u7801\u6307\u5185\u89c6\u89c9\u5b9e\u73b0\u6c34\u4e0b\u89e6\u89c9\u611f\u77e5\uff5cAutoencode a Sense of Touch Underwater","excerpt":"\u672c\u8bba\u6587\u7ed3\u5408\u57fa\u4e8e\u6307\u5185\u89c6\u89c9\u7684\u8f6f\u4f53\u673a\u5668\u4eba\u89e6\u89c9\u8bbe\u8ba1\u548c\u53d8\u5206\u81ea\u7f16\u7801\u673a\u5668\u5b66\u4e60\u6280\u672f\uff0c\u5728\u975e\u7ed3\u6784\u6c34\u4e0b\u73af\u5883\u4e2d\u5b9e\u73b0\u7cbe\u786e\u7684\u89e6\u89c9\u611f\u77e5\u3001\u5168\u5411\u9002\u5e94\u6027\u548c\u53ef\u9760\u6293\u53d6\uff0c\u8be5\u8bba\u6587\u53d1\u8868\u4e8e\u300aAdvanced Intelligent Systems\u300b\uff0c\u7b2c\u4e00\u4f5c\u8005\u5357\u65b9\u79d1\u6280\u5927\u5b66\u535a\u58eb\u7814\u7a76\u751f\u90ed\u5b81\uff0c\u5408\u4f5c\u4f5c\u8005\u5305\u62ec\u5357\u65b9\u79d1\u6280\u5927\u5b66\u535a\u58eb\u7814\u7a76\u751f\u97e9\u65ed\u4e1c\u3001\u5218\u5c0f\u535a\u3001\u949f\u6811\u4e54\u3001\u6d77\u6d0b\u7cfb\u8bb2\u5e2d\u6559\u6388\u6797\u95f4\u3001\u7814\u7a76\u526f\u6559\u6388\u5468\u5fd7\u8fdc\u3001\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u8bb2\u5e2d\u6559\u6388\u6234\u5efa\u751f\uff0c\u901a\u8baf\u4f5c\u8005\u4e3a\u8bbe\u8ba1\u5b66\u9662\u52a9\u7406\u6559\u6388\u4e07\u82b3\u3001\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u52a9\u7406\u6559\u6388\u5b8b\u8d85\u9633","content":"\u672c\u8bba\u6587\u7ed3\u5408\u57fa\u4e8e\u6307\u5185\u89c6\u89c9\u7684\u8f6f\u4f53\u673a\u5668\u4eba\u89e6\u89c9\u8bbe\u8ba1\u548c\u53d8\u5206\u81ea\u7f16\u7801\u673a\u5668\u5b66\u4e60\u6280\u672f\uff0c\u5728\u975e\u7ed3\u6784\u6c34\u4e0b\u73af\u5883\u4e2d\u5b9e\u73b0\u7cbe\u786e\u7684\u89e6\u89c9\u611f\u77e5\u3001\u5168\u5411\u9002\u5e94\u6027\u548c\u53ef\u9760\u6293\u53d6\uff0c\u8be5\u8bba\u6587\u53d1\u8868\u4e8e\u300aAdvanced Intelligent Systems\u300b\uff0c\u7b2c\u4e00\u4f5c\u8005\u5357\u65b9\u79d1\u6280\u5927\u5b66\u535a\u58eb\u7814\u7a76\u751f\u90ed\u5b81\uff0c\u5408\u4f5c\u4f5c\u8005\u5305\u62ec\u5357\u65b9\u79d1\u6280\u5927\u5b66\u535a\u58eb\u7814\u7a76\u751f\u97e9\u65ed\u4e1c\u3001\u5218\u5c0f\u535a\u3001\u949f\u6811\u4e54\u3001\u6d77\u6d0b\u7cfb\u8bb2\u5e2d\u6559\u6388\u6797\u95f4\u3001\u7814\u7a76\u526f\u6559\u6388\u5468\u5fd7\u8fdc\u3001\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u8bb2\u5e2d\u6559\u6388\u6234\u5efa\u751f\uff0c\u901a\u8baf\u4f5c\u8005\u4e3a\u8bbe\u8ba1\u5b66\u9662\u52a9\u7406\u6559\u6388\u4e07\u82b3\u3001\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u52a9\u7406\u6559\u6388\u5b8b\u8d85\u9633\n\n\n\nAchieving precise tactile sensing, omni-directional adaption, and reliable grasping in unstructured aquatic environments using vision-based soft robotics and machine learning.\nDOI: https:\/\/doi.org\/10.1002\/aisy.202300382\n\n\n\n\u5728\u6c34\u4e0b\u673a\u5668\u4eba\u6280\u672f\u9886\u57df\uff0c\u901a\u8fc7\u589e\u52a0\u89e6\u89c9\u611f\u77e5\uff0c\u5df2\u7ecf\u5728\u5177\u6709\u6311\u6218\u6027\u7684\u6c34\u4e0b\u6293\u53d6\u9886\u57df\u53d6\u5f97\u4e86\u91cd\u5927\u7a81\u7834\u3002\u4e3a\u6c34\u4e0b\u673a\u5668\u4eba\u5e26\u6765\u89e6\u89c9\u611f\u77e5\u7684\u80fd\u529b\u4e3a\u5728\u65e0\u7ed3\u6784\u6c34\u4e0b\u73af\u5883\u4e2d\u8fdb\u884c\u7cbe\u7ec6\u4e14\u81ea\u4e3b\u7684\u4ea4\u4e92\u5f00\u8f9f\u4e86\u65b0\u7684\u53ef\u80fd\u6027\uff0c\u8fd9\u5bf9\u4e8e\u73af\u5883\u3001\u751f\u7269\u548c\u6d77\u6d0b\u7814\u7a76\u7b49\u79d1\u5b66\u6d3b\u52a8\u81f3\u5173\u91cd\u8981\u3002\n\n\n\nIn underwater robotics, a significant breakthrough has been achieved in the challenging domain of underwater grasping with the addition of tactile sensing. The ability to bring a sense of touch to aquatic robots has opened up new possibilities for conducting delicate and autonomous interactions in the unstructured underwater environment, vital for scientific activities in environmental, biological, and ocean research.\n\n\n\n\n\n\n\n\u4f20\u7edf\u6c34\u4e0b\u89e6\u89c9\u611f\u77e5\u7684\u89e3\u51b3\u65b9\u6848\u591a\u91c7\u7528\u673a\u68b0\u65b9\u6cd5\uff0c\u6d89\u53ca\u590d\u6742\u7684\u5bc6\u5c01\u6280\u672f\u4ee5\u62b5\u6297\u6db2\u4f53\u538b\u529b\u548c\u8150\u8680\u6027\u6c61\u67d3\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u901a\u5e38\u4f34\u968f\u7740\u5de5\u7a0b\u7075\u6d3b\u6027\u548c\u667a\u80fd\u611f\u77e5\u65b9\u9762\u7684\u6743\u8861\u3002\u672c\u7814\u7a76\u63d0\u51fa\u7684\u521b\u65b0\u65b9\u6cd5\u5145\u5206\u5229\u7528\u4e86\u8f6f\u4ef6\u673a\u5668\u4eba\u548c\u673a\u5668\u5b66\u4e60\u7684\u8fdb\u5c55\uff0c\u5c24\u5176\u662f\u57fa\u4e8e\u89c6\u89c9\u7684\u89e6\u89c9\u611f\u77e5\u9886\u57df\u3002\n\n\n\nTraditionally, solutions for underwater tactile sensing have taken a mechanical approach, involving complex sealing technologies to combat fluidic pressure and corrosive contamination. However, these methods often come with trade-offs in terms of engineering flexibility and intelligent perception. The innovative approach presented in this work leverages advancements in soft robotics and machine learning, particularly in the area of vision-based tactile sensing.\n\n\n\n\u672c\u6587\u7ae0\u7684\u5173\u952e\u521b\u65b0\u70b9\u5728\u4e8e\u8bbe\u8ba1\u7684\u7b80\u5355\u6027\uff0c\u6700\u5c0f\u5316\u4e86\u5bf9\u590d\u6742\u673a\u68b0\u90e8\u4ef6\u7684\u9700\u6c42\uff0c\u6d88\u9664\u4e86\u5bf9\u52a8\u6001\u5bc6\u5c01\u7684\u8981\u6c42\u3002\u76f8\u53cd\uff0c\u91c7\u7528\u4e86\u8f6f\u89e6\u89c9\u7f51\u7edc\uff0c\u5177\u6709\u88ab\u52a8\u9002\u5e94\u6027\u548c\u6307\u5185\u89c6\u89c9\u3002\u8fd9\u4e9b\u8f6f\u89e6\u89c9\u624b\u6307\u4e0e\u53d7\u76d1\u7763\u7684\u53d8\u5206\u81ea\u52a8\u7f16\u7801\u5668\uff08SVAE\uff09\u76f8\u7ed3\u5408\uff0c\u4f7f\u5176\u80fd\u591f\u901a\u8fc7\u6c34\u4e0b\u7684\u89c6\u89c9\u6570\u636e\u5b66\u4e60\u89e6\u89c9\u611f\u77e5\u3002\n\n\n\nThe key innovation lies in the simplicity of the design, which minimizes the need for complex mechanical components, eliminating the requirement for dynamic seals. Instead, soft finger networks are utilized, with passive adaptation and in-finger vision. These soft fingers are integrated with a Supervised Variational Autoencoder (SVAE) to enable the learning of tactile sensing through visual data underwater.\n\n\n\n\n\n\n\nSVAE\u6a21\u578b\u7684\u6f5c\u5728\u8868\u793a\u63d0\u4f9b\u4e86\u4e00\u4e2a\u751f\u6210\u6027\u89e3\u51b3\u65b9\u6848\uff0c\u7528\u4e8e\u5728\u6c34\u4e0b\u4ea4\u4e92\u8fc7\u7a0b\u4e2d\u63a8\u65ad6D\u7684\u529b\u548c\u626d\u77e9\uff0c\u5b9e\u73b0\u4e86\u8d85\u8fc798%\u7684\u89e6\u89c9\u529b\u9884\u6d4b\u51c6\u786e\u5ea6\u3002\u5728\u5b9e\u9a8c\u5ba4\u6c34\u7bb1\u4e2d\u8fdb\u884c\u7684\u5b9e\u65f6\u6293\u53d6\u5b9e\u9a8c\u5f3a\u8c03\u4e86\u8fd9\u79cd\u8f6f\u89e6\u89c9\u624b\u6307\u5728\u6c34\u4e0b\u548c\u9646\u5730\u573a\u666f\u4e2d\u53ef\u9760\u4e14\u7cbe\u7ec6\u7684\u6293\u53d6\u7684\u6709\u6548\u6027\u3002\n\n\n\nThe SVAE model's latent representations provide a generative solution for inferring forces and torques in 6D during underwater interactions, enabling an impressive tactile force prediction accuracy of over 98%. Real-time grasping experiments in a lab tank underscore the effectiveness of this soft tactile finger for reliable and delicate grasping in both underwater and on-land scenarios.\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\u8be5\u5de5\u4f5c\u8fd8\u6d89\u53ca\u6a21\u578b\u89e3\u91ca\u6027\u548c\u6cdb\u5316\u7684\u5173\u952e\u65b9\u9762\u3002\u901a\u8fc7\u5229\u7528\u53d8\u5206\u81ea\u52a8\u7f16\u7801\u5668\u6a21\u578b\u7684\u8868\u793a\u5b66\u4e60\u80fd\u529b\uff0c\u7814\u7a76\u8868\u660e\uff0c\u4ece\u4e0d\u540c\u73af\u5883\u4e2d\u63d0\u53d6\u7684\u624b\u6307\u53d8\u5f62\u7684\u6f5c\u5728\u7279\u5f81\u5448\u73b0\u76f8\u4f3c\u7684\u5206\u5e03\u3002\u8fd9\u5bf9\u4e8e\u7ef4\u5ea6\u7f29\u51cf\u3001\u7edf\u8ba1\u63a8\u65ad\u4ee5\u53ca\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\u7684\u5a01\u529b\u7684\u66f4\u6df1\u5165\u7406\u89e3\u6709\u6240\u8d21\u732e\u3002\n\n\n\nThe work also addresses the crucial aspects of model explainability and generalization. By leveraging the variational autoencoder model's representation learning capabilities, the research demonstrates that latent features extracted from finger deformations exhibit similar distributions in different environments. This insight into dimension reduction, statistical inference, and the power of convolutional neural networks contributes to a deeper understanding of the learned tactile representations.\n\n\n\n\u5c3d\u7ba1\u6c34\u4e0b\u6d41\u4f53\u52a8\u529b\u5b66\u5e26\u6765\u7684\u6311\u6218\u4e0d\u53ef\u907f\u514d\u5730\u5bfc\u81f4\u4e86\u4ece\u9646\u5730\u5230\u6c34\u4e0b\u7684\u89e6\u89c9\u529b\u9884\u6d4b\u6027\u80fd\u4e0b\u964d\uff0c\u4f46\u6dfb\u52a0\u89e6\u89c9\u53cd\u9988\u6709\u6548\u5730\u63d0\u9ad8\u4e86\u6c34\u4e0b\u6293\u53d6\u7684\u53ef\u9760\u6027\u3002\u8be5\u624b\u6307\u7684\u72ec\u7279\u8bbe\u8ba1\u5728\u95ed\u5408\u65f6\u901a\u5e38\u4f1a\u51cf\u5c11\u6d41\u4f53\u52a8\u529b\u5b66\u5f15\u8d77\u7684\u5e72\u6270\uff0c\u8fd9\u662f\u521a\u6027\u7ed3\u6784\u624b\u6307\u901a\u5e38\u4f1a\u9047\u5230\u7684\u5e38\u89c1\u95ee\u9898\u3002\n\n\n\nDespite the challenges posed by underwater fluid dynamics, the addition of tactile feedback significantly enhances the reliability of underwater grasping. The finger's unique design minimizes disturbances caused by fluid dynamics, a common issue with rigid structures, ultimately leading to improved performance.\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\u8fd9\u9879\u5177\u6709\u5f00\u521b\u6027\u7684\u5de5\u4f5c\u7a81\u663e\u4e86\u6c34\u4e0b\u673a\u5668\u4eba\u4e2d\u89e6\u89c9\u611f\u77e5\u7684\u91cd\u8981\u6027\u3002\u5728\u6c34\u4e0b\u73af\u5883\u4e2d\uff0c\u89c6\u89c9\u611f\u77e5\u9762\u4e34\u6311\u6218\uff0c\u89e6\u89c9\u53cd\u9988\u7684\u52a0\u5165\u63d0\u9ad8\u4e86\u6293\u53d6\u6210\u529f\u7387\uff0c\u4fc3\u8fdb\u4e86\u5728\u5177\u6709\u6311\u6218\u6027\u7684\u6c34\u4e0b\u60c5\u5883\u4e2d\u7684\u66f4\u667a\u80fd\u7684\u64cd\u4f5c\uff0c\u4e3a\u672a\u6765\u7684\u4f18\u5316\u548c\u5de5\u7a0b\u6539\u8fdb\u63d0\u4f9b\u4e86\u53ef\u80fd\u7684\u89e3\u51b3\u65b9\u6848\u3002\n\n\n\nThis groundbreaking work highlights the importance of tactile perception in underwater robotics. With the potential to overcome the limitations of visual perception in underwater environments, the study underscores the significant role tactile feedback can play in improving grasping success rates and fostering more intelligent manipulation in challenging underwater scenarios.\n\n\n\n\u5c3d\u7ba1\u8fd9\u9879\u7814\u7a76\u53d6\u5f97\u4e86\u663e\u8457\u6210\u5c31\uff0c\u4f46\u5b83\u627f\u8ba4\u5b58\u5728\u4e00\u4e9b\u5c40\u9650\u6027\uff0c\u4e3a\u672a\u6765\u7684\u4f18\u5316\u63d0\u4f9b\u4e86\u673a\u4f1a\u3002\u5176\u4e2d\u5305\u62ec\u901a\u8fc7\u5728\u624b\u6307\u8868\u9762\u6dfb\u52a0\u7845\u76ae\u80a4\u5c42\u6765\u51cf\u8f7b\u80cc\u666f\u566a\u97f3\u5bf9\u89c6\u89c9\u8f93\u5165\u7684\u5f71\u54cd\uff0c\u901a\u8fc7XMem\u589e\u5f3a\u89e6\u89c9\u611f\u77e5\uff0c\u4ee5\u8ddf\u8e2a\u624b\u6307\u53d8\u5f62\u7684\u5185\u90e8\u89c6\u89c9\uff0c\u6216\u4f7f\u7528\u4fee\u590d\u7b97\u6cd5\u6765\u4f7f\u7528\u5185\u90e8\u89c6\u89c9\u6765\u8fdb\u884c\u89c6\u89c9\u611f\u77e5\u3002\u6240\u63d0\u51fa\u7684\u6c34\u4e0b\u6293\u53d6\u7cfb\u7edf\u5c1a\u672a\u5728\u6d45\u6c34\u548c\u6df1\u6c34\u4e2d\u7684\u8fdc\u7a0b\u64cd\u4f5c\u8f66\u8f86\uff08ROV\uff09\u4e0a\u8fdb\u884c\u6d4b\u8bd5\uff0c\u9700\u8981\u8fdb\u4e00\u6b65\u8fdb\u884c\u5de5\u7a0b\u4f18\u5316\u3002\u8fd9\u9879\u5de5\u4f5c\u6709\u671b\u63a8\u52a8\u6c34\u4e0b\u673a\u5668\u4eba\u6280\u672f\u53ca\u5176\u5728\u591a\u9886\u57df\u7684\u79d1\u5b66\u548c\u5de5\u4e1a\u5e94\u7528\u7684\u53d1\u5c55\u3002\n\n\n\nWhile this research represents a remarkable achievement, it acknowledges several limitations, offering opportunities for future optimization. These include the mitigation of background noise in visual input, the enhancement of tactile perception through skin augmentation, and further testing on Remotely Operated Vehicles (ROVs) in both shallow and deep waters. This work promises to drive the evolution of underwater robotics and its applications in diverse scientific and industrial domains.\n\n\n\n\nNing Guo, Xudong Han, Xiaobo Liu, Shuqiao Zhong, Zhiyuan Zhou, Jian Lin, Jiansheng Dai, Fang Wan*, Chaoyang Song*, \u201cAutoencoding a Soft Touch to Learn Grasping from On-land to Underwater,\u201d Advanced Intelligent Systems (2023), 2300382.\nDOI: https:\/\/doi.org\/10.1002\/aisy.202300382","author":{"name":"Design and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"Oct 22, 2023","dateGMT":"2023-10-22 09:14:19","modifiedDate":"2023-10-23 18:25:55","modifiedDateGMT":"2023-10-23 10:25:55","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=146\" rel=\"category\">Journal Articles<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=56\" rel=\"category\">Publication<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=146\" rel=\"category\">Journal Articles<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=56\" rel=\"category\">Publication<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":2,"sec":36},"status":"publish"},{"id":4712,"link":"https:\/\/ancorasir.com\/?p=4712","name":"%e9%80%9a%e8%bf%87%e6%9f%94%e6%80%a7%e6%8c%87%e7%9a%84%e6%9c%ac%e4%bd%93%e6%84%9f%e7%9f%a5%e6%9d%a5%e5%a2%9e%e5%bc%ba%e7%89%a9%e5%93%81%e4%bd%8d%e5%a7%bf%e4%bc%b0%e8%ae%a1%ef%bd%9cenhancing-object-pos","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2023\/10\/fig_overview_updated.png?fit=1053%2C559&ssl=1","alt":""},"title":"\u901a\u8fc7\u67d4\u6027\u6307\u7684\u672c\u4f53\u611f\u77e5\u6765\u589e\u5f3a\u7269\u54c1\u4f4d\u59ff\u4f30\u8ba1\uff5cEnhancing Object Pose Estimation with a Soft Proprioceptive Finger","excerpt":"\u6211\u4eec\u6700\u8fd1\u5728\u300aBiomimetics\u300b\u671f\u520a\u4e0a\u53d1\u8868\u7684\u8bba\u6587\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u53d7\u4eba\u4f53\u89e6\u89c9\u542f\u53d1\u7684\u8f6f\u624b\u6307\uff0c\u7ed3\u5408\u5185\u90e8\u89c6\u89c9\u4e0e\u52a8\u89c9\u611f\u77e5\uff0c\u7528\u4e8e\u4f30\u8ba1\u624b\u6301\u7269\u4f53\u7684\u59ff\u6001\uff0c\u89e3\u51b3\u4e86\u673a\u5668\u4eba\u9886\u57df\u4e2d\u5145\u6ee1\u6311\u6218\u7684\u95ee\u9898\uff0c\u5b9e\u73b0\u4e86\u9ad8\u7cbe\u5ea6\u7684\u59ff\u6001\u4f30\u8ba1\u548c\u7269\u4f53\u5206\u7c7b\u3002\u8be5\u8bba\u6587\u7b2c\u4e00\u4f5c\u8005\u5218\u5c0f\u535a\u662f\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u535a\u58eb\u7814\u7a76\u751f\uff0c\u5408\u4f5c\u4f5c\u8005\u5305\u62ec\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u535a\u58eb\u7814\u7a76\u751f\u97e9\u65ed\u4e1c\u3001\u90ed\u5b81\uff0c\u672c\u6587\u7684\u5171\u540c\u901a\u8baf\u4f5c\u8005\u662f\u8bbe\u8ba1\u5b66\u9662\u52a9\u7406\u6559\u6388\u4e07\u82b3\u3001\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u52a9\u7406\u6559\u6388\u5b8b\u8d85\u9633\u3002","content":"\u6211\u4eec\u6700\u8fd1\u5728\u300aBiomimetics\u300b\u671f\u520a\u4e0a\u53d1\u8868\u7684\u8bba\u6587\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u53d7\u4eba\u4f53\u89e6\u89c9\u542f\u53d1\u7684\u8f6f\u624b\u6307\uff0c\u7ed3\u5408\u5185\u90e8\u89c6\u89c9\u4e0e\u52a8\u89c9\u611f\u77e5\uff0c\u7528\u4e8e\u4f30\u8ba1\u624b\u6301\u7269\u4f53\u7684\u59ff\u6001\uff0c\u89e3\u51b3\u4e86\u673a\u5668\u4eba\u9886\u57df\u4e2d\u5145\u6ee1\u6311\u6218\u7684\u95ee\u9898\uff0c\u5b9e\u73b0\u4e86\u9ad8\u7cbe\u5ea6\u7684\u59ff\u6001\u4f30\u8ba1\u548c\u7269\u4f53\u5206\u7c7b\u3002\u8be5\u8bba\u6587\u7b2c\u4e00\u4f5c\u8005\u5218\u5c0f\u535a\u662f\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u535a\u58eb\u7814\u7a76\u751f\uff0c\u5408\u4f5c\u4f5c\u8005\u5305\u62ec\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u535a\u58eb\u7814\u7a76\u751f\u97e9\u65ed\u4e1c\u3001\u90ed\u5b81\uff0c\u672c\u6587\u7684\u5171\u540c\u901a\u8baf\u4f5c\u8005\u662f\u8bbe\u8ba1\u5b66\u9662\u52a9\u7406\u6559\u6388\u4e07\u82b3\u3001\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u52a9\u7406\u6559\u6388\u5b8b\u8d85\u9633\u3002\n\n\n\nOur research introduces a bio-inspired soft finger that combines inner vision and kinesthetic sensing to estimate in-hand object pose, addressing a challenging problem in robotics. We achieved high-precision pose estimation and object classification using this innovative approach.\nDOI: https:\/\/doi.org\/10.3390\/biomimetics8060501\n\n\n\n\u673a\u5668\u4eba\u548c\u4eba\u673a\u4e92\u52a8\u4e2d\u6700\u5177\u6311\u6218\u6027\u7684\u4efb\u52a1\u4e4b\u4e00\u662f\u624b\u6301\u7269\u4f53\u59ff\u6001\u4f30\u8ba1\u3002\u8fd9\u662f\u4e00\u4e2a\u8ba9\u4eba\u548c\u673a\u5668\u4eba\u90fd\u611f\u5230\u56f0\u60d1\u7684\u95ee\u9898\uff0c\u4e3b\u8981\u662f\u7531\u4e8e\u624b\u548c\u7269\u4f53\u5f15\u8d77\u7684\u906e\u6321\u3002\u6211\u4eec\u7684\u7814\u7a76\u6df1\u5165\u63a2\u8ba8\u4e86\u8fd9\u4e2a\u590d\u6742\u95ee\u9898\uff0c\u5f15\u5165\u4e86\u4e00\u79cd\u6a21\u4eff\u4eba\u7c7b\u7075\u5de7\u6027\u7684\u65b0\u65b9\u6cd5\u3002\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u8f6f\u624b\u6307\uff0c\u8fd9\u662f\u4e00\u79cd\u53d7\u751f\u7269\u542f\u53d1\u7684\u89e3\u51b3\u65b9\u6848\uff0c\u5c06\u5185\u90e8\u89c6\u89c9\u4e0e\u52a8\u89c9\u611f\u77e5\u76f8\u7ed3\u5408\uff0c\u4ee5\u4f30\u8ba1\u7269\u4f53\u7684\u59ff\u6001\u3002\u8fd9\u4e2a\u8f6f\u624b\u6307\u62e5\u6709\u67d4\u97e7\u7684\u9aa8\u67b6\u548c\u53ef\u9002\u5e94\u7684\u76ae\u80a4\uff0c\u786e\u4fdd\u5b83\u80fd\u591f\u9002\u5e94\u4e0d\u540c\u7684\u7269\u4f53\u3002\u6b64\u5916\uff0c\u5728\u4ea4\u4e92\u8fc7\u7a0b\u4e2d\uff0c\u5b83\u7684\u9aa8\u9abc\u53d8\u5f62\u63d0\u4f9b\u4e86\u5b9d\u8d35\u7684\u63a5\u89e6\u4fe1\u606f\uff0c\u7531\u5185\u90e8\u6444\u50cf\u5934\u6536\u96c6\u3002\u6211\u4eec\u7684\u7814\u7a76\u6700\u7ec8\u5f62\u6210\u4e86\u4e00\u4e2a\u7aef\u5230\u7aef\u7684\u6846\u67b6\uff0c\u4f7f\u7528\u8fd9\u4e9b\u8f6f\u624b\u6307\u7684\u539f\u59cb\u56fe\u50cf\u6765\u4f30\u8ba1\u624b\u6301\u7269\u4f53\u7684\u59ff\u6001\u3002\u8be5\u6846\u67b6\u5305\u62ec\u7528\u4e8e\u52a8\u89c9\u4fe1\u606f\u5904\u7406\u7684\u7f16\u7801\u5668\u548c\u7528\u4e8e\u5bf9\u8c61\u59ff\u6001\u548c\u7c7b\u522b\u4f30\u8ba1\u7684\u90e8\u5206\u3002\u6211\u4eec\u5728\u4e03\u4e2a\u7269\u4f53\u4e0a\u5bf9\u6211\u4eec\u7684\u65b9\u6cd5\u8fdb\u884c\u4e86\u4e25\u683c\u7684\u6d4b\u8bd5\uff0c\u53d6\u5f97\u4e86\u4ee4\u4eba\u5370\u8c61\u6df1\u523b\u7684\u7ed3\u679c\uff0c\u59ff\u6001\u4f30\u8ba1\u8bef\u5dee\u4e3a2.02\u6beb\u7c73\uff0c\u65b9\u5411\u8bef\u5dee\u4e3a11.34\u5ea6\uff0c\u5206\u7c7b\u51c6\u786e\u5ea6\u8fbe\u5230\u4e86\u60ca\u4eba\u768499.05%\u3002\n\n\n\nOne of the most challenging robotics and human-robot interaction tasks is in-hand object pose estimation. It's a problem that perplexes humans and robots, primarily due to occlusion caused by the hand and object. Our study delves into this complex issue, introducing a novel approach that seeks to mimic human-like dexterity. We propose a soft finger, a bio-inspired solution that blends inner vision with kinesthetic sensing to estimate the pose of objects. This soft finger has a flexible skeleton and adaptable skin, ensuring its ability to conform to various things. Moreover, its skeleton deformations, which occur during interactions, provide valuable contact information gathered by the inner camera. Our research culminates in an end-to-end framework, using the raw images from these soft fingers to estimate in-hand object pose. This framework comprises an encoder for kinesthetic information processing and an object pose and category estimator. We rigorously tested our approach on seven objects, achieving impressive results, with an error of 2.02 mm for pose estimation and 11.34 degrees for orientation and a remarkable 99.05% classification accuracy.\n\n\n\n\n\n\n\n\u6765\u81ea\u4eba\u7c7b\u89e6\u89c9\u7684\u7075\u611f\uff5cOur Research Inspiration: The Human Touch\n\n\n\n\u4eba\u7c7b\u624b\u975e\u5e38\u64c5\u957f\u5904\u7406\u7269\u4f53\uff0c\u8fd9\u4e3b\u8981\u662f\u56e0\u4e3a\u6211\u4eec\u80fd\u591f\u68c0\u6d4b\u548c\u7406\u89e3\u624b\u548c\u7269\u4f53\u4e4b\u95f4\u7684\u4e92\u52a8\u3002\u867d\u7136\u89c6\u89c9\u4fe1\u606f\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u6570\u636e\u6765\u611f\u77e5\u7269\u4f53\u7684\u5f62\u72b6\uff0c\u4f46\u4eba\u4eec\u4ecd\u7136\u53ef\u4ee5\u4ec5\u4f9d\u9760\u89e6\u89c9\u611f\u77e5\u6765\u8bc4\u4f30\u7269\u4f53\u7684\u91cd\u8981\u5c5e\u6027\uff0c\u5982\u5927\u5c0f\u3001\u5f62\u72b6\u3001\u4f4d\u7f6e\u548c\u65b9\u5411\u3002\u4eba\u4eec\u91c7\u7528\u4e24\u79cd\u4e3b\u8981\u7684\u89e6\u89c9\u611f\u77e5\u6a21\u5f0f\uff1a\u76ae\u80a4\u611f\u77e5\u548c\u52a8\u89c9\u611f\u77e5\u3002\u76ae\u80a4\u611f\u77e5\u4f9d\u8d56\u4e8e\u76ae\u80a4\u4e0e\u7269\u4f53\u7684\u7269\u7406\u63a5\u89e6\uff0c\u56e0\u6b64\u975e\u5e38\u9002\u5408\u611f\u77e5\u538b\u529b\u3001\u632f\u52a8\u548c\u6e29\u5ea6\u7b49\u56e0\u7d20\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u52a8\u89c9\u611f\u77e5\u63d0\u4f9b\u4e86\u5bf9\u8eab\u4f53\u4f4d\u7f6e\u548c\u8fd0\u52a8\u7684\u8ba4\u77e5\uff0c\u5bf9\u4e8e\u533a\u5206\u7269\u4f53\u7684\u4f4d\u7f6e\u548c\u65b9\u5411\u975e\u5e38\u6709\u4ef7\u503c\u3002\u53d7\u52a8\u89c9\u611f\u77e5\u7684\u542f\u53d1\uff0c\u6211\u4eec\u7684\u7814\u7a76\u5f15\u5165\u4e86\u4e00\u6839\u8f6f\u624b\u6307\uff0c\u914d\u5907\u4e86\u5d4c\u5165\u5f0f\u6444\u50cf\u5934\u548c\u6df1\u5ea6\u5b66\u4e60\u67b6\u6784\uff0c\u7528\u4e8e\u7269\u4f53\u8bc6\u522b\u3002\n\n\n\nHuman hands are remarkably adept at handling objects, largely due to our ability to detect and understand the interactions between our hands and objects. While visual information provides rich data to perceive an object's shape, humans can still assess essential object properties, such as size, shape, position, and orientation, relying solely on their sense of touch. Humans employ two primary modes of tactile perception: cutaneous and kinesthetic. The cutaneous sense depends on physical contact between the skin and objects, making it ideal for perceiving pressure, vibration, and temperature. In contrast, the kinesthetic sense provides awareness of the position and movement of the body, which is invaluable for discerning an object's position and orientation. Drawing inspiration from the kinesthetic sense, our study introduces a soft finger equipped with an embedded camera and a deep learning architecture for object recognition.\n\n\n\n\u7269\u4f53\u59ff\u6001\u4f30\u8ba1\u7684\u6311\u6218\uff5cChallenges in Object Pose Estimation\n\n\n\n\u8bc6\u522b\u7269\u4f53\u7684\u59ff\u6001\u662f\u673a\u5668\u4eba\u9886\u57df\u4e00\u4e2a\u57fa\u672c\u4f46\u5177\u6709\u6311\u6218\u6027\u7684\u4efb\u52a1\u3002\u4e3a\u4e86\u6210\u529f\u64cd\u4f5c\uff0c\u673a\u5668\u4eba\u5fc5\u987b\u6df1\u523b\u7406\u89e3\u5176\u73af\u5883\u4ee5\u53ca\u4e0e\u4e4b\u4e92\u52a8\u7684\u7269\u4f53\u3002\u89c6\u89c9\u4f20\u611f\u5668\u5df2\u6210\u4e3a\u611f\u77e5\u73af\u5883\u548c\u8bc6\u522b\u7269\u4f53\u7684\u5e38\u89c1\u89e3\u51b3\u65b9\u6848\u3002\u5df2\u7ecf\u5f00\u53d1\u4e86\u8bb8\u591a\u65b9\u6cd5\u6765\u8fdb\u884c\u7269\u4f53\u5b9a\u4f4d\u548c\u5206\u7c7b\uff0c\u5145\u5206\u5229\u7528\u4e86\u6df1\u5ea6\u5b66\u4e60\u7684\u5a01\u529b\u3002\u7136\u800c\uff0c\u906e\u6321\u95ee\u9898\u4ecd\u7136\u662f\u4e00\u4e2a\u6301\u7eed\u5b58\u5728\u7684\u6311\u6218\uff0c\u5c24\u5176\u662f\u5728\u7cbe\u7ec6\u64cd\u4f5c\u4efb\u52a1\u4e2d\u3002\u673a\u5668\u4eba\u7cfb\u7edf\u4e2d\u7684\u56fa\u6709\u4e0d\u786e\u5b9a\u6027\u3001\u5bb9\u5dee\u548c\u566a\u58f0\u8fdb\u4e00\u6b65\u52a0\u5927\u4e86\u7269\u4f53\u59ff\u6001\u4f30\u8ba1\u7684\u590d\u6742\u6027\u3002\n\n\n\nRecognizing the pose of objects is a fundamental yet challenging task in robotics. For successful manipulation, robots must deeply understand their environment and the objects they interact with. Vision sensors have become a common solution for perceiving the environment and recognizing objects. Many approaches have been developed for object localization and classification, leveraging the power of deep learning. However, occlusion remains a persistent challenge, particularly in delicate manipulation tasks. The inherent uncertainties, tolerances, and noise in robotic systems further complicate object pose estimation.\n\n\n\n\u6211\u4eec\u7684\u65b9\u6cd5\uff1a\u8f6f\u624b\u6307\u672c\u4f53\u611f\u77e5\uff5cOur Approach: Soft Finger Proprioception\n\n\n\n\u53d7\u624b-\u7269\u4f53\u59ff\u6001\u4f30\u8ba1\uff08HOPE\uff09\u95ee\u9898\u7684\u542f\u53d1\uff0c\u6211\u4eec\u65e8\u5728\u901a\u8fc7\u6211\u4eec\u72ec\u7279\u7684\u65b9\u6cd5\u89e3\u51b3\u624b\u6293\u53d6\u7269\u4f53\u7684\u59ff\u6001\u4f30\u8ba1\u95ee\u9898\u3002\u5bf9\u4e8e\u5168\u52a8\u529b\u624b\u6293\u53d6\u5668\uff0c\u6211\u4eec\u4ece\u624b\u6293\u53d6\u5668\u7535\u673a\u83b7\u53d6\u5173\u8282\u89d2\u5ea6\uff0c\u5e76\u4ece\u89e6\u89c9\u548c\u529b\u4f20\u611f\u5668\u83b7\u53d6\u63a5\u89e6\u72b6\u6001\u3002\u5229\u7528\u8fd9\u4e9b\u4fe1\u606f\uff0c\u6211\u4eec\u4f30\u8ba1\u7269\u4f53\u7684\u59ff\u6001\u548c\u7c7b\u522b\u3002\u5bf9\u4e8e\u975e\u5168\u52a8\u529b\u624b\u6293\u53d6\u5668\uff0c\u9700\u8981\u989d\u5916\u7684\u4f20\u611f\u5668\u6765\u6d4b\u91cf\u989d\u5916\u7684\u81ea\u7531\u5ea6\u3002\u9488\u5bf9\u6b64\u76ee\u7684\u63d0\u51fa\u4e86GelSight\u3001DIGIT\u548cFingerVision\u7b49\u4f20\u611f\u5668\u3002\u7136\u800c\uff0c\u5b83\u4eec\u7684\u5c40\u9650\u6027\uff0c\u5982\u5f39\u6027\u5c42\u7684\u539a\u5ea6\uff0c\u4f7f\u6211\u4eec\u4e0d\u5f97\u4e0d\u63a2\u7d22\u66ff\u4ee3\u89e3\u51b3\u65b9\u6848\u3002\n\n\n\nInspired by the hand-object pose estimation (HOPE) problem, we aim to solve the gripper-object pose estimation issue with our unique approach. We gather joint angles from gripper motors and contact states from tactile and force sensors for fully actuated grippers. Using this information, we estimate object pose and category. In the case of under-actuated grippers, additional sensors are required to measure extra degrees of freedom. Sensors like GelSight, DIGIT, and FingerVision are proposed for this purpose. However, their limitations, such as the thickness of the elastic layer, have led us to explore an alternative solution.\n\n\n\n\n\n\n\n\u6211\u4eec\u7684\u89c6\u89e6\u878d\u5408\u67d4\u6027\u6307\uff5cOur Vision-based Soft Finger\n\n\n\n\u6211\u4eec\u7684\u7814\u7a76\u5f15\u5165\u4e86\u4e00\u79cd\u67d4\u8f6f\u7684\u81ea\u9002\u5e94\u624b\u6307\uff0c\u914d\u5907\u4e86\u5d4c\u5165\u5f0f\u6444\u50cf\u5934\uff0c\u7528\u4e8e\u6355\u6349\u4e0e\u7269\u4f53\u4e92\u52a8\u8fc7\u7a0b\u4e2d\u7684\u624b\u6307\u53d8\u5f62\u3002\u8fd9\u6839\u67d4\u8f6f\u624b\u6307\u5b89\u88c5\u5728\u624b\u6293\u53d6\u5668\u4e0a\uff0c\u589e\u5f3a\u4e86\u9002\u5e94\u6027\uff0c\u4f7f\u5176\u80fd\u591f\u901a\u8fc7\u672c\u4f53\u611f\u77e5\u6765\u8bc6\u522b\u5904\u7406\u7684\u7269\u4f53\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u662f\u4f7f\u7528\u539f\u59cb\u56fe\u50cf\u6765\u4f30\u8ba1\u7269\u4f53\u7684\u59ff\u6001\u548c\u7c7b\u522b\uff0c\u800c\u4e0d\u4f9d\u8d56\u4e8eCAD\u6a21\u578b\u3002\u6211\u4eec\u91c7\u7528\u4e00\u79cd\u9636\u6bb5\u6027\u7684\u65b9\u6cd5\u8fdb\u884c\u8bc6\u522b\uff0c\u7b80\u5316\u4e86\u57f9\u8bad\uff0c\u63d0\u9ad8\u4e86\u53ef\u91cd\u7528\u6027\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u5305\u62ec\u7528\u4e8e\u5d4c\u5165\u4e92\u52a8\u4fe1\u606f\u7684\u7279\u5f81\u63d0\u53d6\u5668\u548c\u7528\u4e8e\u8fdb\u4e00\u6b65\u64cd\u4f5c\u4efb\u52a1\u7684\u540e\u5904\u7406\u5668\u3002\u7279\u5f81\u63d0\u53d6\u5668\u91c7\u7528ResNet\u5757\u7684\u7f16\u7801\u5668-\u89e3\u7801\u5668\u67b6\u6784\uff0c\u540e\u5904\u7406\u5668\u4f7f\u7528\u591a\u5c42\u611f\u77e5\u5668\uff08MLP\uff09\u8fdb\u884c\u5206\u7c7b\u548c\u56de\u5f52\u3002\n\n\n\nOur research introduces a soft, adaptive finger with an integrated camera that captures finger deformations during object interactions. This soft finger is mounted on a gripper, enhancing adaptability and the ability to recognize handled objects through proprioceptive sensing. Our approach uses raw images to estimate object pose and categories without relying on CAD models. We adopt a one-stage methodology for recognition, simplifying training, and improving reusability. Our method consists of a feature extractor for interaction information embedding and a post-processor for further manipulation tasks. The feature extractor employs an Encoder-Decoder architecture with ResNet blocks, while the post-processor utilizes a multilayer perceptron (MLP) for classification and regression.\n\n\n\n\u4e3b\u8981\u8d21\u732e\uff5cKey Contributions\n\n\n\n\u6211\u4eec\u7684\u7814\u7a76\u4e3a\u8be5\u9886\u57df\u5e26\u6765\u4e86\u51e0\u9879\u91cd\u8981\u7684\u8d21\u732e\uff1a\n\n\n\nOur research brings several significant contributions to the field:\n\n\n\n\n\u6211\u4eec\u8bbe\u8ba1\u5e76\u5236\u9020\u4e86\u4e00\u4e2a\u914d\u5907\u5d4c\u5165\u5f0f\u6444\u50cf\u5934\u7684\u67d4\u8f6f\u624b\u6307\uff0c\u7528\u4e8e\u672c\u4f53\u611f\u77e5\u3002We design and fabricate a soft finger with an integrated camera for proprioception.\n\n\n\n\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u6846\u67b6\uff0c\u7528\u4e8e\u63d0\u53d6\u548c\u878d\u5408\u624b\u6307\u6570\u636e\uff0c\u4ee5\u786e\u5b9a\u624b\u6293\u53d6\u5668\u5185\u7269\u4f53\u7684\u72b6\u6001\u3002We propose a framework to extract and fuse finger data to determine objects' states within a gripper.\n\n\n\n\u6211\u4eec\u901a\u8fc7\u59ff\u6001\u4f30\u8ba1\u548c\u5206\u7c7b\u7684\u9ad8\u51c6\u786e\u6027\u8bc1\u660e\u4e86\u6211\u4eec\u65b9\u6cd5\u7684\u6709\u6548\u6027\u3002We demonstrate the effectiveness of our method through high accuracy in pose estimation and classification.\n\n\n\n\n\u672a\u6765\u65b9\u5411\uff5cFuture Directions\n\n\n\n\u5c55\u671b\u672a\u6765\uff0c\u6211\u4eec\u7684\u7814\u7a76\u4e3a\u5404\u79cd\u4ee4\u4eba\u5174\u594b\u7684\u53ef\u80fd\u6027\u655e\u5f00\u4e86\u5927\u95e8\u3002\u6211\u4eec\u8ba1\u5212\u63a2\u7d22\u5c06\u6211\u4eec\u7684\u65b9\u6cd5\u5e94\u7528\u4e8e\u4e0d\u540c\u7684\u89e6\u89c9\u4f20\u611f\u5668\u548c\u624b\u6293\u53d6\u5668\uff0c\u4f7f\u5176\u6210\u4e3a\u5404\u79cd\u5e94\u7528\u7684\u591a\u529f\u80fd\u89e3\u51b3\u65b9\u6848\u3002\u6b64\u5916\uff0c\u6211\u4eec\u6253\u7b97\u6269\u5927\u53ef\u4ee5\u53d7\u76ca\u4e8e\u6211\u4eec\u65b9\u6cd5\u7684\u64cd\u4f5c\u4efb\u52a1\u7684\u8303\u56f4\u3002\u63d0\u9ad8\u7269\u4f53\u59ff\u6001\u4f30\u8ba1\u7684\u8fdb\u7a0b\u8fd8\u5728\u7ee7\u7eed\uff0c\u6211\u4eec\u81f4\u529b\u4e8e\u63a8\u52a8\u673a\u5668\u4eba\u9886\u57df\u7684\u53ef\u80fd\u6027\u8fb9\u754c\u3002\n\n\n\nAs we look ahead, our study opens doors to exciting possibilities. We plan to explore the transferability of our method to different tactile sensors and grippers, making it a versatile solution for various applications. Additionally, we intend to expand the range of manipulation tasks that can benefit from our approach. The journey of enhancing object pose estimation continues, and we are committed to pushing the boundaries of what's possible in robotics.\n\n\n\n\nXiaobo Liu, Xudong Han, Ning Guo, Fang Wan*, and Chaoyang Song* (2023). \u201cBio-inspired Proprioceptive Touch of a Soft Finger with Inner-Finger Kinesthetic Perception.\u201d Biomimetics, 8(6), 501.\nDOI: https:\/\/doi.org\/10.3390\/biomimetics8060501","author":{"name":"Design and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"Oct 21, 2023","dateGMT":"2023-10-20 19:07:39","modifiedDate":"2023-10-23 18:25:45","modifiedDateGMT":"2023-10-23 10:25:45","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=147\" rel=\"category\">Conference Papers<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=56\" rel=\"category\">Publication<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=147\" rel=\"category\">Conference Papers<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=56\" rel=\"category\">Publication<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":4,"sec":5},"status":"publish"},{"id":4686,"link":"https:\/\/ancorasir.com\/?p=4686","name":"%e7%94%a8%e4%ba%8e%e6%b0%b4%e4%b8%8b%e4%ba%ba%e6%9c%ba%e4%ba%a4%e4%ba%92%e7%9a%84%e6%84%8f%e5%9b%be%e8%af%86%e5%88%ab%e6%8a%80%e6%9c%af%ef%bd%9cunderwater-intention-recognition-for-human-robot-interac","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2023\/10\/News-\uff082023\uff09-C-CASE-HeadThroat.jpg?fit=2400%2C1350&ssl=1","alt":""},"title":"\u7528\u4e8e\u6c34\u4e0b\u4eba\u673a\u4ea4\u4e92\u7684\u610f\u56fe\u8bc6\u522b\u6280\u672f\uff5cUnderwater Intention Recognition for Human-Robot Interactions","excerpt":"\u6211\u4eec\u6700\u8fd1\u53d1\u8868\u5728\u300aIEEE CASE 2023\u300b\u7684\u4f1a\u8bae\u8bba\u6587\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u589e\u5f3a\u6c34\u4e0b\u4eba\u673a\u4e92\u52a8\u7684\u65b0\u65b9\u6cd5\uff0c\u89e3\u51b3\u4e86\u6f5c\u6c34\u5458\u5728\u6c34\u4e0b\u4eba\u673a\u4ea4\u4e92\u65f6\u9762\u4e34\u7684\u6311\u6218\u3002\u8be5\u8bba\u6587\u7684\u516c\u5171\u7b2c\u4e00\u4f5c\u8005\u90ed\u5b87\u82b9\u3001\u5f20\u9555\u6b63\u4e3a\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u53ca\u8bbe\u8ba1\u5b66\u9662\u7855\u58eb\u7814\u7a76\u751f\uff0c\u5408\u4f5c\u4f5c\u8005\u5305\u62ec\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u672c\u79d1\u751f\u90b1\u671b\u5b8f\u6770\uff0cMIT\u673a\u68b0\u5de5\u7a0b\u7cfb\u6559\u6388Harry Asada\uff08\u5916\u80a2\u4f53\u673a\u5668\u4eba\u6982\u5ff5\u7684\u5f00\u521b\u8005\uff09\uff0c\u672c\u6587\u7684\u5171\u540c\u901a\u8baf\u4f5c\u8005\u662f\u8bbe\u8ba1\u5b66\u9662\u52a9\u7406\u6559\u6388\u4e07\u82b3\u3001\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u52a9\u7406\u6559\u6388\u5b8b\u8d85\u9633\u3002","content":"\u6211\u4eec\u6700\u8fd1\u53d1\u8868\u5728\u300aIEEE CASE 2023\u300b\u7684\u4f1a\u8bae\u8bba\u6587\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u589e\u5f3a\u6c34\u4e0b\u4eba\u673a\u4e92\u52a8\u7684\u65b0\u65b9\u6cd5\uff0c\u89e3\u51b3\u4e86\u6f5c\u6c34\u5458\u5728\u6c34\u4e0b\u4eba\u673a\u4ea4\u4e92\u65f6\u9762\u4e34\u7684\u6311\u6218\u3002\u8be5\u8bba\u6587\u7684\u516c\u5171\u7b2c\u4e00\u4f5c\u8005\u90ed\u5b87\u82b9\u3001\u5f20\u9555\u6b63\u4e3a\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u53ca\u8bbe\u8ba1\u5b66\u9662\u7855\u58eb\u7814\u7a76\u751f\uff0c\u5408\u4f5c\u4f5c\u8005\u5305\u62ec\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u672c\u79d1\u751f\u90b1\u671b\u5b8f\u6770\uff0cMIT\u673a\u68b0\u5de5\u7a0b\u7cfb\u6559\u6388Harry Asada\uff08\u5916\u80a2\u4f53\u673a\u5668\u4eba\u6982\u5ff5\u7684\u5f00\u521b\u8005\uff09\uff0c\u672c\u6587\u7684\u5171\u540c\u901a\u8baf\u4f5c\u8005\u662f\u8bbe\u8ba1\u5b66\u9662\u52a9\u7406\u6559\u6388\u4e07\u82b3\u3001\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u52a9\u7406\u6559\u6388\u5b8b\u8d85\u9633\u3002\n\n\n\nOur study presents a novel approach to enhance human-robot interactions underwater by recognizing human intentions, addressing the challenges divers face when communicating while submerged. We developed a compact, wearable system that simultaneously detects head motion and throat vibrations, successfully translating these signals into control commands for an underwater superlimb, thus reducing the physical and mental demands on divers. These findings lay the groundwork for further research in underwater intention recognition and its applications.\ndoi: https:\/\/doi.org\/10.1109\/CASE56687.2023.10260480\n\n\n\n\u5728\u6211\u4eec\u7684\u7814\u7a76\u4e2d\uff0c\u6211\u4eec\u4ecb\u7ecd\u4e86\u4e00\u79cd\u521b\u65b0\u7684\u65b9\u6cd5\uff0c\u65e8\u5728\u63d0\u9ad8\u6c34\u4e0b\u73af\u5883\u4e2d\u7684\u4eba\u673a\u4ea4\u4e92\u3002\u6211\u4eec\u7684\u7814\u7a76\u4e13\u6ce8\u4e8e\u89e3\u51b3\u6f5c\u6c34\u5458\u5728\u6c34\u4e0b\u8bc6\u522b\u5176\u610f\u56fe\u7684\u590d\u6742\u6311\u6218\u3002\u8fd9\u9879\u7814\u7a76\u5bf9\u4e8e\u5f00\u53d1\u667a\u80fd\u53ef\u7a7f\u6234\u7cfb\u7edf\uff0c\u4ee5\u5b9e\u73b0\u6c34\u4e0b\u7684\u4eba\u673a\u4ea4\u4e92\u5177\u6709\u91cd\u8981\u610f\u4e49\u3002\n\n\n\nIn our study, we introduce a pioneering approach to enhance human-robot interactions in underwater environments. Our research is focused on addressing the complex challenge of recognizing human intentions while diving beneath the waves. This research has significant implications for the development of intelligent wearable systems for underwater human-robot interactions.\n\n\n\n\n\n\n\n\u6c34\u4e0b\u7684\u6311\u6218\uff5cThe Underwater Challenge\n\n\n\n\u6c34\u4e0b\u4e16\u754c\u4e3a\u6f5c\u6c34\u5458\u63d0\u51fa\u4e86\u72ec\u7279\u7684\u6311\u6218\uff0c\u7279\u522b\u662f\u5728\u6709\u6548\u8868\u8fbe\u4ed6\u4eec\u7684\u610f\u56fe\u65b9\u9762\u3002\u6f5c\u6c34\u5458\u901a\u5e38\u9700\u8981\u5728\u4e09\u7ef4\u7a7a\u95f4\u5185\u4fdd\u6301\u7cbe\u786e\u7684\u4f53\u6001\uff0c\u540c\u65f6\u64cd\u4f5c\u8bbe\u5907\uff0c\u4f8b\u5982\u5de5\u5177\uff0c\u8fd9\u662f\u5177\u6709\u4f53\u529b\u548c\u7cbe\u795e\u8d1f\u62c5\u7684\u5de5\u4f5c\u3002\u76ee\u524d\uff0c\u6f5c\u6c34\u5458\u7684\u901a\u4fe1\u65b9\u5f0f\u6709\u9650\uff0c\u4f20\u7edf\u7684\u624b\u52bf\u662f\u5728\u6c34\u4e0b\u4f20\u8fbe\u610f\u56fe\u7684\u6700\u5e38\u89c1\u65b9\u5f0f\u3002\n\n\n\nThe underwater realm presents unique challenges for divers, particularly when it comes to expressing their intentions effectively. Divers often need to maintain precise body postures in three dimensions while operating equipment, such as tools, which is physically demanding and mentally exhausting. Current communication methods for divers are limited, and traditional hand gestures are the most common way of conveying intentions underwater.\n\n\n\n\u7136\u800c\uff0c\u8fd9\u4e9b\u624b\u52bf\u5e76\u4e0d\u603b\u662f\u5b9e\u9645\u7684\uff0c\u7279\u522b\u662f\u5f53\u6f5c\u6c34\u5458\u9700\u8981\u5e73\u8861\u4ed6\u4eec\u7684\u8eab\u4f53\u65f6\uff0c\u800c\u4ed6\u4eec\u7684\u53cc\u624b\u6b63\u5728\u6267\u884c\u4efb\u52a1\uff0c\u4f8b\u5982\u5de5\u5177\u64cd\u4f5c\u3002\u6c34\u4e0b\u73af\u5883\u9650\u5236\u4e86\u6f5c\u6c34\u5458\u7684\u611f\u77e5\u80fd\u529b\uff0c\u4e5f\u9650\u5236\u4e86\u901a\u8fc7\u4f20\u7edf\u65b9\u6cd5\u8fdb\u884c\u901a\u4fe1\uff0c\u4f8b\u5982\u53e3\u5934\u8868\u8fbe\u6216\u9762\u90e8\u8868\u60c5\u3002\u8fd9\u79cd\u9650\u5236\u4f7f\u5f97\u6709\u5fc5\u8981\u5f00\u53d1\u6c34\u4e0b\u7684\u610f\u56fe\u8bc6\u522b\u65b0\u65b9\u6cd5\uff0c\u4ee5\u4fbf\u5b9e\u73b0\u6709\u6548\u7684\u4eba\u673a\u4ea4\u4e92\u3002\n\n\n\nHowever, these gestures are not always practical, especially when divers need to balance their bodies, and their hands are occupied with tasks like tool operations. The underwater environment restricts divers' senses and the ability to communicate through conventional methods like verbal expressions or facial cues. This limitation necessitates novel solutions for recognizing human intentions underwater to enable effective human-robot interactions.\n\n\n\n\n\n\n\n\u4ece\u9646\u5730\u7cfb\u7edf\u6c72\u53d6\u7075\u611f\uff5cDrawing Inspiration from On-Land Systems\n\n\n\n\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u6211\u4eec\u4ece\u9646\u5730\u7cfb\u7edf\u4e2d\u5438\u53d6\u4e86\u7075\u611f\uff0c\u8fd9\u4e9b\u7cfb\u7edf\u5229\u7528\u5934\u90e8\u8fd0\u52a8\u548c\u5589\u5499\u632f\u52a8\u6765\u8bc6\u522b\u4eba\u7684\u610f\u56fe\u3002\u4f8b\u5982\uff0c\u7814\u7a76\u4eba\u5458\u5df2\u7ecf\u4f7f\u7528\u5589\u5499\u632f\u52a8\u6765\u89e3\u91ca\u5589\u5499\u5207\u9664\u672f\u540e\u6a21\u7cca\u53d1\u97f3\u7684\u8a00\u8bed\uff0c\u4ee5\u53ca\u68c0\u6d4b\u773c\u90e8\u8fd0\u52a8\u548c\u5589\u5499\u632f\u52a8\u4ee5\u7406\u89e3\u60a3\u6709\u808c\u840e\u7f29\u4fa7\u7d22\u786c\u5316\u75c7\uff08ALS\uff09\u7684\u4eba\u7684\u610f\u56fe\u3002\u5176\u4ed6\u4eba\u5df2\u7ecf\u5f00\u53d1\u4e86\u4f7f\u7528\u60ef\u6027\u4f20\u611f\u5668\u6765\u68c0\u6d4b\u5934\u90e8\u8fd0\u52a8\u7684\u7cfb\u7edf\uff0c\u4ee5\u8fdb\u884c\u610f\u56fe\u8bc6\u522b\u3002\u800c\u4e14\uff0c\u4e00\u4e9b\u7814\u7a76\u4eba\u5458\u8bbe\u8ba1\u4e86\u4e00\u79cd\u901a\u8fc7\u5934\u90e8\u624b\u52bf\u63a7\u5236\u7684\u8f6e\u6905\uff0c\u4ee5\u5e2e\u52a9\u56db\u80a2\u762b\u75ea\u7684\u60a3\u8005\u3002\n\n\n\nTo address this issue, we drew inspiration from on-land systems that utilize head motion and throat vibrations to recognize human intentions. For instance, researchers have used throat vibrations to interpret speech after laryngectomy surgery and have detected eye motions and throat vibrations to understand the intentions of individuals with amyotrophic lateral sclerosis (ALS). Others have developed systems that use head gestures for intention recognition in various applications.\n\n\n\n\u6211\u4eec\u8ba4\u8bc6\u5230\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u5728\u6c34\u4e0b\u60c5\u666f\u4e2d\u4e5f\u80fd\u591f\u9002\u5e94\uff0c\u7279\u522b\u662f\u5f53\u6f5c\u6c34\u5458\u9700\u8981\u4fdd\u6301\u5e73\u8861\uff0c\u5e76\u4e14\u4ed6\u4eec\u7684\u53cc\u624b\u901a\u5e38\u7528\u4e8e\u4fdd\u6301\u8eab\u4f53\u59ff\u52bf\u3002\u5c3d\u7ba1\u5b58\u5728\u6311\u6218\uff0c\u4f8b\u5982\u6c34\u4e0b\u73af\u5883\u4e2d\u7684\u5608\u6742\u4fe1\u53f7\uff0c\u4f46\u6211\u4eec\u7684\u76ee\u6807\u662f\u5c06\u5934\u90e8\u8fd0\u52a8\u548c\u5589\u5499\u632f\u52a8\u7ed3\u5408\u5728\u4e00\u8d77\uff0c\u4ee5\u4f5c\u4e3a\u4e00\u79cd\u8868\u8fbe\u610f\u56fe\u7684\u624b\u6bb5\uff0c\u7528\u4e8e\u63a7\u5236\u6c34\u4e0b\u53ef\u7a7f\u6234\u673a\u5668\u4eba\uff0c\u6bd4\u5982\u6c34\u4e0b\u5916\u80a2\u4f53\u3002\n\n\n\nWe recognized the potential to adapt these methods to underwater scenarios, where divers' hands are often busy with maintaining body postures. Despite challenges, such as noisy signals in the aquatic environment, we aimed to combine head motion and throat vibration as a means of expressing intentions for controlling underwater wearable robots, like an underwater superlimb.\n\n\n\n\u6211\u4eec\u7684\u65b9\u6cd5\uff5cOur Approach\n\n\n\n\u6211\u4eec\u7684\u7814\u7a76\u5f15\u5165\u4e86\u4e00\u79cd\u521b\u65b0\u7684\u6c34\u4e0b\u610f\u56fe\u8bc6\u522b\u65b9\u6cd5\u3002\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u79cd\u7d27\u51d1\u7684\u53ef\u7a7f\u6234\u7cfb\u7edf\uff0c\u80fd\u591f\u540c\u65f6\u68c0\u6d4b\u6f5c\u6c34\u5458\u7684\u5934\u90e8\u8fd0\u52a8\u548c\u5589\u5499\u632f\u52a8\u3002\u8be5\u7cfb\u7edf\u65e8\u5728\u901a\u8fc7\u673a\u5668\u5b66\u4e60\u7b97\u6cd5\u89e3\u91ca\u6f5c\u6c34\u5458\u7684\u5934\u90e8\u8fd0\u52a8\u548c\u58f0\u97f3\u632f\u52a8\uff0c\u4ee5\u8bc6\u522b\u5176\u610f\u56fe\uff0c\u5e76\u5c06\u5176\u8f6c\u5316\u4e3a\u6c34\u4e0b\u5916\u80a2\u4f53\u7684\u63a7\u5236\u547d\u4ee4\u3002\u8fd9\u79cd\u80fd\u529b\u65e8\u5728\u51cf\u8f7b\u6f5c\u6c34\u5458\u7684\u4f53\u529b\u548c\u7cbe\u795e\u8d1f\u62c5\uff0c\u4f7f\u4ed6\u4eec\u80fd\u591f\u5728\u4e0d\u4f7f\u7528\u624b\u7684\u60c5\u51b5\u4e0b\u81ea\u7136\u5730\u4e92\u52a8\u3002\n\n\n\nOur study introduces an innovative solution for underwater intention recognition. We designed a compact, wearable system capable of simultaneously detecting the diver's head motion and throat vibrations. This system is engineered to facilitate multi-modal human-robot interactions with an underwater superlimb, which provides propulsion assistance for divers.\n\n\n\nThe wearable design includes a customized headband with a waterproof Inertial Measurement Unit (IMU) sensor placed on the top and a throat microphone located on the neck. By utilizing machine learning algorithms, the system interprets the diver's head motion and vocal vibrations to recognize intentions and translate them into control commands for an underwater superlimb. This capability aims to reduce the physical and mental demands on divers, allowing them to interact naturally without using their hands.\n\n\n\n\n\n\n\n\u672c\u6587\u8d21\u732e\uff5cKey Contributions\n\n\n\n\u6211\u4eec\u7684\u7814\u7a76\u5177\u6709\u4ee5\u4e0b\u51e0\u4e2a\u91cd\u8981\u8d21\u732e\uff1a\n\n\n\nOur study makes several noteworthy contributions:\n\n\n\n\n\u521b\u65b0\u8bbe\u8ba1\uff1a\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u6c34\u4e0b\u610f\u56fe\u8bc6\u522b\u8bbe\u8ba1\uff0c\u91c7\u7528\u5934\u90e8\u8fd0\u52a8\u548c\u5589\u5499\u632f\u52a8\uff0c\u4ee5\u9002\u5e94\u6f5c\u6c34\u60c5\u666f\u7684\u7d27\u51d1\u5f62\u5f0f\u3002Novel Design: We propose a novel design for underwater intention recognition that incorporates head motion and throat vibration in a compact form factor suitable for diving scenarios.\n\n\n\n\u5b9e\u65f6\u5206\u7c7b\u7b97\u6cd5\uff1a\u6211\u4eec\u5f00\u53d1\u4e86\u4e00\u79cd\u5b9e\u65f6\u5206\u7c7b\u7b97\u6cd5\uff0c\u57fa\u4e8e\u5934\u90e8\u8fd0\u52a8\u548c\u97f3\u9636\uff0c\u7528\u4e8e\u6709\u6548\u8bc6\u522b\u6c34\u4e0b\u6f5c\u6c34\u5458\u7684\u610f\u56fe\u3002Real-Time Classification Algorithm: We developed a real-time classification algorithm based on head motion and musical scales to recognize divers' intentions underwater effectively.\n\n\n\n\u63a7\u5236\u53ef\u884c\u6027\uff1a\u6211\u4eec\u901a\u8fc7\u63a7\u5236\u6c34\u4e0b\u5916\u80a2\u4f53\u539f\u578b\u6765\u8bc1\u660e\u4e86\u6211\u4eec\u65b9\u6cd5\u7684\u53ef\u884c\u6027\uff0c\u7528\u4e8e\u8fde\u7eed\u7684\u6c34\u4e0b\u63a8\u8fdb\u8f85\u52a9\u3002Feasibility for Control: We demonstrated the feasibility of our approach by controlling an underwater superlimb prototype with continuous motion commands for underwater propulsion assistance.\n\n\n\n\n\u672a\u6765\u65b9\u5411\uff5cFuture Directions\n\n\n\n\u867d\u7136\u6211\u4eec\u7684\u7ed3\u679c\u662f\u4ee4\u4eba\u9f13\u821e\u7684\uff0c\u4f46\u6211\u4eec\u7684\u7814\u7a76\u4e3a\u6c34\u4e0b\u610f\u56fe\u8bc6\u522b\u548c\u5177\u6709\u8d85\u80a2\u4f53\u652f\u6301\u7684\u4eba\u673a\u4ea4\u4e92\u6253\u4e0b\u4e86\u57fa\u7840\u3002\u6269\u5927\u610f\u56fe\u8868\u8fbe\u7684\u8bcd\u6c47\u548c\u6539\u8fdb\u7cfb\u7edf\u7684\u6027\u80fd\u662f\u6b63\u5728\u8fdb\u884c\u548c\u672a\u6765\u5de5\u4f5c\u7684\u9886\u57df\u3002\u6b64\u5916\uff0c\u6211\u4eec\u8ba1\u5212\u63a2\u7d22\u66f4\u81ea\u7136\u7684\u6c34\u4e0b\u610f\u56fe\u8868\u8fbe\u65b9\u6cd5\uff0c\u501f\u9274\u4e86\u5934\u90e8\u8fd0\u52a8\u548c\u5589\u5499\u632f\u52a8\u7684\u6210\u529f\u7ec4\u5408\u3002\n\n\n\nWhile our results are promising, our study serves as a foundation for future research in underwater intention recognition and human-robot interactions with supernumerary support. Expanding the vocabulary for intention expression and refining the system's performance are areas of ongoing and future work. Additionally, we plan to explore more natural expressions of intentions underwater, building upon the successful combination of head motion and throat vibrations.\n\n\n\n\u7ed3\u8bba\uff5cConclusion\n\n\n\n\u6211\u4eec\u7684\u7814\u7a76\u4ee3\u8868\u4e86\u5728\u6c34\u4e0b\u610f\u56fe\u8bc6\u522b\u9886\u57df\u7684\u91cd\u8981\u4e00\u6b65\uff0c\u4e3a\u6539\u8fdb\u6c34\u4e0b\u4eba\u673a\u4ea4\u4e92\u63d0\u4f9b\u4e86\u4e00\u79cd\u521b\u65b0\u548c\u5b9e\u9645\u7684\u65b9\u6cd5\u3002\u901a\u8fc7\u5c06\u5934\u90e8\u8fd0\u52a8\u548c\u5589\u5499\u632f\u52a8\u7ed3\u5408\u8d77\u6765\u8bc6\u522b\u4eba\u7684\u610f\u56fe\uff0c\u6211\u4eec\u65e8\u5728\u4f7f\u6f5c\u6c34\u66f4\u52a0\u9ad8\u6548\u548c\u4fbf\u6377\u3002\u6211\u4eec\u7684\u7814\u7a76\u7ed3\u679c\u4e0d\u4ec5\u9002\u7528\u4e8e\u6f5c\u6c34\uff0c\u8fd8\u53ef\u4ee5\u5e94\u7528\u4e8e\u5177\u6709\u8a00\u8bed\u969c\u788d\u7684\u4e2a\u4f53\u4ee5\u53ca\u5728\u6c34\u4e0b\u548c\u9646\u5730\u73af\u5883\u4e2d\u5404\u79cd\u4eba\u673a\u4ea4\u4e92\u60c5\u666f\u3002\n\n\n\nOur research represents a significant step forward in the development of intelligent wearable systems for underwater human-robot interactions. By combining head motion and throat vibrations to recognize human intentions, we aim to make diving more efficient and accessible. The potential applications of our findings extend beyond diving, offering possibilities for individuals with vocal impairments and various human-robot interaction scenarios in aquatic and terrestrial environments.\n\n\n\n\u6211\u4eec\u7684\u7814\u7a76\u4e3a\u6c34\u4e0b\u610f\u56fe\u8bc6\u522b\u9886\u57df\u7684\u7814\u7a76\u548c\u53d1\u5c55\u5f00\u8f9f\u4e86\u65b0\u7684\u9053\u8def\uff0c\u63d0\u4f9b\u4e86\u6539\u8fdb\u6c34\u4e0b\u4eba\u673a\u4ea4\u4e92\u7684\u521b\u65b0\u548c\u5b9e\u9645\u65b9\u6cd5\u3002\n\n\n\nIn summary, our study has opened up new avenues for research and development in the field of underwater intention recognition, providing an innovative and practical approach for enhancing human-robot interactions in the underwater world.\n\n\n\n\nYuqin Guo#, Rongzheng Zhang#, Wanghongjie Qiu, Harry Asada, Fang Wan* and Chaoyang Song* (2023). \u201cUnderwater Intention Recognition using Head Motion and Throat Vibration for Supernumerary Robotic Assistance.\u201d IEEE International Conference on Automation Science and Engineering (CASE). Auckland, New Zealand, on 26-30 August 2023.\ndoi: https:\/\/doi.org\/10.1109\/CASE56687.2023.10260480","author":{"name":"Design and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"Sep 28, 2023","dateGMT":"2023-09-27 16:12:00","modifiedDate":"2023-10-19 00:13:44","modifiedDateGMT":"2023-10-18 16:13:44","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=147\" rel=\"category\">Conference Papers<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=56\" rel=\"category\">Publication<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=147\" rel=\"category\">Conference Papers<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=56\" rel=\"category\">Publication<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":4,"sec":0},"status":"publish"},{"id":4693,"link":"https:\/\/ancorasir.com\/?p=4693","name":"%e8%8d%a3%e8%8e%b7case2023%e6%9c%80%e4%bd%b3%e5%ba%b7%e5%a4%8d%e8%87%aa%e5%8a%a8%e5%8c%96%e8%ae%ba%e6%96%87%e5%a5%96%e5%8f%8aieee-ras%e5%b7%ae%e6%97%85%e5%a5%96%ef%bd%9ccase2023-best-healthcare-automa","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2023\/10\/ZhangRZQiuWHJKGoldberg-Award-Scene-scaled.jpeg?fit=2560%2C1920&ssl=1","alt":""},"title":"\u8363\u83b7CASE2023\u6700\u4f73\u5eb7\u590d\u81ea\u52a8\u5316\u8bba\u6587\u5956\u53caIEEE RAS\u5dee\u65c5\u5956\uff5cCASE2023 Best Healthcare Automation Paper Award & IEEE RAS Travel Grant","excerpt":"\u6211\u4eec\u6700\u8fd1\u53d1\u8868\u7684\u6c34\u4e0b\u4eba\u673a\u4ea4\u4e92\u6280\u672f\u8bba\u6587\uff0c\u7531\u8be5\u8bba\u6587\u5171\u540c\u7b2c\u4e00\u4f5c\u8005\u5f20\u9555\u6b63\uff08\u5357\u65b9\u79d1\u6280\u5927\u5b66\u8bbe\u8ba1\u5b66\u9662\u7855\u58eb\u7814\u7a76\u751f\uff09\u4e0e\u90b1\u671b\u5b8f\u6770\uff08\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u672c\u79d1\u751f\uff09\u524d\u5f80\u65b0\u897f\u5170\u4f1a\u573a\u8fdb\u884c\u73b0\u573a\u6c47\u62a5\uff0c\u7ecf\u8fc7\u8bc4\u59d4\u8bc4\u9009\uff0c\u8363\u83b7CASE2023\u6700\u4f73\u5eb7\u590d\u81ea\u52a8\u5316\u8bba\u6587\u5956\uff1b\u5f20\u9555\u6b63\u540c\u65f6\u8363\u83b7IEEE RAS\u5dee\u65c5\u5956\u52b1\uff0c\u6307\u5bfc\u8001\u5e08\u4e3a\u8bbe\u8ba1\u5b66\u9662\u52a9\u7406\u6559\u6388\u4e07\u82b3\u3002","content":"\u6211\u4eec\u6700\u8fd1\u53d1\u8868\u7684\u6c34\u4e0b\u4eba\u673a\u4ea4\u4e92\u6280\u672f\u8bba\u6587\uff0c\u7531\u8be5\u8bba\u6587\u5171\u540c\u7b2c\u4e00\u4f5c\u8005\u5f20\u9555\u6b63\uff08\u5357\u65b9\u79d1\u6280\u5927\u5b66\u8bbe\u8ba1\u5b66\u9662\u7855\u58eb\u7814\u7a76\u751f\uff09\u4e0e\u90b1\u671b\u5b8f\u6770\uff08\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u672c\u79d1\u751f\uff09\u524d\u5f80\u65b0\u897f\u5170\u4f1a\u573a\u8fdb\u884c\u73b0\u573a\u6c47\u62a5\uff0c\u7ecf\u8fc7\u8bc4\u59d4\u8bc4\u9009\uff0c\u8363\u83b7CASE2023\u6700\u4f73\u5eb7\u590d\u81ea\u52a8\u5316\u8bba\u6587\u5956\uff1b\u5f20\u9555\u6b63\u540c\u65f6\u8363\u83b7IEEE RAS\u5dee\u65c5\u5956\u52b1\uff0c\u6307\u5bfc\u8001\u5e08\u4e3a\u8bbe\u8ba1\u5b66\u9662\u52a9\u7406\u6559\u6388\u4e07\u82b3\u3002\n\n\n\nThe recently published paper on underwater human-robot interaction technology was jointly presented at a conference in New Zealand by the co-first authors, Zhang Rongzheng (a master's student at the School of Design, Southern University of Science and Technology) and Qiu Wanghongjie (an undergraduate student in the Department of Mechanical and Energy Engineering at Southern University of Science and Technology). After evaluation by the judges, it was honored with the Best Rehabilitation Automation Paper Award at CASE 2023. Additionally, Zhang Rongzheng received the IEEE RAS Travel Award.\nBest Healthcare Automation Paper Award & IEEE RAS Travel Grant (Rongzheng Zhang)\n\n\n\nIEEE\u56fd\u9645\u81ea\u52a8\u5316\u79d1\u5b66\u4e0e\u5de5\u7a0b\u5927\u4f1a\uff08CASE\uff09\u662fIEEE\u673a\u5668\u4eba\u4e0e\u81ea\u52a8\u5316\u5b66\u4f1a\uff08RAS\uff09\u7684\u65d7\u8230\u81ea\u52a8\u5316\u5927\u4f1a\uff0c\u662f\u5404\u884c\u4e1a\u8de8\u5b66\u79d1\u81ea\u52a8\u5316\u7814\u7a76\u7684\u4e3b\u8981\u8bba\u575b\u3002\u5176\u76ee\u6807\u662f\u4e3a\u7814\u7a76\u4eba\u5458\u548c\u4ece\u4e1a\u8005\u63d0\u4f9b\u81ea\u52a8\u5316\u9886\u57df\u57fa\u7840\u7814\u7a76\u7684\u5e7f\u6cdb\u8986\u76d6\u548c\u4f20\u64ad\u3002\n\n\n\nThe IEEE International Conference on Automation Science and Engineering (CASE) is the flagship automation conference of the IEEE Robotics and Automation Society (RAS) and constitutes the primary forum for cross-industry and multidisciplinary research in automation. Its goal is to provide broad coverage and dissemination of foundational research in automation among researchers and practitioners.\n\n\n\n\nIEEE CASE 2023 \u5c06\u4e8e2023\u5e748\u670826\u65e5\u81f329\u65e5\u5728\u65b0\u897f\u5170\u5965\u514b\u5170\u4e3e\u884c\u3002\u5927\u4f1a\u7684\u4e3b\u9898\u662f\u201c\u4e3a\u4e00\u4e2a\u5f3a\u97e7\u793e\u4f1a\u7684\u81ea\u52a8\u5316\u201d\u3002\u5965\u514b\u5170\u662f\u4e16\u754c\u4e0a\u6700\u53ef\u6301\u7eed\u548c\u5b9c\u5c45\u7684\u57ce\u5e02\u4e4b\u4e00\uff0c\u62e5\u6709\u591a\u5143\u6587\u5316\u3001\u5305\u5bb9\u793e\u533a\u548c\u4e9a\u592a\u5730\u533a\u521b\u65b0\u4e2d\u5fc3\u3002\n\n\n\nIEEE CASE 2023 will be held in Auckland, New Zealand, on 26 \u2013 29 August 2023. The theme of the conference is Automation for a Resilient Society. Auckland is one of the world\u2019s most sustainable and livable cities with dynamic multi-culture, inclusive communities and an innovative hub in the Asia Pacific region.\nhttps:\/\/case2023.org\/about\/\n\n\n\nCASE 2023 \u5c06\u662f\u4e16\u754c\u5404\u5730\u4e0e\u4f1a\u8005\u6b23\u8d4f\u65b0\u897f\u5170\u58ee\u4e3d\u98ce\u666f\u3001\u4f53\u9a8c\u8fd9\u5ea7\u5145\u6ee1\u6d3b\u529b\u7684\u57ce\u5e02\u7684\u6fc0\u60c5\u548c\u591a\u6837\u6027\uff0c\u4ee5\u53ca\u4e86\u89e3\u519c\u4e1a\u3001\u6c34\u4ea7\u517b\u6b96\u3001\u6797\u4e1a\u3001\u5236\u9020\u4e1a\u548c\u57fa\u7840\u8bbe\u65bd\u7684\u81ea\u52a8\u5316\u521b\u65b0\u548c\u8f6c\u578b\u7684\u72ec\u7279\u673a\u4f1a\u3002\n\n\n\nCASE 2023 will be a unique opportunity for attendees around the world to enjoy the stunning views of the New Zealand landscape, experience the passion and diversity of this vibrant city, and learn about the automation-enabled innovation and transformation of agriculture, aquaculture, forestry, manufacturing, infrastructure.\n\n\n\n\u5173\u4e8e\u6700\u4f73\u5eb7\u590d\u81ea\u52a8\u5316\u5956\uff5cAbout the Best Healthcare Automation Award\n\n\n\nhttps:\/\/www.ieee-ras.org\/awards-recognition\/conference-awards?view=article&id=1784:ieee-case-best-healthcare-automation-paper-award&catid=71:conference-awards\n\n\n\n\u5956\u9879\u7b80\u4ecb\uff1a\u8be5\u5956\u9879\u6bcf\u5e74\u9881\u53d1\u7ed9\u5728IEEE\u56fd\u9645\u81ea\u52a8\u5316\u79d1\u5b66\u4e0e\u5de5\u7a0b\u5927\u4f1a\uff08CASE\uff09\u4e0a\u5448\u62a5\u7684\u8bba\u6587\u7684\u4f5c\u8005\uff0c\u8be5\u8bba\u6587\u4e3a\u533b\u7597\u4fdd\u5065\u81ea\u52a8\u5316\u9886\u57df\u7684\u663e\u8457\u8fdb\u5c55\u4f5c\u51fa\u4e86\u8d21\u732e\u3002\n\n\n\nDescription: The award is given annually to the author(s) of a paper presented at the IEEE International Conference on Automation Science and Engineering (CASE) that contributed to the notable advancement in Best Healthcare Automation. \n\n\n\n\u8bc4\u9009\u4f9d\u636e\uff1a\u8be5\u5956\u9879\u6bcf\u5e74\u9881\u53d1\u3002\u7531CASE\u5956\u9879\u59d4\u5458\u4f1a\u6307\u5b9a\u7684\u8bc4\u9009\u59d4\u5458\u4f1a\u6210\u5458\u5e94\u5177\u6709\u533b\u7597\u4fdd\u5065\u81ea\u52a8\u5316\u9886\u57df\u9002\u5f53\u7684\u4e13\u4e1a\u77e5\u8bc6\u3002\u8bba\u6587\u7684\u8bc4\u5224\u6807\u51c6\u5305\u62ec\u6280\u672f\u4f18\u70b9\u3001\u72ec\u521b\u6027\u3001\u4e0e\u533b\u7597\u4fdd\u5065\u81ea\u52a8\u5316\u9886\u57df\u7684\u6f5c\u5728\u5f71\u54cd\u3001\u8bba\u6587\u7684\u6e05\u6670\u5ea6\u4ee5\u53ca\u4f1a\u8bae\u62a5\u544a\u7684\u8d28\u91cf\u3002\n\n\n\nBasis for Judging: The award is given annually. A selection committee will be appointed by the CASE Awards Committee with members who have appropriate expertise in the field of Healthcare Automation. Papers are judged based on technical merit, originality, relevance and potential impact on the Healthcare Automation field, clarity of the written paper, and quality of the conference presentation.\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\nYuqin Guo#, Rongzheng Zhang#, Wanghongjie Qiu, Harry Asada, Fang Wan* and Chaoyang Song* (2023). \u201cUnderwater Intention Recognition using Head Motion and Throat Vibration for Supernumerary Robotic Assistance.\u201d IEEE International Conference on Automation Science and Engineering (CASE). Auckland, New Zealand, on 26-30 August 2023.\ndoi: https:\/\/doi.org\/10.1109\/CASE56687.2023.10260480","author":{"name":"Design and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"Aug 27, 2023","dateGMT":"2023-08-26 18:56:00","modifiedDate":"2023-10-20 02:59:07","modifiedDateGMT":"2023-10-19 18:59:07","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=148\" rel=\"category\">Award<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=56\" rel=\"category\">Publication<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=148\" rel=\"category\">Award<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=56\" rel=\"category\">Publication<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":2,"sec":0},"status":"publish"},{"id":4662,"link":"https:\/\/ancorasir.com\/?p=4662","name":"%e9%87%8d%e6%96%b0%e8%ae%be%e8%ae%a1%e8%b6%b3%e5%bc%8f%e6%9c%ba%e5%99%a8%e4%ba%ba%e8%82%a2%e4%bd%93%ef%bd%9credesign-quadruped-robotic-limbs-an-overconstrained-approach-to-energy-efficient-leg-design","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2023\/10\/News-2023-J-JCDE-OCLimbDesign.jpg?fit=2400%2C1350&ssl=1","alt":""},"title":"\u91cd\u65b0\u8bbe\u8ba1\u8db3\u5f0f\u673a\u5668\u4eba\u80a2\u4f53\uff5cRedesign Quadruped Robotic Limbs: An Overconstrained Approach to Energy-Efficient Leg Design","excerpt":"\u6211\u4eec\u8fd1\u671f\u53d1\u8868\u5728\u300aJournal of Computational Design and Engineering\u300b\u7684\u7814\u7a76\u4e2d\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u8ba1\u7b97\u8bbe\u8ba1\u7b97\u6cd5\u7684\u4f18\u5316\u6846\u67b6\uff0c\u7528\u4e8e\u56db\u8db3\u673a\u5668\u4eba\u817f\u90e8\u80a2\u4f53\u8bbe\u8ba1\uff0c\u65e8\u5728\u5728\u5168\u65b9\u5411\u884c\u8d70\u4efb\u52a1\u4e2d\u6700\u5927\u7a0b\u5ea6\u5730\u63d0\u9ad8\u80fd\u91cf\u6548\u7387\u3002\u6211\u4eec\u53d1\u73b0\uff0c\u91c7\u7528\u8fc7\u7ea6\u675f\u8bbe\u8ba1\u7684Bennett\u578b\u673a\u5668\u4eba\u817f\u90e8\u6784\u578b\u5c55\u73b0\u51fa\u6700\u4f18\u7684\u7efc\u5408\u80fd\u6e90\u6548\u7387\uff0c\u7ed9\u56db\u8db3\u673a\u5668\u4eba\u80a2\u4f53\u673a\u6784\u8bbe\u8ba1\u5e26\u6765\u4e86\u65b0\u7684\u673a\u9047\u3002","content":"\u6211\u4eec\u8fd1\u671f\u53d1\u8868\u5728\u300aJournal of Computational Design and Engineering\u300b\u7684\u7814\u7a76\u4e2d\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u8ba1\u7b97\u8bbe\u8ba1\u7b97\u6cd5\u7684\u4f18\u5316\u6846\u67b6\uff0c\u7528\u4e8e\u56db\u8db3\u673a\u5668\u4eba\u817f\u90e8\u80a2\u4f53\u8bbe\u8ba1\uff0c\u65e8\u5728\u5728\u5168\u65b9\u5411\u884c\u8d70\u4efb\u52a1\u4e2d\u6700\u5927\u7a0b\u5ea6\u5730\u63d0\u9ad8\u80fd\u91cf\u6548\u7387\u3002\u6211\u4eec\u53d1\u73b0\uff0c\u91c7\u7528\u8fc7\u7ea6\u675f\u8bbe\u8ba1\u7684Bennett\u578b\u673a\u5668\u4eba\u817f\u90e8\u6784\u578b\u5c55\u73b0\u51fa\u6700\u4f18\u7684\u7efc\u5408\u80fd\u6e90\u6548\u7387\uff0c\u7ed9\u56db\u8db3\u673a\u5668\u4eba\u80a2\u4f53\u673a\u6784\u8bbe\u8ba1\u5e26\u6765\u4e86\u65b0\u7684\u673a\u9047\u3002\n\n\n\nOur recent research published in the Journal of Computational Design and Engineering introduces a computational optimization framework for quadruped robotic leg design, aiming to maximize energy efficiency in various locomotion tasks. We found that the overconstrained Bennett robotic leg configuration shows enhanced energy efficiency, opening new doors for quadruped robotics.\ndoi: https:\/\/doi.org\/10.1093\/jcde\/qwad083\n\n\n\n\u56db\u8db3\u673a\u5668\u4eba\u4e00\u76f4\u5904\u4e8e\u6280\u672f\u8fdb\u6b65\u7684\u524d\u6cbf\uff0c\u80fd\u6e90\u6548\u7387\u5728\u5176\u8bbe\u8ba1\u4e2d\u8d77\u7740\u81f3\u5173\u91cd\u8981\u7684\u4f5c\u7528\u3002\u7136\u800c\uff0c\u5728\u673a\u68b0\u6548\u7387\u548c\u8f68\u8ff9\u89c4\u5212\u4e4b\u95f4\u627e\u5230\u5b8c\u7f8e\u7684\u5e73\u8861\u4e00\u76f4\u662f\u4e00\u9879\u5177\u6709\u6311\u6218\u6027\u7684\u4efb\u52a1\u3002\u5728\u6211\u4eec\u7684\u7814\u7a76\u4e2d\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u79cd\u5168\u65b0\u7684\u8ba1\u7b97\u4f18\u5316\u6846\u67b6\uff0c\u65e8\u5728\u4f18\u5316\u56db\u8db3\u673a\u5668\u4eba\u7684\u57fa\u672c\u884c\u8d70\u817f\u90e8\u8bbe\u8ba1\uff0c\u4ee5\u5b9e\u73b0\u80fd\u6e90\u6548\u7387\u7684\u6700\u5927\u5316\u3002\n\n\n\nLegged robots have been at the forefront of technological advancements, with energy efficiency playing a crucial role in their design. However, finding the perfect balance between mechanism efficiency and trajectory planning has long been a challenge. In our study, we introduce a novel computational optimization framework that aims to optimize leg design for basic walking while maximizing energy efficiency in quadruped robots.\n\n\n\n\u8ba1\u7b97\u4f18\u5316\u7684\u7a81\u7834\uff5cA Computational Breakthrough\n\n\n\n\u6211\u4eec\u7684\u7814\u7a76\u63d0\u51fa\u4e86\u4e00\u79cd\u7528\u4e8e\u56db\u8db3\u673a\u5668\u4eba\u673a\u68b0\u81c2\u7684\u8ba1\u7b97\u8bbe\u8ba1\u65b9\u6cd5\uff0c\u4e3b\u8981\u5173\u6ce8\u4f18\u5316\u80fd\u6e90\u9ad8\u6548\u7684\u6b65\u6001\u89c4\u5212\u3002\u6211\u4eec\u4ece\u8fc7\u5ea6\u7ea6\u675f\u7684\u56db\u6746\u8fde\u6746\u8bbe\u8ba1\u51fa\u53d1\uff0c\u6cdb\u5316\u4e86\u673a\u68b0\u81c2\u7684\u8fd0\u52a8\u5b66\u3002\u8fd9\u79cd\u65b9\u6cd5\u751f\u6210\u4e86\u591a\u6837\u5316\u7684\u8bbe\u8ba1\u9009\u62e9\uff0c\u5305\u62ec\u5e73\u9762\u3001\u4e32\u8054\u3001\u8d1d\u5185\u7279\u548c\u7403\u9762\u914d\u7f6e\u7684\u673a\u68b0\u81c2\uff0c\u4e3a\u8bbe\u8ba1\u5e08\u63d0\u4f9b\u4e86\u5e7f\u6cdb\u7684\u9009\u62e9\u3002\n\n\n\nOur research presents a computational design method for quadruped robotic limbs, with a primary focus on optimizing energy-efficient gait planning. We start by generalizing the kinematics of robotic limbs using the overconstrained design of a four-bar linkage. This approach yields a diverse design pool, including robotic limbs with planar, serial, Bennett, and spherical configurations, offering designers a spectrum of options.\n\n\n\n\n\n\n\n\u6700\u5927\u5316\u80fd\u91cf\u6548\u7387\uff5cMaximizing Energy Efficiency\n\n\n\n\u4e3a\u4e86\u8ffd\u6c42\u80fd\u91cf\u9ad8\u6548\u7684\u8fd0\u52a8\uff0c\u6211\u4eec\u5236\u5b9a\u4e86\u4e00\u4e2a\u8ba1\u7b97\u4f18\u5316\u95ee\u9898\uff0c\u8003\u8651\u4e86\u673a\u5668\u4eba\u5728\u524d\u8fdb\u3001\u4fa7\u5411\u548c\u8f6c\u5f2f\u4efb\u52a1\u4e2d\u7684\u80fd\u6e90\u6548\u7387\u3002\u6311\u6218\u5728\u4e8e\u786e\u4fdd\u8bbe\u8ba1\u5728\u5168\u65b9\u5411\u8fd0\u52a8\u4e0b\u4ecd\u7136\u9ad8\u6548\uff0c\u800c\u6211\u4eec\u63d0\u51fa\u7684\u6846\u67b6\u91c7\u7528\u4e86\u4e00\u79cd\u65e0\u5bfc\u6570\u65b9\u6cd5\u6765\u5b9e\u73b0\u8fd9\u4e00\u76ee\u6807\u3002\n\n\n\nIn our quest for energy-efficient locomotion, we have formulated a computational optimization problem that incorporates the robot's energy efficiency during forward, lateral, and turning tasks. The challenge was to ensure that the design remains efficient across various locomotion types, and our proposed framework achieved this by using a derivative-free approach.\n\n\n\n\n\n\n\n\u901a\u8fc7\u786c\u4ef6\u5b9e\u9a8c\u9a8c\u8bc1\uff5cValidation Through Hardware Experiments\n\n\n\n\u4e3a\u4e86\u9a8c\u8bc1\u6211\u4eec\u7684\u6846\u67b6\uff0c\u6211\u4eec\u4f7f\u7528\u53ef\u91cd\u6784\u7684\u56db\u8db3\u673a\u5668\u4eba\u786c\u4ef6\u8fdb\u884c\u4e86\u5b9e\u9a8c\uff0c\u5176\u4e2d\u5305\u62ec\u53ef\u66ff\u6362\u7684\u673a\u68b0\u81c2\u3002\u7ed3\u679c\u4e0e\u6211\u4eec\u7684\u9884\u6d4b\u7ed3\u679c\u8fdb\u884c\u4e86\u6bd4\u8f83\uff0c\u53d1\u73b0\u539f\u578b\u673a\u5668\u4eba\u8868\u73b0\u51fa\u76f8\u4f3c\u7684\u8d8b\u52bf\uff0c\u5177\u6709\u76f8\u5bf9\u8f83\u5c0f\u7684\u6807\u51c6\u5316\u5747\u65b9\u8bef\u5dee\u3002\u5bf9\u4e8e\u57fa\u672c\u4efb\u52a1\u7684\u817f\u90e8\u914d\u7f6e\u4f18\u5316\u8868\u660e\uff0c\u80fd\u6e90\u6548\u7387\u53ef\u80fd\u63d0\u9ad8\u7ea610%\u523020%\u3002\n\n\n\nTo validate our framework, we conducted experiments using reconfigurable quadruped hardware with replacement limbs. The results were compared to our forecasted outcomes, and we found that the prototype robot exhibited a similar trend with a relatively small normalized mean square error. The optimization of leg configuration for primitive tasks showed the potential for improving energy efficiency by approximately 10% to 20%.\n\n\n\n\u91ca\u653e\u8fc7\u7ea6\u675f\u80a2\u4f53\u673a\u6784\u7684\u6f5c\u529b\uff5cUnlocking the Potential of Overconstrained Limbs\n\n\n\n\u6211\u4eec\u7814\u7a76\u7684\u4e00\u4e2a\u6700\u91cd\u8981\u7684\u53d1\u73b0\u662f\u8fc7\u5ea6\u7ea6\u675f\u673a\u68b0\u81c2\u8bbe\u8ba1\u5728\u4fc3\u8fdb\u5168\u5411\u8fd0\u52a8\u4e2d\u63d0\u9ad8\u80fd\u6e90\u6548\u7387\u7684\u6f5c\u529b\u3002\u4e0e\u901a\u5e38\u7684\u505a\u6cd5\u76f8\u53cd\uff0c\u6211\u4eec\u7684\u7814\u7a76\u63d0\u4f9b\u4e86\u8ba1\u7b97\u8bbe\u8ba1\u8bc1\u636e\uff0c\u5373\u8d1d\u5185\u7279\u8fde\u6746\u5728\u4fa7\u5411\u548c\u8f6c\u5411\u4efb\u52a1\u4e2d\u8868\u73b0\u51fa\u66f4\u9ad8\u7684\u80fd\u6e90\u6548\u7387\uff0c\u540c\u65f6\u5728\u524d\u8fdb\u884c\u8d70\u65b9\u9762\u5177\u6709\u7ade\u4e89\u529b\u3002\n\n\n\nOne of the most significant findings of our study is the potential advantage of overconstrained robotic limb design for promoting energy efficiency in omni-directional locomotion. Contrary to common practice, our research offers computational design evidence that the Bennett linkages show enhanced energy efficiency during lateral and turning tasks while remaining competitive in forward walking.\n\n\n\n\n\n\n\n\u672c\u7814\u7a76\u7684\u8d21\u732e\uff5cContributions of Our Study\n\n\n\n\u6211\u4eec\u7684\u7814\u7a76\u63d0\u4f9b\u4e86\u4e00\u79cd\u5168\u9762\u7684\u8ba1\u7b97\u8bbe\u8ba1\u6846\u67b6\uff0c\u7528\u4e8e\u4f18\u5316\u56db\u8db3\u673a\u5668\u4eba\u7684\u673a\u68b0\u81c2\u3002\u5728\u8be5\u6846\u67b6\u5185\uff0c\u6211\u4eec\u65e8\u5728\u8003\u8651\u79bb\u6563\u7684\u817f\u90e8\u914d\u7f6e\u548c\u8fde\u6746\u53c2\u6570\uff0c\u4ee5\u5e2e\u52a9\u8bbe\u8ba1\u5e08\u751f\u6210\u9002\u7528\u4e8e\u7279\u5b9a\u4efb\u52a1\u8981\u6c42\u7684\u53ef\u884c\u548c\u4f18\u5316\u7684\u673a\u68b0\u81c2\u8bbe\u8ba1\u3002\u6b64\u6846\u67b6\u8fd8\u53ef\u4ee5\u63d0\u4f9b\u6709\u5173\u8bbe\u8ba1\u53c2\u6570\uff08\u5982\u817f\u90e8\u914d\u7f6e\u548c\u8fde\u6746\u53c2\u6570\uff09\u7684\u5b9d\u8d35\u89c1\u89e3\u3002\n\n\n\nOur research provides a comprehensive computational design framework for optimizing robotic limbs in quadruped robots. By considering both discrete leg configuration and continuous link parameters within the framework, we aim to assist designers in generating feasible and optimized limb designs for specific task requirements. This framework can also offer valuable insights into the design parameters, such as leg configuration and link parameters.\n\n\n\n\u672a\u6765\u65b9\u5411\uff5cFuture Directions\n\n\n\n\u867d\u7136\u6211\u4eec\u7684\u5de5\u4f5c\u5df2\u7ecf\u663e\u793a\u51fa\u4e86\u4ee4\u4eba\u9f13\u821e\u7684\u7ed3\u679c\uff0c\u4f46\u6709\u5fc5\u8981\u627f\u8ba4\u5176\u5c40\u9650\u6027\u3002\u6211\u4eec\u7684\u7b97\u6cd5\u4e3b\u8981\u5173\u6ce8\u5e73\u5766\u5730\u5f62\u4e0a\u7684\u5168\u5411\u8fd0\u52a8\uff0c\u7559\u4e0b\u4e86\u5728\u66f4\u590d\u6742\u5730\u5f62\u548c\u4efb\u52a1\u4e2d\u8fdb\u884c\u8fdb\u4e00\u6b65\u63a2\u7d22\u7684\u7a7a\u95f4\u3002\u672a\u6765\u7814\u7a76\u53ef\u4ee5\u5f15\u5165\u66f4\u591a\u7684\u53c2\u6570\uff0c\u5e76\u63a2\u7d22\u4f7f\u7528\u5f3a\u5316\u5b66\u4e60\u65b9\u6cd5\u8fdb\u884c\u534f\u540c\u4f18\u5316\u95ee\u9898\u3002\u8fd9\u4e9b\u8fdb\u5c55\u5c06\u4e3a\u673a\u68b0\u81c2\u8bbe\u8ba1\u63d0\u4f9b\u66f4\u5168\u9762\u7684\u7406\u89e3\uff0c\u9002\u7528\u4e8e\u66f4\u5e7f\u6cdb\u7684\u673a\u5668\u4eba\u5e94\u7528\u3002\n\n\n\nWhile our work has shown promising results, it is essential to acknowledge its limitations. Our algorithm primarily focuses on omni-directional locomotion on flat terrain, leaving room for further exploration in more complex terrains and tasks. Future research may introduce additional parameters and explore co-optimization problems with reinforcement learning approaches. These advancements will provide a more comprehensive understanding of robotic limb design, catering to a broader spectrum of robotic applications.\n\n\n\n\u603b\u4e4b\uff0c\u6211\u4eec\u7684\u7814\u7a76\u4ee3\u8868\u4e86\u56db\u8db3\u673a\u5668\u4eba\u9886\u57df\u7684\u91cd\u5927\u8fdb\u5c55\u3002\u6211\u4eec\u5df2\u7ecf\u5229\u7528\u8ba1\u7b97\u4f18\u5316\u7684\u529b\u91cf\u6765\u63d0\u9ad8\u80fd\u6e90\u6548\u7387\uff0c\u4ece\u800c\u63a8\u52a8\u4e86\u673a\u68b0\u81c2\u7684\u8bbe\u8ba1\u548c\u6027\u80fd\u3002\u6211\u4eec\u7684\u7814\u7a76\u7ed3\u679c\u4e0d\u4ec5\u4ec5\u662f\u5173\u4e8e\u6548\u7387\uff0c\u66f4\u662f\u5173\u4e8e\u91ca\u653e\u66f4\u591a\u591a\u624d\u591a\u827a\u7684\u673a\u5668\u4eba\u7cfb\u7edf\u7684\u6f5c\u529b\uff0c\u6211\u4eec\u7684\u6846\u67b6\u4e3a\u8be5\u9886\u57df\u672a\u6765\u7684\u521b\u65b0\u94fa\u5e73\u4e86\u9053\u8def\u3002\n\n\n\nIn conclusion, our research represents a significant step forward in the field of quadruped robotics. We have harnessed the power of computational optimization to enhance energy efficiency, ultimately advancing the design and performance of legged robots. The findings in our study are not just about efficiency; they are about unlocking the potential for more versatile and capable robotic systems, with our framework paving the way for future innovations in the field.\n\n\n\n\nYuping Gu, Ziqian Wang, Shihao Feng, Haoran Sun, Haibo Lu, Jia Pan*, Fang Wan*, and Chaoyang Song* (2023). \u201cComputational Design Towards Energy Efficient Optimization in Overconstrained Robotic Limbs.\u201d Journal of Computational Design and Engineering, 10: 1-16. \ndoi: https:\/\/doi.org\/10.1093\/jcde\/qwad083","author":{"name":"Design and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"Aug 22, 2023","dateGMT":"2023-08-22 08:47:00","modifiedDate":"2023-10-18 17:20:50","modifiedDateGMT":"2023-10-18 09:20:50","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=146\" rel=\"category\">Journal Articles<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=56\" rel=\"category\">Publication<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=146\" rel=\"category\">Journal Articles<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=56\" rel=\"category\">Publication<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":3,"sec":5},"status":"publish"},{"id":4678,"link":"https:\/\/ancorasir.com\/?p=4678","name":"%e6%8e%a2%e7%b4%a2%e6%9c%aa%e6%9d%a5%ef%bc%9a%e6%b0%b4%e4%b8%8b%e5%a4%96%e8%82%a2%e4%bd%93%e6%9c%ba%e5%99%a8%e4%ba%ba%ef%bd%9cexploring-the-future-of-wearable-robots-the-underwater-superlimb","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2023\/10\/News-2023-J-AIS-UnderwaterSuperlimb.jpg?fit=2400%2C1350&ssl=1","alt":""},"title":"\u63a2\u7d22\u672a\u6765\uff1a\u6c34\u4e0b\u5916\u80a2\u4f53\u673a\u5668\u4eba\uff5cExploring the Future of Wearable Robots: The Underwater Superlimb","excerpt":"\u6211\u4eec\u8fd1\u671f\u53d1\u8868\u5728\u300aAdvanced Intelligent Systems\u300b\u7684\u7814\u7a76\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u53ef\u91cd\u6784\u7684\u6c34\u4e0b\u5916\u80a2\u4f53\uff0c\u65e8\u5728\u4f5c\u4e3a\u53ef\u7a7f\u6234\u673a\u5668\u4eba\u534f\u52a9\u6f5c\u6c34\u5458\u6267\u884c\u6c34\u4e0b\u4efb\u52a1\u3002\u8be5\u8bba\u6587\u7684\u516c\u5171\u7b2c\u4e00\u4f5c\u8005\u970d\u4f73\u96e8\u3001\u738b\u5a67\u7136\u4e3a\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u672c\u79d1\u751f\uff0c\u5408\u4f5c\u4f5c\u8005\u5305\u62ec\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u7855\u58eb\u7814\u7a76\u751f\u90ed\u5b87\u82b9\uff0c\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u672c\u79d1\u751f\u90b1\u671b\u5b8f\u6770\u3001\u9648\u94ed\u680b\uff08\u9648\u94ed\u680b\u73b0\u5728\u662f\u5e03\u6717\u5927\u5b66\u653b\u8bfb\u5de5\u4e1a\u8bbe\u8ba1\u7855\u58eb\u7814\u7a76\u751f\u5e76\u4e3a\u672c\u8bba\u6587\u63d0\u4f9b\u539f\u521b\u539f\u578b\u8bbe\u8ba1\u3001\u5c01\u9762\u8bbe\u8ba1\u4e0e\u6a21\u578b\u6e32\u67d3\uff09\uff0cMIT\u673a\u68b0\u5de5\u7a0b\u7cfb\u6559\u6388Harry Asada\uff08\u5916\u80a2\u4f53\u673a\u5668\u4eba\u6982\u5ff5\u7684\u5f00\u521b\u8005\uff09\uff0c\u672c\u6587\u7684\u5171\u540c\u901a\u8baf\u4f5c\u8005\u662f\u8bbe\u8ba1\u5b66\u9662\u52a9\u7406\u6559\u6388\u4e07\u82b3\u3001\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u52a9\u7406\u6559\u6388\u5b8b\u8d85\u9633\u3002\u8be5\u8bba\u6587\u8fd1\u671f\u88ab\u9009\u4e3aAIS\u671f\u520a11\u6708\u80cc\u9762\u5c01\u9762\u8bba\u6587\u3002","content":"\u6211\u4eec\u8fd1\u671f\u53d1\u8868\u5728\u300aAdvanced Intelligent Systems\u300b\u7684\u7814\u7a76\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u53ef\u91cd\u6784\u7684\u6c34\u4e0b\u5916\u80a2\u4f53\uff0c\u65e8\u5728\u4f5c\u4e3a\u53ef\u7a7f\u6234\u673a\u5668\u4eba\u534f\u52a9\u6f5c\u6c34\u5458\u6267\u884c\u6c34\u4e0b\u4efb\u52a1\u3002\u8be5\u8bba\u6587\u7684\u516c\u5171\u7b2c\u4e00\u4f5c\u8005\u970d\u4f73\u96e8\u3001\u738b\u5a67\u7136\u4e3a\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u672c\u79d1\u751f\uff0c\u5408\u4f5c\u4f5c\u8005\u5305\u62ec\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u7855\u58eb\u7814\u7a76\u751f\u90ed\u5b87\u82b9\uff0c\u5357\u65b9\u79d1\u6280\u5927\u5b66\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u672c\u79d1\u751f\u90b1\u671b\u5b8f\u6770\u3001\u9648\u94ed\u680b\uff08\u9648\u94ed\u680b\u73b0\u5728\u662f\u5e03\u6717\u5927\u5b66\u653b\u8bfb\u5de5\u4e1a\u8bbe\u8ba1\u7855\u58eb\u7814\u7a76\u751f\u5e76\u4e3a\u672c\u8bba\u6587\u63d0\u4f9b\u539f\u521b\u539f\u578b\u8bbe\u8ba1\u3001\u5c01\u9762\u8bbe\u8ba1\u4e0e\u6a21\u578b\u6e32\u67d3\uff09\uff0cMIT\u673a\u68b0\u5de5\u7a0b\u7cfb\u6559\u6388Harry Asada\uff08\u5916\u80a2\u4f53\u673a\u5668\u4eba\u6982\u5ff5\u7684\u5f00\u521b\u8005\uff09\uff0c\u672c\u6587\u7684\u5171\u540c\u901a\u8baf\u4f5c\u8005\u662f\u8bbe\u8ba1\u5b66\u9662\u52a9\u7406\u6559\u6388\u4e07\u82b3\u3001\u673a\u68b0\u4e0e\u80fd\u6e90\u5de5\u7a0b\u7cfb\u52a9\u7406\u6559\u6388\u5b8b\u8d85\u9633\u3002\u8be5\u8bba\u6587\u8fd1\u671f\u88ab\u9009\u4e3aAIS\u671f\u520a11\u6708\u80cc\u9762\u5c01\u9762\u8bba\u6587\u3002\n\n\n\nOur study introduces a novel underwater superlimb designed as a wearable robot to assist divers, enabling them to perform multiple tasks while underwater. This innovative solution addresses the challenges of underwater exploration, where divers need to balance life support with complex operations. We aim to pave the way for wearable and reconfigurable underwater robotics.\ndoi: https:\/\/doi.org\/10.1002\/aisy.202300245\n\n\n\n\u6211\u4eec\u65e0\u6b62\u5883\u7684\u597d\u5947\u5fc3\u548c\u5bf9\u672a\u77e5\u7684\u63a2\u7d22\u6b32\u671b\u5bfc\u81f4\u4e86\u673a\u5668\u4eba\u9886\u57df\u7684\u663e\u8457\u8fdb\u5c55\u3002\u5c3d\u7ba1\u6211\u4eec\u901a\u5e38\u5c06\u673a\u5668\u4eba\u89c6\u4e3a\u9646\u5730\u4efb\u52a1\u7684\u4e00\u90e8\u5206\uff0c\u4f46\u6211\u4eec\u8e0f\u4e0a\u4e86\u4e00\u6bb5\u65e8\u5728\u5f7b\u5e95\u6539\u53d8\u6f5c\u6c34\u5458\u4e0e\u6df1\u84dd\u4ea4\u4e92\u65b9\u5f0f\u7684\u65c5\u7a0b\u3002\u6211\u4eec\u7684\u7814\u7a76\u63ed\u793a\u4e86\u6c34\u4e0b\u5916\u80a2\u4f53\u673a\u5668\u4eba\u7684\u8bbe\u8ba1\uff0c\u8fd9\u662f\u4e00\u9879\u7a81\u7834\u6027\u7684\u5c1d\u8bd5\uff0c\u6709\u671b\u6539\u53d8\u6f5c\u6c34\u5458\u5728\u6df1\u6c34\u4e2d\u7684\u4e92\u52a8\u65b9\u5f0f\u3002\n\n\n\nIn our quest to unlock the potential of wearable robotics, our latest study presents a remarkable innovation that could transform the underwater world. We are proud to introduce the \"Underwater Superlimb,\" a cutting-edge wearable robot designed to provide divers with unparalleled mobility and multifunctional capabilities while freeing their hands for intricate tasks beneath the waves.\n\n\n\n\n\n\n\n\u63d0\u5347\u6f5c\u6c34\u5458\u7684\u673a\u52a8\u6027\uff5cEnhancing Diver Mobility\n\n\n\n\u6211\u4eec\u7684\u7814\u7a76\u65e8\u5728\u5f7b\u5e95\u6539\u53d8\u6f5c\u6c34\u5458\u7684\u6c34\u4e0b\u4f53\u9a8c\u3002\u5bf9\u4e8e\u5546\u4e1a\u6f5c\u6c34\uff0c\u7279\u522b\u662f\u81ea\u5305\u542b\u6c34\u4e0b\u547c\u5438\u8bbe\u5907\uff08SCUBA\uff09\u6f5c\u6c34\uff0c\u9700\u8981\u5728\u7ef4\u6301\u59ff\u52bf\u5e73\u8861\u548c\u6267\u884c\u7cbe\u7ec6\u4efb\u52a1\u4e4b\u95f4\u53d6\u5f97\u5fae\u5999\u7684\u5e73\u8861\u3002\u6f5c\u6c34\u5458\u6240\u9700\u7684\u5404\u79cd\u8bbe\u5907\u7ed9\u4ed6\u4eec\u7684\u673a\u52a8\u6027\u548c\u6548\u7387\u5e26\u6765\u4e86\u91cd\u5927\u8d1f\u62c5\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u6311\u6218\uff0c\u6211\u4eec\u6784\u601d\u4e86\u6c34\u4e0b\u5916\u80a2\u4f53\u673a\u5668\u4eba\uff0c\u8fd9\u662f\u4e00\u79cd\u53ef\u7a7f\u6234\u673a\u5668\u4eba\u7cfb\u7edf\uff0c\u63d0\u4f9b\u591a\u529f\u80fd\u65b9\u6cd5\uff0c\u4ee5\u589e\u5f3a\u6f5c\u6c34\u5458\u7684\u673a\u52a8\u6027\u548c\u4efb\u52a1\u80fd\u529b\u3002\n\n\n\nOur research aims to revolutionize the underwater experience for divers. Self-Contained Underwater Breathing Apparatus (SCUBA) diving, especially for commercial purposes, demands a delicate balance between maintaining posture and performing intricate tasks. The plethora of equipment required by divers places a considerable burden on their mobility and efficiency. To address this challenge, we've devised the Underwater Superlimb, a wearable robotic system that offers a multifunctional approach to enhance diver mobility and task capabilities.\n\n\n\n\u5916\u80a2\u4f53\u673a\u5668\u4eba\uff5cEnter the World of Superlimbs\n\n\n\n\u5916\u80a2\u4f53\u673a\u5668\u4eba\u7ed9\u53ef\u7a7f\u6234\u673a\u5668\u4eba\u9886\u57df\u5e26\u6765\u4e86\u521b\u65b0\u6027\u7684\u8f6c\u53d8\u3002\u4e0e\u4f20\u7edf\u4e49\u80a2\u6216\u5916\u9aa8\u9abc\u4e0d\u540c\uff0c\u540e\u8005\u4e3b\u8981\u4fa7\u91cd\u4e8e\u66ff\u4ee3\u4e27\u5931\u7684\u8fd0\u52a8\u529f\u80fd\u6216\u589e\u5f3a\u73b0\u6709\u7684\u529f\u80fd\uff0c\u5916\u80a2\u4f53\u673a\u5668\u4eba\u63d0\u4f9b\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u65b9\u6cd5\u3002\u8fd9\u4e9b\u53ef\u7a7f\u6234\u8bbe\u5907\u65e8\u5728\u534f\u52a9\u7528\u6237\u540c\u65f6\u6267\u884c\u591a\u9879\u4efb\u52a1\uff0c\u540c\u65f6\u4e0e\u5176\u5468\u56f4\u73af\u5883\u4e92\u52a8\u3002\n\n\n\nThe concept of supernumerary robotic limbs, or \"superlimbs,\" brings an innovative twist to the field of wearable robotics. Unlike traditional prosthetics or exoskeletons, which primarily focus on either replacing lost motor functions or enhancing existing ones, superlimbs provide a novel approach. These wearable devices are designed to assist users in managing multiple tasks simultaneously while interacting with their surroundings.\n\n\n\n\n\nDesigned by Chen Mingdong\n\n\n\n\n\nDesigned by Chen Mingdong\n\n\n\n\n\n\u514b\u670d\u6c34\u4e0b\u6311\u6218\uff5cOvercoming Underwater Challenges\n\n\n\n\u6c34\u4e0b\u73af\u5883\u5bf9\u6f5c\u6c34\u5458\u63d0\u51fa\u4e86\u72ec\u7279\u7684\u6311\u6218\u3002\u6c34\u4e0b\u89c6\u91ce\u53d7\u9650\uff0c\u53d7\u6c34\u6e29\u3001\u89c6\u91ce\u6e05\u6670\u5ea6\u548c\u6f5c\u6c34\u6df1\u5ea6\u7b49\u56e0\u7d20\u5f71\u54cd\uff0c\u4f7f\u7b80\u5355\u7684\u4efb\u52a1\u4e5f\u53d8\u5f97\u5177\u6709\u6311\u6218\u6027\u3002\u6f5c\u6c34\u5458\u5fc5\u987b\u4f7f\u7528\u5404\u79cd\u8bbe\u5907\u8fdb\u884c\u4f9b\u6c14\uff0c\u5305\u62ecSCUBA\u7cfb\u7edf\u548c\u4f69\u6234\u5728\u8eab\u4f53\u4e0a\u7684\u7a7a\u6c14\u74f6\u3002\u6b64\u5916\uff0c\u6c34\u4e0b\u7684\u8fd0\u52a8\u662f\u4e09\u7ef4\u7684\uff0c\u4e0e\u9646\u5730\u4e0a\u7684\u4e8c\u7ef4\u8fd0\u52a8\u4e0d\u540c\u3002\u56e0\u6b64\uff0c\u6c34\u4e0b\u8fd0\u52a8\u901a\u5e38\u9700\u8981\u901a\u8fc7\u4f7f\u7528\u9ccd\u3001\u624b\u5957\u548c\u914d\u91cd\u7b49\u8bbe\u5907\u7684\u56db\u80a2\u5b8c\u6210\uff0c\u4f46\u79fb\u52a8\u901f\u5ea6\u8981\u6162\u5f97\u591a\u3002\u6f5c\u6c34\u5458\u7684\u53cc\u624b\u4e3b\u8981\u7528\u4e8e\u7ef4\u6301\u59ff\u52bf\uff0c\u51e0\u4e4e\u6ca1\u6709\u7a7a\u4f59\u7684\u7a7a\u95f4\u7528\u4e8e\u5de5\u5177\u64cd\u4f5c\u6216\u4efb\u52a1\u5b8c\u6210\u3002\u8fd9\u4e2a\u6c34\u4e0b\u73af\u5883\u5bf9\u6f5c\u6c34\u5458\u7684\u8ba4\u77e5\u548c\u8eab\u4f53\u63d0\u51fa\u4e86\u91cd\u5927\u8981\u6c42\uff0c\u4f7f\u624b\u64cd\u4f5c\u548c\u7269\u7406\u4ea4\u4e92\u6210\u4e3a\u4e00\u9879\u5177\u6709\u6311\u6218\u6027\u7684\u4efb\u52a1\u3002\n\n\n\nUnderwater conditions present unique challenges for divers. Reduced sensory feedback due to water temperature, limited visibility, and depth can make even simple tasks challenging. Divers must juggle essential life support equipment, such as SCUBA systems and air tanks, while navigating in three dimensions (3D). The need for various equipment like fins, gloves, and weights adds complexity to underwater mobility. Divers' hands are primarily occupied with maintaining their posture, leaving little room for tool operation or task completion. This underwater environment places significant cognitive and physical demands on divers, making it a challenging space for human-robot interaction.\n\n\n\n\u5f53\u524d\u7684\u6c34\u4e0b\u53ef\u7a7f\u6234\u8bbe\u5907\uff5cThe Current State of Underwater Wearables\n\n\n\n\u5c3d\u7ba1\u6709\u5404\u79cd\u5404\u6837\u7684\u53ef\u7a7f\u6234\u8bbe\u5907\u9002\u7528\u4e8e\u6f5c\u6c34\u5458\uff0c\u4f46\u8bb8\u591a\u8bbe\u5907\u5728\u4e0e\u6f5c\u6c34\u5458\u6216\u5176\u73af\u5883\u4e92\u52a8\u65b9\u9762\u4ecd\u7f3a\u4e4f\u667a\u80fd\u548c\u81ea\u4e3b\u6027\u3002\u5927\u591a\u6570\u6f5c\u6c34\u5458\u7684\u53ef\u7a7f\u6234\u8bbe\u5907\uff0c\u5982\u9ccd\u548c\u624b\u5957\uff0c\u4e3b\u8981\u7528\u4e8e\u63d0\u9ad8\u6c34\u4e0b\u5bfc\u822a\u7684\u6548\u7387\u6216\u8fdb\u884c\u5b9e\u65f6\u76d1\u63a7\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u8bbe\u5907\u4e3b\u8981\u662f\u673a\u68b0\u6027\u7684\uff0c\u5728\u667a\u80fd\u65b9\u9762\u8fdb\u5c55\u6709\u9650\u3002\u4f8b\u5982\uff0c\u6f5c\u6c34\u5458\u63a8\u8fdb\u88c5\u7f6e\u901a\u5e38\u9644\u5728\u56db\u80a2\u4e0a\uff0c\u9700\u8981\u624b\u52a8\u63a7\u5236\uff0c\u5e38\u5e38\u4f1a\u8ba9\u6f5c\u6c34\u5458\u7684\u624b\u5fd9\u788c\u3002\u5728\u6f5c\u6c34\u8bbe\u5907\u65b9\u9762\u5b58\u5728\u4e00\u4e2a\u7814\u7a76\u9886\u57df\uff0c\u8be5\u9886\u57df\u7740\u91cd\u4e8e\u6c34\u4e0b\u73af\u5883\u4e2d\u7684\u4eba\u673a\u4e92\u52a8\uff0c\u5305\u62ec\u901a\u8fc7\u9884\u5148\u8bbe\u7f6e\u7684\u52a8\u4f5c\u5411\u6f5c\u6c34\u5458\u4f20\u9012\u4fe1\u606f\uff0c\u4ee5\u53ca\u901a\u8fc7\u5e73\u677f\u7535\u8111\u3001\u6807\u8bb0\u6216\u624b\u52bf\u7b49\u8f93\u5165\u65b9\u5f0f\u6f5c\u6c34\u5458\u64cd\u63a7\u673a\u5668\u4eba\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u4ecd\u9700\u8981\u6f5c\u6c34\u5458\u4eb2\u81ea\u64cd\u4f5c\uff0c\u4f7f\u4ed6\u4eec\u7684\u624b\u5fd9\u788c\u3002\u56e0\u6b64\uff0c\u6c34\u4e0b\u6f5c\u6c34\u5458\u7684\u53ef\u7a7f\u6234\u8bbe\u5907\u5728\u5b9e\u73b0\u667a\u80fd\u7684\u4eba\u673a\u4e92\u52a8\u548c\u514d\u624b\u64cd\u4f5c\u65b9\u9762\u4ecd\u6709\u7814\u7a76\u7a7a\u767d\u3002\n\n\n\nWhile various wearable devices exist for divers, many still lack intelligence and autonomy when it comes to interacting with the divers or their environment. Most wearables for diving, such as fins and gloves, enhance underwater navigation or enable real-time monitoring. However, these devices are primarily mechanical and offer limited advancements in terms of intelligence. Diver propulsion units, for instance, are attached to the body limbs and require manual control, often leaving divers' hands occupied. A research gap exists when it comes to hands-free underwater wearables with intelligent human-robot interaction capabilities.\n\n\n\n\u6c34\u4e0b\u5916\u80a2\u4f53\u673a\u5668\u4eba\uff5cIntroducing the Underwater Superlimb\n\n\n\n\u6211\u4eec\u7684\u7814\u7a76\u63d0\u51fa\u4e86\u521b\u65b0\u7684\u6c34\u4e0b\u5916\u80a2\u4f53\u673a\u5668\u4eba\uff0c\u8fd9\u662f\u4e00\u79cd\u53ef\u7a7f\u6234\u8bbe\u5907\uff0c\u65e8\u5728\u5f7b\u5e95\u6539\u53d8\u6f5c\u6c34\u3002\u5b83\u5177\u5907\u53ef\u91cd\u6784\u8bbe\u8ba1\uff0c\u53ef\u4ee5\u8ba9\u6f5c\u6c34\u5458\u4ece\u59ff\u52bf\u63a7\u5236\u4e2d\u91ca\u653e\u53cc\u624b\uff0c\u4ece\u800c\u5b9e\u73b0\u5de5\u5177\u64cd\u4f5c\u548c\u6c34\u4e0b\u673a\u52a8\u6027\u7684\u65b0\u7ef4\u5ea6\u3002\u8fd9\u6b3e\u72ec\u7279\u7684\u53ef\u7a7f\u6234\u673a\u5668\u4eba\u5728\u53ef\u7a7f\u6234\u673a\u5668\u4eba\u9886\u57df\u5177\u6709\u7a81\u7834\u6027\u7684\u6982\u5ff5\uff0c\u4e3a\u6f5c\u6c34\u5458\u63d0\u4f9b\u4e86\u591a\u529f\u80fd\u534f\u52a9\u3002\n\n\n\nOur research presents the innovative Underwater Superlimb, a wearable device that promises to revolutionize diving. It features a reconfigurable design, enabling divers to free their hands from posture controls while operating tools and exploring new dimensions of underwater mobility. This unique wearable robot is a breakthrough concept in wearable robotics, offering multifunctional assistance for divers.\n\n\n\n\n\n\n\n\u53ef\u91cd\u6784\u591a\u529f\u80fd\uff5cVersatility in Action\n\n\n\n\u6c34\u4e0b\u5916\u80a2\u4f53\u673a\u5668\u4eba\u914d\u5907\u4e86\u4e00\u4e2a\u63a8\u529b\u77e2\u91cf\u7cfb\u7edf\uff0c\u5177\u6709\u4e24\u4e2a3D\u6253\u5370\u7684\u9632\u6c34\u6a21\u5757\u3002\u8fd9\u4e9b\u6a21\u5757\u53ef\u4ee5\u8fdb\u884c\u8c03\u6574\u548c\u91cd\u6784\uff0c\u4ee5\u9002\u5e94\u591a\u79cd\u7528\u9014\uff0c\u5305\u62ec\u4f5c\u4e3a\u6f5c\u6c34\u5458\u7684\u6c34\u4e0b\u5916\u80a2\u4f53\u3001\u6e38\u6cf3\u8005\u7684\u624b\u6301\u6ed1\u7fd4\u673a\u3001\u4e24\u6816\u673a\u5668\u4eba\u7684\u56db\u8db3\u5916\u80a2\u4f53\uff0c\u751a\u81f3\u53ef\u4ee5\u4f5c\u4e3a\u72ec\u7acb\u7684\u53cc\u5355\u5143\u6c34\u4e0b\u81ea\u4e3b\u79fb\u52a8\u5668\uff08AUV\uff09\u8fdb\u884c\u64cd\u4f5c\u3002\u6211\u4eec\u7814\u7a76\u4e86\u6c34\u4e0b\u5916\u80a2\u4f53\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u5b66\u548c\u52a8\u529b\u5b66\uff0c\u5e76\u5f15\u5165\u4e86\u4e00\u4e2a\u6ed1\u6a21\u63a7\u5236\u5668\uff0c\u4ee5\u786e\u4fdd\u5728PyBullet\u4e2d\u8fdb\u884c\u7a33\u5b9a\u7684\u6a21\u62df\u3002\n\n\n\nThe Underwater Superlimb boasts a thrust vectoring system, equipped with two 3D-printed, waterproofed modules. These modules can be adjusted and reconfigured for various purposes, including use as an underwater superlimb for divers, a hand-held glider for swimmers, a quadruped superlimb for amphibian robots, or even as a dual-unit Autonomous Underwater Vehicle (AUV) for independent underwater navigation. Our research involved developing the kinematics and dynamics of the prototype and its reconfigured modes. We also introduced a sliding-mode controller to ensure stable simulation in PyBullet.\n\n\n\n\u6c34\u4e0b\u53ef\u884c\u6027\u6d4b\u8bd5\uff5cField Tests Validate Feasibility\n\n\n\n\u4e3a\u4e86\u9a8c\u8bc1\u6c34\u4e0b\u5916\u80a2\u4f53\u673a\u5668\u4eba\u7684\u6f5c\u529b\uff0c\u6211\u4eec\u5728\u6e38\u6cf3\u6c60\u4e2d\u8fdb\u884c\u4e86\u6d4b\u8bd5\uff0c\u4ee5\u9a8c\u8bc1\u6f5c\u6c34\u5458\u4f69\u6234\u65f6\u7684\u57fa\u672c\u529f\u80fd\u3002\u6d4b\u8bd5\u7ed3\u679c\u786e\u8ba4\u4e86\u6c34\u4e0b\u5916\u80a2\u4f53\u673a\u5668\u4eba\u7684\u53ef\u884c\u6027\uff0c\u5c55\u793a\u4e86\u5176\u514d\u624b\u64cd\u4f5c\u7684\u80fd\u529b\u3002\u6211\u4eec\u7684\u7814\u7a76\u662f\u7b2c\u4e00\u4e2a\u5728\u6587\u732e\u4e2d\u63d0\u51fa\u6c34\u4e0b\u5916\u80a2\u4f53\u673a\u5668\u4eba\u6982\u5ff5\u7684\u7814\u7a76\uff0c\u4e3a\u6c34\u4e0b\u60c5\u666f\u4e2d\u53ef\u7a7f\u6234\u673a\u5668\u4eba\u7684\u65b0\u53ef\u80fd\u6027\u655e\u5f00\u4e86\u5927\u95e8\u3002\n\n\n\nTo validate the potential of the Underwater Superlimb, we conducted field tests with a test diver in a swimming pool. The results confirmed the feasibility of the underwater superlimb when worn by divers, showcasing its hands-free operation capabilities. Our study is the first to introduce the concept of an underwater superlimb in the literature, opening doors to new possibilities for wearable robotics in underwater scenarios.\n\n\n\n\n\n\n\n\u521b\u65b0\u6311\u6218\uff5cUncharted Waters of Innovation\n\n\n\n\u5c3d\u7ba1\u6211\u4eec\u5df2\u7ecf\u8bc1\u660e\u4e86\u6c34\u4e0b\u5916\u80a2\u4f53\u673a\u5668\u4eba\u7684\u5de5\u7a0b\u53ef\u884c\u6027\uff0c\u4f46\u6211\u4eec\u7684\u7814\u7a76\u5e76\u975e\u6ca1\u6709\u5c40\u9650\u6027\u3002\u4f8b\u5982\uff0c\u6211\u4eec\u627f\u8ba4\u6346\u624e\u8fc7\u7a0b\u4ecd\u7136\u6709\u5f85\u6539\u8fdb\uff0c\u4ee5\u4fbf\u6f5c\u6c34\u5458\u53ef\u4ee5\u81ea\u884c\u7a7f\u6234\uff0c\u8fd8\u9700\u8981\u8fdb\u884c\u4e0d\u540c\u6c34\u4e0b\u6a21\u5f0f\u7684\u66f4\u9ad8\u7ea7\u5b9e\u5730\u6d4b\u8bd5\u3002\u7136\u800c\uff0c\u6211\u4eec\u76f8\u4fe1\u6211\u4eec\u7684\u7814\u7a76\u4e3a\u6c34\u4e0b\u60c5\u666f\u4e2d\u7684\u53ef\u7a7f\u6234\u673a\u5668\u4eba\u7684\u672a\u6765\u63d0\u4f9b\u4e86\u5f15\u4eba\u6ce8\u76ee\u7684\u613f\u666f\u3002\n\n\n\nWhile we have demonstrated the engineering feasibility of the Underwater Superlimb, our study is not without its limitations. For example, we acknowledge that the strapping process can be further refined for ease of use, and more advanced field tests in different underwater modes are yet to be conducted. However, we believe that our research presents a compelling vision for the future of wearable robotics in underwater scenarios.\n\n\n\n\u672a\u6765\u4e4b\u8def\uff5cThe Path Forward\n\n\n\n\u5728\u672a\u6765\u7684\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u6253\u7b97\u901a\u8fc7\u5728\u62a4\u76ee\u955c\u4e0a\u589e\u52a0\u4f20\u611f\u5668\u6765\u5f15\u5165\u610f\u56fe\u8bc6\u522b\u7cfb\u7edf\uff0c\u4ee5\u4fbf\u68c0\u6d4b\u5589\u5499\u632f\u52a8\u548c\u5934\u90e8\u8fd0\u52a8\u3002\u5728\u56db\u8db3\u6a21\u5f0f\u4e2d\uff0c\u6211\u4eec\u8ba1\u5212\u8fdb\u884c\u6b65\u6001\u63a7\u5236\u5b9e\u9a8c\uff0c\u4f8b\u5982\u901a\u8fc7\u4e24\u53ea\u817f\u4f7f\u56db\u8db3\u673a\u5668\u4eba\u7ad9\u76f4\uff0c\u4ece\u800c\u4f7f\u5176\u5728\u6c34\u4e0b\u50cf\u4eba\u7c7b\u4e00\u6837\u8fd0\u52a8\u3002\u6211\u4eec\u8fd8\u6253\u7b97\u8fdb\u884c\u5176\u4ed6\u6a21\u5f0f\u7684\u5b9e\u5730\u6d4b\u8bd5\uff0c\u5e76\u6539\u8fdb\u53ef\u7a7f\u6234\u8bbe\u8ba1\u4ee5\u8fdb\u884c\u8010\u4e45\u6027\u6d4b\u8bd5\u3002\u7136\u800c\uff0c\u6211\u4eec\u5728\u8fd9\u9879\u7814\u7a76\u4e2d\u7684\u7ed3\u679c\u4e3a\u5728\u591a\u529f\u80fd\u53ef\u7a7f\u6234\u673a\u5668\u4eba\u9886\u57df\u5f00\u8f9f\u4e86\u65b0\u7684\u53ef\u80fd\u6027\u3002\n\n\n\nIn our future work, we aim to introduce intention recognition into the system by incorporating sensors that can detect throat vibrations and head movements. Gait control experiments in quadruped mode are on the horizon, along with further field tests for the superlimb's reconfigured modes. Our ultimate goal is to make underwater operations more efficient, hands-free, and intelligent through the integration of supernumerary robotic limbs in underwater wearables.\n\n\n\n\u7ed3\u8bba\uff5cConclusion\n\n\n\n\u6211\u4eec\u5728\u6c34\u4e0b\u673a\u5668\u4eba\u9886\u57df\u7684\u63a2\u7d22\u4e4b\u65c5\u5c06\u6211\u4eec\u5e26\u5230\u4e86\u6c34\u4e0b\u5916\u80a2\u4f53\u673a\u5668\u4eba\u7684\u521b\u9020\u3002\u8fd9\u6b3e\u521b\u65b0\u7684\u53ef\u7a7f\u6234\u673a\u5668\u4eba\u5b9a\u5c06\u5f7b\u5e95\u6539\u53d8\u6f5c\u6c34\u5458\u7684\u6c34\u4e0b\u4f53\u9a8c\uff0c\u63d0\u4f9b\u514d\u624b\u64cd\u4f5c\u548c\u591a\u529f\u80fd\u6027\u3002\u4f5c\u4e3a\u6c34\u4e0b\u5916\u80a2\u4f53\u673a\u5668\u4eba\u9886\u57df\u7684\u5148\u9a71\u8005\uff0c\u6211\u4eec\u8feb\u4e0d\u53ca\u5f85\u5730\u671f\u5f85\u770b\u5230\u8fd9\u4e00\u6280\u672f\u5bf9\u6c34\u4e0b\u63a2\u7d22\u548c\u5546\u4e1a\u6f5c\u6c34\u4ea7\u751f\u7684\u79ef\u6781\u5f71\u54cd\uff0c\u4f7f\u6c34\u4e0b\u4e16\u754c\u6bd4\u4ee5\u5f80\u66f4\u52a0\u4fbf\u6377\u548c\u9ad8\u6548\u3002\n\n\n\nOur journey into the world of underwater robotics has brought us to the creation of the Underwater Superlimb. This innovative wearable robot is set to transform the underwater experience for divers, offering hands-free operation and multifunctional capabilities. As pioneers in the field of underwater superlimbs, we are excited to see the positive impact this technology will have on underwater exploration and commercial diving, making the underwater world more accessible and efficient than ever before.\n\n\n\n\nJiayu Huo#, Jingran Wang#, Yuqin Guo, Wanghongjie Qiu, Mingdong Chen, Harry Asada, Fang Wan*, and Chaoyang Song* (2023). \u201cReconfigurable Design and Modeling of an Underwater Superlimb for Diving Assistance.\u201d Advanced Intelligent Systems, 2300245. (Back Cover)\ndoi: https:\/\/doi.org\/10.1002\/aisy.202300245","author":{"name":"Design and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"Aug 17, 2023","dateGMT":"2023-08-17 13:43:00","modifiedDate":"2023-10-19 22:28:15","modifiedDateGMT":"2023-10-19 14:28:15","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=146\" rel=\"category\">Journal Articles<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=56\" rel=\"category\">Publication<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=146\" rel=\"category\">Journal Articles<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=56\" rel=\"category\">Publication<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":4,"sec":39},"status":"publish"},{"id":4653,"link":"https:\/\/ancorasir.com\/?p=4653","name":"unified-formulation-of-loco-manipulation-through-reinforcement-learning","thumbnail":{"url":"https:\/\/i0.wp.com\/ancorasir.com\/wp-content\/uploads\/2023\/10\/News-2023-J-Biomimetics-LocoManipLearn.jpg?fit=2400%2C1350&ssl=1","alt":""},"title":"\u901a\u8fc7\u5f3a\u5316\u5b66\u4e60\u6784\u5efa\u53ef\u7edf\u4e00\u8fc1\u79fb\u7684\u300c\u79fb\u52a8-\u64cd\u4f5c\u300d\u6280\u80fd\uff5cUnified Formulation of Loco-Manipulation Through Reinforcement Learning","excerpt":"\u6211\u4eec\u6700\u8fd1\u5728\u300aBiomimetics\u300b\u671f\u520a\u4e0a\u53d1\u8868\u7684\u8bba\u6587\u5f15\u5165\u4e86\u4e00\u79cd\u7edf\u4e00\u7684\u673a\u5668\u4eba\u65b9\u6cd5\uff0c\u901a\u8fc7\u5f3a\u5316\u5b66\u4e60\u548c\u8fc7\u5ea6\u7ea6\u675f\u7684\u673a\u5668\u81c2\u5c06\u8fd0\u52a8\u548c\u64cd\u4f5c\u6280\u80fd\u878d\u5408\u5728\u4e00\u8d77\uff0c\u63ed\u793a\u4e86\u8fd9\u4e9b\u5173\u952e\u80fd\u529b\u7684\u53ef\u8f6c\u79fb\u6027\u3002\u7814\u7a76\u8868\u660e\uff0c\u901a\u8fc7\u91cd\u65b0\u8bbe\u8ba1\u673a\u5668\u4eba\u786c\u4ef6\u5e76\u91c7\u7528\u521b\u65b0\u7684\u5b66\u4e60\u6280\u672f\uff0c\u673a\u5668\u4eba\u53ef\u4ee5\u5728\u8fd0\u52a8\u548c\u64cd\u4f5c\u4efb\u52a1\u4e4b\u95f4\u65e0\u7f1d\u5207\u6362\uff0c\u8fd9\u6807\u5fd7\u7740\u8be5\u9886\u57df\u7684\u91cd\u5927\u8fdb\u5c55\u3002","content":"\u6211\u4eec\u6700\u8fd1\u5728\u300aBiomimetics\u300b\u671f\u520a\u4e0a\u53d1\u8868\u7684\u8bba\u6587\u5f15\u5165\u4e86\u4e00\u79cd\u7edf\u4e00\u7684\u673a\u5668\u4eba\u65b9\u6cd5\uff0c\u901a\u8fc7\u5f3a\u5316\u5b66\u4e60\u548c\u8fc7\u5ea6\u7ea6\u675f\u7684\u673a\u5668\u81c2\u5c06\u8fd0\u52a8\u548c\u64cd\u4f5c\u6280\u80fd\u878d\u5408\u5728\u4e00\u8d77\uff0c\u63ed\u793a\u4e86\u8fd9\u4e9b\u5173\u952e\u80fd\u529b\u7684\u53ef\u8f6c\u79fb\u6027\u3002\u7814\u7a76\u8868\u660e\uff0c\u901a\u8fc7\u91cd\u65b0\u8bbe\u8ba1\u673a\u5668\u4eba\u786c\u4ef6\u5e76\u91c7\u7528\u521b\u65b0\u7684\u5b66\u4e60\u6280\u672f\uff0c\u673a\u5668\u4eba\u53ef\u4ee5\u5728\u8fd0\u52a8\u548c\u64cd\u4f5c\u4efb\u52a1\u4e4b\u95f4\u65e0\u7f1d\u5207\u6362\uff0c\u8fd9\u6807\u5fd7\u7740\u8be5\u9886\u57df\u7684\u91cd\u5927\u8fdb\u5c55\u3002\n\n\n\nOur recent paper published on Biomimetics introduces a unified approach to robotics, merging locomotion and manipulation skills through reinforcement learning and overconstrained robotic limbs, uncovering the transferability of these crucial capabilities. The study reveals that by redesigning robotic hardware and employing innovative learning techniques, robots can seamlessly transition between locomotion and manipulation tasks, marking a significant advancement in the field.\ndoi: https:\/\/doi.org\/10.3390\/biomimetics8040364\n\n\n\n\u6700\u8fd1\uff0c\u6211\u4eec\u5728\u4eff\u751f\u5b66\u9886\u57df\u53d1\u8868\u4e86\u4e00\u7bc7\u65b0\u7684\u7814\u7a76\u8bba\u6587\uff0c\u901a\u8fc7\u5229\u7528\u5f3a\u5316\u5b66\u4e60\uff08RL\uff09\u548c\u4e00\u79cd\u65b0\u578b\u7684\u8fc7\u7ea6\u675f\u673a\u5668\u4eba\u80a2\u4f53\uff0c\u63a2\u7d22\u4e86\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u548c\u64cd\u4f5c\u7684\u7edf\u4e00\u6027\u3002\u8fd9\u4e00\u521b\u65b0\u6027\u65b9\u6cd5\u4e0d\u4ec5\u5f25\u5408\u4e86\u8fd0\u52a8\u548c\u64cd\u4f5c\u4e4b\u95f4\u7684\u9e3f\u6c9f\uff0c\u8fd8\u63ed\u793a\u4e86\u8fd9\u4e24\u4e2a\u673a\u5668\u4eba\u884c\u4e3a\u7684\u5173\u952e\u65b9\u9762\u4e4b\u95f4\u7684\u6280\u80fd\u53ef\u8fc1\u79fb\u6027\u3002\n\n\n\nRecently, we published a new research paper on Biomimetics to explore a unified formulation of locomotion and manipulation in robotics, leveraging reinforcement learning (RL) and a unique design with overconstrained robotic limbs. This innovative approach not only bridges the gap between locomotion and manipulation but also reveals the transferability of skills between these two essential aspects of robotic behavior.\n\n\n\n\n\n\n\n\u8fd0\u52a8\u4e0e\u64cd\u4f5c\u7684\u96be\u9898\uff5cLocomotion and Manipulation Conundrum\n\n\n\n\u8fd0\u52a8\u548c\u64cd\u4f5c\u662f\u673a\u5668\u4eba\u9886\u57df\u7684\u57fa\u672c\u6280\u80fd\uff0c\u4f46\u4f20\u7edf\u4e0a\u5b83\u4eec\u88ab\u89c6\u4e3a\u4e0d\u540c\u7684\u95ee\u9898\u3002\u7136\u800c\uff0c\u6211\u4eec\u7684\u7814\u7a76\u63ed\u793a\u4e86\u4e00\u79cd\u5bfb\u6c42\u7edf\u4e00\u8fd9\u4e24\u4e2a\u770b\u4f3c\u5206\u5f00\u7684\u4efb\u52a1\u7684\u65b0\u65b9\u6cd5\uff0c\u5c55\u793a\u4e86\u591a\u8db3\u8fd0\u52a8\u548c\u591a\u6307\u64cd\u4f5c\u4e4b\u95f4\u5171\u4eab\u7684\u5185\u5728\u6a21\u578b\uff0c\u5e76\u65e8\u5728\u4e3a\u8fdb\u4e00\u6b65\u7814\u7a76\u63d0\u4f9b\u6570\u636e\u9a71\u52a8\u7684\u8bc1\u636e\u3002\n\n\n\nLocomotion and manipulation are fundamental skills in the field of robotics, but traditionally, they have been treated as distinct problems. However, our research unveils a new approach that seeks to unify these two seemingly separate tasks. The study demonstrates the intrinsic model shared between multi-legged locomotion and multi-fingered manipulation and aims to provide data-driven evidence for further research in this direction.\n\n\n\n\u8fc7\u7ea6\u675f\u673a\u5668\u4eba\u80a2\u4f53\uff5cThe Overconstrained Robotic Limbs\n\n\n\n\u6211\u4eec\u91cd\u65b0\u914d\u7f6e\u4e86\u5177\u6709\u8fc7\u5ea6\u7ea6\u675f\u8bbe\u8ba1\u7684\u673a\u5668\u81c2\uff0c\u53ef\u4ee5\u9002\u5e94\u591a\u79cd\u5f62\u5f0f\uff0c\u5305\u62ec\u591a\u8db3\u548c\u591a\u6307\u673a\u5668\u4eba\u3002\u8fd9\u4e00\u521b\u65b0\u63d0\u4f9b\u4e86\u4e00\u4e2a\u591a\u529f\u80fd\u4e14\u53ef\u5171\u4eab\u7684\u5e73\u53f0\uff0c\u7528\u4e8e\u5f3a\u5316\u8fd0\u52a8\u548c\u64cd\u4f5c\u5b66\u4e60\u3002\u901a\u8fc7\u542f\u7528\u91cd\u65b0\u914d\u7f6e\uff0c\u56e2\u961f\u91c7\u7528\u4e86\u4e00\u79cd\u534f\u540c\u57f9\u8bad\u65b9\u6cd5\uff0c\u4e3a\u7edf\u4e00\u7684\u8fd0\u52a8\u548c\u64cd\u4f5c\u653f\u7b56\u94fa\u5e73\u4e86\u9053\u8def\u3002\n\n\n\nWe have reconfigured robotic limbs with an overconstrained design that can be adapted into various forms, including multi-legged and multi-fingered robots. This innovation offers a versatile and shareable platform for reinforcement loco-manipulation learning. By enabling reconfiguration, the team adopted a co-training approach for reinforcement learning, paving the way for a unified loco-manipulation policy.\n\n\n\n\u53d1\u73b0\u300c\u884c\u8d70-\u64cd\u4f5c\u300d\u6280\u80fd\u7684\u53ef\u8fc1\u79fb\u6027\uff5cTransferability Discovered\n\n\n\n\u901a\u8fc7\u5e7f\u6cdb\u7684\u5b9e\u9a8c\uff0c\u6211\u4eec\u53d1\u73b0\u4e86\u5f3a\u6709\u529b\u7684\u6570\u636e\u9a71\u52a8\u8bc1\u636e\uff0c\u652f\u6301\u4e86\u8fd0\u52a8\u548c\u64cd\u4f5c\u4e4b\u95f4\u6280\u80fd\u53ef\u8f6c\u79fb\u6027\u7684\u5b58\u5728\u3002\u8fd9\u662f\u901a\u8fc7\u4f7f\u7528\u5355\u4e00\u7684RL\u653f\u7b56\u548c\u591a\u5c42\u611f\u77e5\u5668\uff08MLP\uff09\u6216\u56fe\u795e\u7ecf\u7f51\u7edc\uff08GNN\uff09\u4e4b\u4e00\u6765\u5b9e\u73b0\u7684\u3002\u8fd9\u4e9b\u53d1\u73b0\u4ee3\u8868\u4e86\u673a\u5668\u4eba\u7cfb\u7edf\u66f4\u52a0\u591a\u624d\u591a\u827a\u548c\u9002\u5e94\u6027\u53d1\u5c55\u7684\u91cd\u8981\u4e00\u6b65\u3002\n\n\n\nThrough extensive experimentation, we found compelling data-driven evidence to support the transferability of skills between locomotion and manipulation. This was accomplished using a single RL policy with either a Multi-Layered Perceptron (MLP) or a Graph Neural Network (GNN). The findings represent a significant step forward in the development of more versatile and adaptive robotic systems.\n\n\n\n\u786c\u4ef6\u8bbe\u8ba1\u81f3\u5173\u91cd\u8981\uff5cHardware Design Matters\n\n\n\n\u6211\u4eec\u8fd8\u63ed\u793a\u4e86\u673a\u5668\u4eba\u786c\u4ef6\u914d\u7f6e\u663e\u8457\u5f71\u54cd\u4e86\u8f6c\u79fb\u5b66\u4e60\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u6c34\u5e73\u548c\u5782\u76f4\u914d\u7f6e\u4e4b\u95f4\u7684\u6210\u529f\u7387\u548c\u53ef\u8f6c\u79fb\u6027\u5b58\u5728\u5dee\u5f02\u3002\u6c34\u5e73\u673a\u5668\u4eba\u8868\u73b0\u51fa\u66f4\u597d\u7684\u53ef\u8f6c\u79fb\u6027\uff0c\u800c\u5782\u76f4\u914d\u7f6e\u8868\u73b0\u51fa\u66f4\u4f4e\u7684\u6536\u655b\u901f\u5ea6\u3002\u7ed3\u679c\u8868\u660e\uff0c\u786c\u4ef6\u8bbe\u8ba1\u5728\u589e\u5f3a\u8fd0\u52a8\u548c\u64cd\u4f5c\u6280\u80fd\u7684\u4e92\u6362\u6027\u65b9\u9762\u8d77\u5230\u4e86\u5173\u952e\u4f5c\u7528\u3002\n\n\n\nWe also revealed that the configuration of the robotic hardware significantly influences transfer learning. Notably, the success rates and transferability differ between horizontal and vertical configurations. Horizontal robots demonstrated better transferability, whereas vertical configurations exhibited lower convergence rates. The results suggest that hardware design plays a pivotal role in enhancing the interchangeability of locomotion and manipulation skills.\n\n\n\n\u300c\u884c\u8d70-\u64cd\u4f5c\u300d\u884c\u4e3a\u7684\u7ee7\u627f\uff5cBehavioral Inheritance\n\n\n\n\u8be5\u7814\u7a76\u63a2\u8ba8\u4e86\u8fc1\u79fb\u5b66\u4e60\u7684\u884c\u4e3a\u65b9\u9762\u3002\u7ed3\u679c\u663e\u793a\uff0c\u5728\u8fd0\u52a8\u4efb\u52a1\u4e2d\uff0c\u4e00\u4e9b\u64cd\u4f5c\u6280\u80fd\u4f1a\u7ee7\u627f\uff0c\u800c\u5728\u4ece\u8fd0\u52a8\u8f6c\u79fb\u5230\u64cd\u4f5c\u7684\u64cd\u4f5c\u4efb\u52a1\u4e2d\u4e5f\u4f1a\u51fa\u73b0\u8fd9\u79cd\u7ee7\u627f\u3002\u8fd9\u4e00\u53d1\u73b0\u7a81\u663e\u4e86\u5728\u673a\u5668\u4eba\u5b66\u7684\u8fd9\u4e24\u4e2a\u5173\u952e\u65b9\u9762\u7684\u6280\u80fd\u8f6c\u79fb\u7684\u590d\u6742\u6027\u3002\n\n\n\nThe study delves into the behavioral aspects of transfer learning. The results show that some manipulation skills are inherited in locomotion tasks, and this inheritance is reciprocated in the manipulation tasks transferred from locomotion. This insight highlights the intricacies of skill transfer between these two critical facets of robotics.\n\n\n\n\n\n\n\n\u4ece\u4eff\u771f\u5230\u5b9e\u9645\u7684\u8fc1\u79fb\uff5cSim-to-Real Transfer\n\n\n\n\u8be5\u7814\u7a76\u7684\u4e00\u4e2a\u663e\u8457\u6210\u5c31\u662f\u6210\u529f\u6f14\u793a\u4e86\u4ece\u4eff\u771f\u5230\u5b9e\u9645\u7684\u6280\u80fd\u53ef\u8f6c\u79fb\u6027\u3002\u6211\u4eec\u5c06\u4ece\u4eff\u771f\u4e2d\u83b7\u5f97\u7684\u5173\u8282\u4f4d\u7f6e\u547d\u4ee4\u91cd\u65b0\u64ad\u653e\u5230\u7269\u7406\u673a\u5668\u4eba\u4e2d\uff0c\u5c55\u793a\u4e86\u5728\u5b9e\u9645\u60c5\u51b5\u4e2d\u5e94\u7528\u6240\u5b66\u6280\u80fd\u7684\u6f5c\u529b\u3002\u8fd9\u4e00\u53d1\u5c55\u5bf9\u4e8e\u5b9e\u9645\u5e94\u7528\u673a\u5668\u4eba\u7cfb\u7edf\u5177\u6709\u91cd\u8981\u5f71\u54cd\u3002\n\n\n\nOne notable achievement of the research is the successful demonstration of sim-to-real transferability. We replayed joint position commands from simulations to physical robots, showcasing the potential for deploying learned skills in real-world scenarios. This development has substantial implications for the practical application of robotic systems.\n\n\n\n\u672a\u6765\u65b9\u5411\uff5cFuture Directions\n\n\n\n\u867d\u7136\u8fd9\u9879\u7814\u7a76\u5728\u8be5\u9886\u57df\u8fc8\u51fa\u4e86\u91cd\u8981\u4e00\u6b65\uff0c\u4f46\u6211\u4eec\u627f\u8ba4\u8fd8\u6709\u66f4\u591a\u7684\u5de5\u4f5c\u8981\u505a\u3002\u672a\u6765\u7684\u52aa\u529b\u5c06\u5305\u62ec\u6269\u5927\u8fd0\u52a8\u548c\u64cd\u4f5c\u4efb\u52a1\u7684\u8303\u56f4\uff0c\u5e76\u7814\u7a76\u66f4\u590d\u6742\u7684\u8fd0\u52a8\u548c\u7269\u4f53\u4e4b\u95f4\u7684\u6280\u80fd\u53ef\u8f6c\u79fb\u6027\u3002\u6b64\u5916\uff0c\u96c6\u6210\u611f\u77e5\u4fe1\u606f\uff0c\u5982\u89e6\u89c9\u611f\u77e5\u548c\u5730\u9762\u53cd\u4f5c\u7528\u529b\u4f20\u611f\u5668\uff0c\u5bf9\u4e8e\u5904\u7406\u4e0d\u540c\u5730\u5f62\u548c\u7269\u4f53\u81f3\u5173\u91cd\u8981\u3002\n\n\n\nWhile this research is a significant leap forward in the field, we acknowledges that there is more work to be done. Future endeavors include expanding the range of locomotion and manipulation tasks and investigating the transferability between more complex movements and objects. Additionally, the integration of sensory information, such as tactile sensing and ground reaction force sensors, will be crucial for handling diverse terrains and objects.\n\n\n\n\u603b\u4e4b\uff0c\u8fd9\u9879\u7814\u7a76\u4e3a\u673a\u5668\u4eba\u9886\u57df\u5f00\u8f9f\u4e86\u65b0\u7684\u6fc0\u52a8\u4eba\u5fc3\u7684\u9014\u5f84\u3002\u901a\u8fc7\u5f3a\u5316\u5b66\u4e60\u548c\u521b\u65b0\u7684\u786c\u4ef6\u8bbe\u8ba1\u5c06\u8fd0\u52a8\u548c\u64cd\u4f5c\u7edf\u4e00\u8d77\u6765\uff0c\u673a\u5668\u4eba\u5373\u5c06\u53d8\u5f97\u66f4\u52a0\u591a\u624d\u591a\u827a\u548c\u9002\u5e94\u6027\uff0c\u80fd\u591f\u5728\u5404\u79cd\u4efb\u52a1\u4e4b\u95f4\u65e0\u7f1d\u8fc7\u6e21\u3002\u8fd9\u9879\u5de5\u4f5c\u4ee3\u8868\u4e86\u671d\u7740\u66f4\u667a\u80fd\u548c\u591a\u624d\u591a\u827a\u7684\u673a\u5668\u4eba\u7684\u53d1\u5c55\u8fc8\u51fa\u7684\u5173\u952e\u4e00\u6b65\uff0c\u5b83\u4eec\u53ef\u4ee5\u4ee5\u7cbe\u786e\u548c\u9ad8\u6548\u7684\u65b9\u5f0f\u5bfc\u822a\u548c\u64cd\u4f5c\u73af\u5883\u3002\n\n\n\nIn conclusion, this research opens exciting new avenues for the world of robotics. By unifying locomotion and manipulation through reinforcement learning and innovative hardware design, robots are on the cusp of becoming more versatile and adaptable, capable of seamlessly transitioning between a wide range of tasks. This work represents a pivotal step toward the development of more intelligent and versatile robots that can navigate and manipulate their environments with precision and efficiency.\n\n\n\n\nHaoran Sun#, Linhan Yang#, Yuping Gu, Jia Pan*, Fang Wan*, and Chaoyang Song* (2023). \u201cBridging Locomotion and Manipulation Using Reconfigurable Robotic Limbs via Reinforcement Learning.\u201d Biomimetics, 8(4), 364. \ndoi: https:\/\/doi.org\/10.3390\/biomimetics8040364","author":{"name":"Design and Learning Research Group","link":"https:\/\/ancorasir.com\/?author=9"},"date":"Aug 14, 2023","dateGMT":"2023-08-14 06:13:00","modifiedDate":"2024-05-21 14:39:46","modifiedDateGMT":"2024-05-21 06:39:46","commentCount":"0","commentStatus":"closed","categories":{"coma":"<a href=\"https:\/\/ancorasir.com\/?cat=146\" rel=\"category\">Journal Articles<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a>, <a href=\"https:\/\/ancorasir.com\/?cat=56\" rel=\"category\">Publication<\/a>","space":"<a href=\"https:\/\/ancorasir.com\/?cat=146\" rel=\"category\">Journal Articles<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=33\" rel=\"category\">News<\/a> <a href=\"https:\/\/ancorasir.com\/?cat=56\" rel=\"category\">Publication<\/a>"},"taxonomies":{"post_tag":"","post_folder":""},"readTime":{"min":3,"sec":10},"status":"publish"}]