The conventional linkage mechanisms with compliant joint have been widely studied and implemented for increasing the adaptability of the mechanism to external contacts. However, the analysis of how compliant joints in...The conventional linkage mechanisms with compliant joint have been widely studied and implemented for increasing the adaptability of the mechanism to external contacts. However, the analysis of how compliant joints in linkage mechanism can reduce the energy consumption isn＇t still studied deeply. In a mobile service robot head, the actions of blinking the eyes and moving the eyeballs are realized by the planar linkage mechanism respectively. Therefore, minimizing the driving torques through motion trajectories for the linkage mechanism, which will be beneficial to extend the working time for mobile service robots. The dynamic modeling of the linkage mechanism with springs-loaded compliant joint is established. An optimization procedure for obtaining the optimal parameters of springs is proposed for minimizing the max value of driving torques within a range of desired operating conditions. The Simulations prove that the linkage mechanism with compliant joints can effectively reduce the driving torques, and reduce the energy consumption consequently. The framework can also be applied in other similar applications to reduce the driving torque and save energy. Compared with previous efforts, this is the first attempt that the linkage mechanism with complaint joint is applied in the robot head for reducing the driving torque.展开更多
The relationship between the stability and the configuration of the driving joint was studied as a measure to improve the stability of robot.The Lagrange dynamic equation of the robot was established.According to the ...The relationship between the stability and the configuration of the driving joint was studied as a measure to improve the stability of robot.The Lagrange dynamic equation of the robot was established.According to the principle of virtual work,the least squares solution of each joint torque was obtained.The relationship between the stability of the robot and the configuration of the driving joint is obtained by the sum of the norms of the joint torque.Finally,numerical simulations verify the correctness of the theory.展开更多
为了更好地应对多目标跟踪联合检测算法面对的场景遮挡问题,通过结合注意力机制,提出基于Transformer的运动预测和数据关联(Transformer-based motion prediction and data association,TrMPDA)联合检测跟踪方法。首先,考虑到置信度检...为了更好地应对多目标跟踪联合检测算法面对的场景遮挡问题,通过结合注意力机制,提出基于Transformer的运动预测和数据关联(Transformer-based motion prediction and data association,TrMPDA)联合检测跟踪方法。首先,考虑到置信度检测框的质量以及深度特征的视觉表示能力对遮挡场景下跟踪效果的影响,重新设计TrMPDA骨干网络中的ResNet卷积模块,利用相邻像素和长距离像素间丰富的上下文关系指导动态注意矩阵的学习,增强深度特征的视觉表示能力,并通过边界框的宽和高估计边界框位置,提高置信度检测框的质量。其次,在本文方法中保留所有的检测框,根据阈值大小划分高置信度检测框和低置信度检测框,分别执行数据关联匹配,以此来平衡由于遮挡导致的检测框低置信度。实验结果表明本文提出的TrMPDA方法与典型的Sort、JDE、Fairmot等多目标跟踪算法相比具有更好的跟踪效果,能够应对多目标跟踪中目标遮挡的问题。展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51105089)Shenzhen Engineering Laboratory of Industrial Robots and Systems(Grant No.A224412028)Shenzhen Engineering Laboratory of Performance Robots at Digital Stage(Grant No.[2014]1507)
文摘The conventional linkage mechanisms with compliant joint have been widely studied and implemented for increasing the adaptability of the mechanism to external contacts. However, the analysis of how compliant joints in linkage mechanism can reduce the energy consumption isn＇t still studied deeply. In a mobile service robot head, the actions of blinking the eyes and moving the eyeballs are realized by the planar linkage mechanism respectively. Therefore, minimizing the driving torques through motion trajectories for the linkage mechanism, which will be beneficial to extend the working time for mobile service robots. The dynamic modeling of the linkage mechanism with springs-loaded compliant joint is established. An optimization procedure for obtaining the optimal parameters of springs is proposed for minimizing the max value of driving torques within a range of desired operating conditions. The Simulations prove that the linkage mechanism with compliant joints can effectively reduce the driving torques, and reduce the energy consumption consequently. The framework can also be applied in other similar applications to reduce the driving torque and save energy. Compared with previous efforts, this is the first attempt that the linkage mechanism with complaint joint is applied in the robot head for reducing the driving torque.
文摘The relationship between the stability and the configuration of the driving joint was studied as a measure to improve the stability of robot.The Lagrange dynamic equation of the robot was established.According to the principle of virtual work,the least squares solution of each joint torque was obtained.The relationship between the stability of the robot and the configuration of the driving joint is obtained by the sum of the norms of the joint torque.Finally,numerical simulations verify the correctness of the theory.
文摘为了更好地应对多目标跟踪联合检测算法面对的场景遮挡问题,通过结合注意力机制,提出基于Transformer的运动预测和数据关联(Transformer-based motion prediction and data association,TrMPDA)联合检测跟踪方法。首先,考虑到置信度检测框的质量以及深度特征的视觉表示能力对遮挡场景下跟踪效果的影响,重新设计TrMPDA骨干网络中的ResNet卷积模块,利用相邻像素和长距离像素间丰富的上下文关系指导动态注意矩阵的学习,增强深度特征的视觉表示能力,并通过边界框的宽和高估计边界框位置,提高置信度检测框的质量。其次,在本文方法中保留所有的检测框,根据阈值大小划分高置信度检测框和低置信度检测框,分别执行数据关联匹配,以此来平衡由于遮挡导致的检测框低置信度。实验结果表明本文提出的TrMPDA方法与典型的Sort、JDE、Fairmot等多目标跟踪算法相比具有更好的跟踪效果,能够应对多目标跟踪中目标遮挡的问题。
