Home » Videos: Autonomous Automotive Drifting, Aquatic Drone, and Jet-Powered Robot

Videos: Autonomous Automotive Drifting, Aquatic Drone, and Jet-Powered Robot

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Video Friday is your weekly choice of superior robotics movies, collected by your pals at IEEE Spectrum robotics. This week, we’re that includes a particular choice of movies from ICRA 2023! We additionally put up a weekly calendar of upcoming robotics occasions for the subsequent few months. Please ship us your occasions for inclusion.

Energy Drone & Robotics Summit: 10–12 June 2023, HOUSTON, TEXAS, USA
RoboCup 2023: 4–10 July 2023, BORDEAUX, FRANCE
RSS 2023: 10–14 July 2023, DAEGU, SOUTH KOREA
IEEE RO-MAN 2023: 28–31 August 2023, BUSAN, SOUTH KOREA
IROS 2023: 1–5 October 2023, DETROIT, MICHIGAN, USA
CLAWAR 2023: 2–4 October 2023, FLORIANOPOLIS, BRAZIL
Humanoids 2023: 12–14 December 2023, AUSTIN, TEXAS, USA

Enjoy immediately’s movies!

“Autonomous Drifting With 3 Minutes of Data Via Learned Tire Models,” by Franck Djeumou, Jonathan Y.M. Goh, Ufuk Topcu, and Avinash Balachandran from University of Texas at Austin, USA, and Toyota Research Institute, Los Altos, Calif., USA.

Abstract: Near the bounds of adhesion, the forces generated by a tire are nonlinear and intricately coupled. Efficient and correct modelling on this area might enhance security, particularly in emergency conditions the place excessive forces are required. To this finish, we suggest a novel household of tire pressure fashions based mostly on neural odd differential equations and a neural-ExpTanh parameterization. These fashions are designed to fulfill bodily insightful assumptions whereas additionally having enough constancy to seize higher-order results instantly from car state measurements. They are used as drop-in replacements for an analytical brush tire mannequin in an present nonlinear mannequin predictive management framework. Experiments with a custom-made Toyota Supra present that scarce quantities of driving knowledge – lower than three minutes – is enough to attain high-performance autonomous drifting on numerous trajectories with speeds as much as 45 mph. Comparisons with the benchmark mannequin present a 4x enchancment in monitoring efficiency, smoother management inputs, and sooner and extra constant computation time.

“TJ-FlyingFish: Design and Implementation of an Aerial-Aquatic Quadrotor With Tiltable Propulsion Units,” by Xuchen Liu, Minghao Dou, Dongyue Huang, Songqun Gao, Ruixin Yan, Biao Wang, Jinqiang Cui, Qinyuan Ren, Lihua Dou, Zhi Gao, Jie Chen, and Ben M. Chen from Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai, China; Chinese University of Hong Kong, Hong Kong, China; Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China; Peng Cheng Laboratory, Shenzhen, Guangdong, China; Zhejiang University, Hangzhou, Zhejiang, China; Beijing Institute of Technology, Beijing, China; and Wuhan University, Wuhan, Hubei, China.

Abstract: Aerial-aquatic automobiles are succesful to maneuver within the two most dominant fluids, making them extra promising for a variety of functions. We suggest a prototype with particular designs for propulsion and thruster configuration to deal with the huge variations within the fluid properties of water and air. For propulsion, the working vary is switched for the completely different mediums by the dual-speed propulsion unit, offering enough thrust and likewise making certain output effectivity. For thruster configuration, thrust vectoring is realized by the rotation of the propulsion unit across the mount arm, thus enhancing the underwater maneuverability. This paper presents a quadrotor prototype of this idea and the design particulars and realization in observe.

“Towards Safe Landing of Falling Quadruped Robots Using a 3-DoF Morphable Inertial Tail,” by Yunxi Tang, Jiajun An, Xiangyu Chu, Shengzhi Wang, Ching Yan Wong, and Okay. W. Samuel Au from The Chinese University of Hong Kong, Hong Kong, and Multiscale Medical Robotics Centre, Hong Kong.

Abstract: Falling cat downside is well-known the place cats present their tremendous aerial reorientation functionality and might land safely. For their robotic counterparts, an analogous falling quadruped robotic downside, has not been absolutely addressed, though reaching protected touchdown because the cats has been more and more investigated. Unlike imposing the burden on touchdown management, we method to protected touchdown of falling quadruped robots by efficient flight part management. Different from present work like swinging legs and attaching response wheels or easy tails, we suggest to deploy a 3-DoF morphable inertial tail on a medium-size quadruped robotic. In the flight part, the tail with its most size can self-right the physique orientation in 3D successfully; earlier than touch-down, the tail size could be retracted to about 1/4 of its most for impressing the tail’s side-effect on touchdown. To allow aerial reorientation for protected touchdown within the quadruped robots, we design a management structure, which is verified in a high-fidelity physics simulation surroundings with completely different preliminary situations. Experimental outcomes on a custom-made flight-phase check platform with comparable inertial properties are supplied and present the tail’s effectiveness on 3D physique reorientation and its quick retractability earlier than touch-down. An preliminary falling quadruped robotic experiment is proven, the place the robotic Unitree A1 with the 3-DoF tail can land safely topic to non-negligible preliminary physique angles.

“Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors,” by Noel Csomay-Shanklin, Victor D. Dorobantu, and Aaron D. Ames from California Institute of Technology, Pasadena, Calif., USA.

Abstract: Achieving secure hopping has been an indicator problem within the area of dynamic legged locomotion. Controlled hopping is notably troublesome as a consequence of prolonged durations of underactuation mixed with very quick floor phases whereby floor interactions have to be modulated to control international state. In this work, we discover the usage of hybrid nonlinear mannequin predictive management paired with a low-level suggestions controller in a multi-rate hierarchy to attain dynamically secure motions on a novel 3D hopping robotic. In order to exhibit richer behaviors on the manifold of rotations, each the planning and suggestions layers have to be designed in a geometrically constant trend; subsequently, we develop the required instruments to make use of Lie group integrators and acceptable suggestions controllers. We experimentally exhibit secure 3D hopping on a novel robotic, in addition to trajectory monitoring and flipping in simulation.

“Fast Untethered Soft Robotic Crawler with Elastic Instability,” by Zechen Xiong, Yufeng Su, and Hod Lipson from Columbia University, New York, NY, USA.

Abstract: Enlightened by the fast-running gait of mammals like cheetahs and wolves, we design and fabricate a single- actuated untethered compliant robotic that’s able to galloping at a velocity of 313 mm/s or 1.56 physique size per second (BL/s), sooner than most reported comfortable crawlers in mm/s and BL/s. An in- aircraft prestressed hair clip mechanism (HCM) made up of semi- inflexible supplies, i.e. plastics are used because the supporting chassis, the compliant backbone, and the pressure amplifier of the robotic on the identical time, enabling the robotic to be easy, speedy, and robust. With experiments, we discover that the HCM robotic locomotion velocity is linearly associated to actuation frequencies and substrate friction variations apart from concrete floor, that tethering slows down the crawler, and that uneven actuation creates a brand new galloping gait. This paper demonstrates the potential of HCM-based comfortable robots.

“Nature Inspired Machine Intelligence from Animals to Robots,” by Thirawat Chuthong, Wasuthorn Ausrivong, Binggwong Leung, Jettanan Homchanthanakul, Nopparada Mingchinda, and Poramate Manoonpong from Vidyasirimedhi Institute of Science and Technology (VISTEC), Thailand, and The Maersk Mc-Kinney Moller Institute, University of Southern Denmark.

Abstract: In nature, residing creatures present versatile behaviors. They can transfer on numerous terrains and carry out spectacular object manipulation/transportation utilizing their legs. Inspired by their morphologies and management methods, now we have developed bio-inspired robots and adaptive modular neural management. In this video, we exhibit our 5 bio-inspired robots in our robotic zoo setup. Inchworm-inspired robots with two electromagnetic toes (Freelander-02 and AVIS) can adaptively crawl and steadiness on horizontal and vertical steel pipes. With particular design, the Freelander-02 robotic can adapt its posture to crawl beneath an impediment, whereas the AVIS robotic can step over a flange. A millipede-inspired robotic with a number of physique segments (Freelander-08) can proactively adapt its physique joints to effectively navigate on bump terrain. A dung beetle-inspired robotic (ALPHA) can transport an object by greedy the article with its hind legs and on the identical time stroll backward with the remaining legs like dung beetles. Finally, an insect-inspired robotic (MORF), which is a hexapod robotic platform, demonstrates typical insect-like gaits (sluggish wave and quick tripod gaits). In a nutshell, we consider that this bio-inspired robotic zoo demonstrates how the varied and engaging talents of residing creatures can function inspiration and rules for creating robotics know-how able to reaching a number of robotic capabilities and fixing complicated motor management issues in methods with many levels of freedom.

“AngGo: Shared Indoor Smart Mobility Device,” by Yoon Joung Kwak, Haeun Park, Donghun Kang, Byounghern Kim, Jiyeon Lee, and Hui Sung Lee from Ulsan National Institute of Science and Technology (UNIST), in Ulsan, South Korea.

Abstract: AngGo is a hands-free shared indoor sensible mobility machine for public use. AngGo is a private mobility machine that’s appropriate for the motion of passengers in large indoor areas reminiscent of conference facilities or airports. The consumer can use each palms freely whereas using the AngGo. Unlike present mobility units, the mobility machine that may be maneuvered utilizing the toes was designed to be as intuitive as doable. The phrase “AngGo” is pronounced like a Korean phrase which means “sit down and transfer.” There are 6 ToF distance sensors round AngGo. Half of them are within the entrance half and the opposite half are within the rear half. In the autonomous mode, AngGo avoids obstacles based mostly on the gap from every sensor. IR distance sensors are mounted underneath the footrest to measure the extent to which the footrest is moved ahead or backward, and these knowledge are used to regulate the rotational velocity of motors. The consumer can management the velocity and the route of AngGo concurrently. The spring within the footrest generates pressure suggestions, so the consumer can acknowledge the quantity of variation.

“Creative Robotic Pen-Art System,” by Daeun Song and Young Jun Kim from Ewha Womans University in Seoul, South Korea.

Abstract: Since the Renaissance, artists have created artworks utilizing novel methods and machines, deviating from typical strategies. The robotic drawing system is one in all such inventive makes an attempt that entails not solely the creative nature but additionally scientific issues that must be solved. Robotic drawing issues could be considered as planning the robotic’s drawing path that finally results in the artwork kind. The robotic pen-art system imposes new challenges, not like robotic portray, requiring the robotic to take care of secure contact with the goal drawing floor. This video showcases an autonomous robotic system that creates pen artwork on an arbitrary canvas floor with out limiting its dimension or form. Our system converts raster or vector photos into piecewise-continuous paths relying on stylistic decisions, reminiscent of TSP artwork or stroke-based drawing. Our system consists of a number of manipulators with mobility and performs stylistic drawing duties. In order to create a extra in depth pen artwork, the cellular manipulator setup finds a minimal variety of discrete configurations for the cellular platform to cowl the ample canvas area. The twin manipulator setup can generate multi-color pen artwork utilizing adaptive 3-finger grippers with a pen-tool-change mechanism. We exhibit that our system can create visually pleasing and complex pen artwork on numerous surfaces.

“I Know What You Want: A ‘Smart Bartender’ System by Interactive Gaze Following,” by Haitao Lin, Zhida Ge, Xiang Li, Yanwei Fu, and Xiangyang Xue from Fudan University, in Shanghai, China.

Abstract: We developed a novel “Smart Bartender” system, which might perceive the intention of customers simply from the attention gaze, and make some corresponding actions. Particularly, we consider {that a} cyber-barman who can’t really feel our faces just isn’t an clever one. We thus intention at constructing a novel cyber-barman by capturing and analyzing the intention of the purchasers on the fly. Technically, such a system permits the consumer to pick a drink just by watching it. Then the robotic arm mounted with a digital camera will robotically grasp the goal bottle, and pour the liquid into the cup. To obtain this objective, we firstly undertake YOLO to detect candidate drinks. Then, the GazeInternet is utilized to generate potential gaze heart for grounding the goal bottle that has minimal center-to-center distance. Finally, we use object pose estimation and path planning algorithms to information the robotic arm to understand the goal bottle and execute pouring. Our system built-in with the category-level object pose estimation enjoys highly effective efficiency, generalizing to numerous unseen bottles and cups which aren’t used for coaching. We consider our system wouldn’t solely scale back the intensive human labor in several service situations, but additionally present customers with interactivity and pleasure.

“Towards Aerial Humanoid Robotics: Developing the Jet-Powered Robot iRonCub,” by Daniele Pucci, Gabriele Nava, Fabio Bergonti, Fabio Di Natale, Antonello Paolino, Giuseppe L’erario, Affaf Junaid Ahamad Momin, Hosameldin Awadalla Omer Mohamed, Punith Reddy Vanteddu, and Francesca Bruzzone from the Italian Institute of Technology (IIT), in Genoa, Italy.

Abstract: The present state of robotics know-how lacks a platform that may mix manipulation, aerial locomotion, and bipedal terrestrial locomotion. Therefore, we outline aerial humanoid robotics as the end result of platforms with these three capabilities. To implement aerial humanoid robotics on the humanoid robotic iCub, we conduct analysis in several instructions. This consists of experimental analysis on jet generators and co-design, which is important to implement aerial humanoid robotics on the actual iCub. These actions intention to mannequin and establish the jet generators. We additionally examine flight management of flying humanoid robots utilizing Lyapunov-quadratic-programming based mostly management algorithms to control each the angle and place of the robotic. These algorithms work independently of the variety of jet generators put in on the robotic and guarantee satisfaction of bodily constraints related to the jet engines. In addition, we analysis computational fluid dynamics for aerodynamics modeling. Since the aerodynamics of a multi-body system like a flying humanoid robotic is complicated, we use CFD simulations with Ansys to extract a simplified mannequin for management design, as there’s little area for closed-form expressions of aerodynamic results.

“AMEA Autonomous Electrically Operated One-Axle Mowing Robot,” by Romano Hauser, Matthias Scholer, and Katrin Solveig Lohan from Eastern Switzerland University of Applied Sciences (OST), in St. Gallen, Switzerland, and Heriot-Watt University, in Edinburgh, Scotland.

Abstract: The objective of this analysis mission (Consortium: Altatek GmbH, Eastern Switzerland University of Applied Sciences OST, Faculty of Law University of Zurich) was the event of a multifunctional, autonomous single-axle robotic with an electrical drive. The robotic is custom-made for agricultural functions in mountainous areas with steepest slopes. The intention is to alleviate farmers from arduous and security important work. Furthermore, the robotic is developed as a modular platform which can be utilized for work in forestry, municipal, sports activities fields and winter/snow functions. Robot options: Core function is the patented heart of gravity management. With a sliding wheel axle of 800mm, hills as much as a steepness of 35° (70%) could be simply pushed and a protected operation with out tipping could be ensured. To make the robotic extra sustainable electrical drives and a 48V battery have been outfitted. To navigate in mountainous areas a number of sensors are used. In distinction to functions on flat areas the place and gradient of the robotic on the slope must be measured and thought of within the path planning. A sensor system which detects doable obstacles and particularly people or animals which could possibly be within the path of the robotic is at present underneath improvement.

“Surf Zone Exploration With Crab-Like Legged Robots,” by Yifeng Gong, John Grezmak, Jianfeng Zhou, Nicole Graf, Zhili Gong, Nathan Carmichael, Airel Foss, Glenna Clifton, and Kathryn A. Daltorio from Case Western Reserve University, in Cleveland, Ohio, USA, and University of Portland, in Portland, Oregon, USA.

Abstract: Surf zones are difficult for strolling robots if they can not anchor to the substrate, particularly on the transition between dry sand and waves. Crab-like dactyl designs allow robots to attain this anchoring habits whereas nonetheless being light-weight sufficient to stroll on dry sand. Our group has been creating a sequence of crab-like robots to attain the transition from strolling on underwater surfaces to strolling on dry land. Compared with the default forward-moving gait, we discover that inward-pulling gaits and sideways strolling improve effectivity in granular media. By utilizing comfortable dactyls, robots can probe the bottom to categorise substrates, which might help modify gaits to higher go well with the surroundings and acknowledge hazardous situations. Dactyls will also be used to securely grasp the article and dig within the substrate for putting in cables, trying to find buried objects, and amassing sediment samples. To simplify management and actuation, we developed a four-degree-freedom Klann mechanism robotic, which might climb onto an object after which grasp it. In addition, human interfaces will enhance our skill to exactly management the robotic for these kind of duties. In explicit, the US authorities has recognized munitions retrieval as an environmental precedence via their Strategic Environmental Research Development Program. Our objective is to assist these efforts with new robots.

“Learning Exploration Strategies to Solve Real-World Marble Runs,” by Alisa Allaire and Christopher G. Atkeson from the Robotics Institute, Carnegie Mellon University, Pittsburgh, Penn., USA.

Abstract: Tasks involving regionally unstable or discontinuous dynamics (reminiscent of bifurcations and collisions) stay difficult in robotics, as a result of small variations within the surroundings can have a big influence on job outcomes. For such duties, studying a sturdy deterministic coverage is troublesome. We give attention to structuring exploration with a number of stochastic insurance policies based mostly on a combination of specialists (MoE) coverage illustration that may be effectively tailored. The MoE coverage consists of stochastic sub-policies that permit exploration of a number of distinct areas of the motion area (or methods) and a high- degree choice coverage to information exploration in direction of essentially the most promising areas. We develop a robotic system to guage our method in a real-world bodily downside fixing area. After coaching the MoE coverage in simulation, on-line studying in the actual world demonstrates environment friendly adaptation inside just some dozen makes an attempt, with a minimal sim2real hole. Our outcomes affirm that representing a number of methods promotes environment friendly adaptation in new environments and techniques discovered underneath completely different dynamics can nonetheless present helpful details about the place to search for good methods.

“Flipbot: Learning Continuous Paper Flipping Via Coarse-To-Fine Exteroceptive-Proprioceptive Exploration,” by Chao Zhao, Chunli Jiang, Junhao Cai, Michael Yu Wang, Hongyu Yu, and Qifeng Chen from Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong, and HKUST – Shenzhen-Hong Kong Collaborative Innovation Research Institute, Futian, Shenzhen.

Abstract: This paper tackles the duty of singulating and greedy paper-like deformable objects. We check with such duties as paper-flipping. In distinction to manipulating deformable objects that lack compression power (reminiscent of shirts and ropes), minor variations within the bodily properties of the paper-like deformable objects considerably influence the outcomes, making manipulation extremely difficult. Here, we current Flipbot, a novel resolution for flipping paper-like deformable objects. Flipbot permits the robotic to seize object bodily properties by integrating exteroceptive and proprioceptive perceptions which are indispensable for manipulating deformable objects. Furthermore, by incorporating a proposed coarse-to-fine exploration course of, the system is able to studying the optimum management parameters for efficient paper-flipping via proprioceptive and exteroceptive inputs. We deploy our technique on a real-world robotic with a comfortable gripper and be taught in a self-supervised method. The ensuing coverage demonstrates the effectiveness of Flipbot on paper-flipping duties with numerous settings past the attain of prior research, together with however not restricted to flipping pages all through a e book and emptying paper sheets in a field. The code is out there right here:
https://robotll.github.io/Flipbot/

“Croche-Matic: A Robot for Crocheting 3D Cylindrical Geometry,” by Gabriella Perry, Jose Luis Garcia del Castillo y Lopez, and Nathan Melenbrink from Harvard University, in Cambridge, Mass., USA.

Abstract: Crochet is a textile craft that has resisted mechanization and industrialization apart from a choose variety of one-off crochet machines. These machines are solely able to producing a restricted subset of widespread crochet stitches. Crochet machines will not be used within the textile trade, but mass-produced crochet objects and garments offered in shops like Target and Zara are virtually definitely the merchandise of crochet sweatshops. The recognition of crochet and the existence of crochet merchandise in main chain shops reveals that there’s each a transparent demand for this craft in addition to a necessity for it to be produced in a extra moral means. In this paper, we current Croche-Matic, a radial crochet machine for producing three-dimensional cylindrical geometry. The Croche-Matic is designed based mostly on Magic Ring method, a way for hand crocheting 3D cylindrical objects. The machine consists of 9 mechanical axes that work in sequence to finish several types of crochet stitches, and features a sensor element for measuring and regulating yarn stress throughout the mechanical system. Croche-Matic can full the 4 fundamental stitches utilized in Magic Ring method. It has a hit charge of fifty.7% with single crochet stitches, and has demonstrated a capability to create three-dimensional objects.

“SOPHIE: SOft and Flexible Aerial Vehicle for PHysical Interaction with the Environment,” by F. Ruiz , B. C. Arrue, and A. Ollero from GRVC Robotics Lab of Seville, Spain.

Abstract: This letter presents the primary design of a comfortable and light-weight UAV, completely 3D-printed in versatile filament. The drone’s versatile arms are outfitted with a tendon-actuated bend- ing system, which is used for functions that require bodily interplay with the surroundings. The flexibility of the UAV could be managed through the additive manufacturing course of by adjusting the infill charge ρTPU distribution. However, the rise inflexibility implies difficulties in controlling the UAV, in addition to structural, aerodynamic, and aeroelastic results. This article gives perception into the dynamics of the system and validates the flyability of the car for densities as little as 6%. Within this vary, quasi-static arm deformations could be thought of, thus the autopilot is fed again via a static arm deflection mannequin. At decrease densities, robust non-linear elastic dynamics seem, which interprets to complicated modeling, and it’s prompt to change to data-based approaches. Moreover, this work demonstrates the flexibility of the comfortable UAV to carry out full-body perching, particularly touchdown and stabilizing on pipelines and irregular surfaces with out the necessity for an auxiliary system.

“Reconfigurable Drone System for Transportation of Parcels with Variable Mass and Size,” by Fabrizio Schiano, Przemyslaw Mariusz Kornatowski, Leonardo Cencetti, and Dario Floreano from École Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland, and Leonardo S.p.A., Leonardo Labs, Rome, Italy.

Abstract: Cargo drones are designed to hold payloads with predefined form, dimension, and/or mass. This lack of flexibility requires a fleet of numerous drones tailor-made to particular cargo dimensions. Here we suggest a brand new reconfigurable drone based mostly on a modular design that adapts to completely different cargo shapes, sizes, and mass. We additionally suggest a way for the automated era of drone configurations and appropriate parameters for the flight controller. The parcel turns into the drone’s physique to which a number of particular person propulsion modules are hooked up. We exhibit the usage of the reconfigurable {hardware} and the accompanying software program by transporting parcels of various mass and sizes requiring numerous numbers and propulsion modules’ positioning. The experiments are carried out indoors (with a movement seize system) and outside (with an RTK-GNSS sensor). The proposed design represents a less expensive and extra versatile various to the options involving a number of drones for parcel transportation.

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