This paper analyzes and summarizes the principles, advantages, and disadvantages of the current operation methods of supernumerary robotic limbs. There is a phenomenon of visual area switching in the existing operation methods, which reduces the operation efficiency. In response to this problem, this paper proposes a new and efficient operation method for supernumerary robotic limbs and it is called a relatively independent operation method. First, the concept of the relatively independent operation is defined. Secondly, four core factors for realizing this method are analyzed, namely, environment perception, human state perception and intention recognition, autonomous decision-making and planning, and anti-base disturbance. Thirdly, the hardware composition of the supernumerary robotic limb system with four abilities is expounded, and the corresponding software architecture is proposed. The functions and logical relationships of various algorithm modules in the top, middle, and bottom layers of the software architecture are described in detail, and the core algorithm, the autonomous decision-making motion control algorithm, is further analyzed. Finally, a prototype of the supernumerary robotic limb body is introduced.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Research on Supernumerary Robotic Limbs with Relatively Independent Operation Ability


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Yan, Liang (Herausgeber:in) / Duan, Haibin (Herausgeber:in) / Deng, Yimin (Herausgeber:in) / Zhang, Xiaobo (Autor:in) / Liu, Jinguo (Autor:in)

    Kongress:

    International Conference on Guidance, Navigation and Control ; 2022 ; Harbin, China August 05, 2022 - August 07, 2022



    Erscheinungsdatum :

    2023-01-31


    Format / Umfang :

    13 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Design and control of supernumerary robotic limbs

    Parietti, Federico | BASE | 2016

    Freier Zugriff

    Human augmentation by wearable supernumerary robotic limbs: Review and perspectives

    Prattichizzo D. / Pozzi M. / Lisini Baldi T. et al. | BASE | 2021

    Freier Zugriff

    Supernumerary robotic limbs for human augmentation in overhead assembly tasks

    Bright, Lawrence (Lawrence Zack) | BASE | 2017

    Freier Zugriff

    Exploiting Intrinsic Kinematic Null Space for Supernumerary Robotic Limbs Control

    Lisini Baldi, T / D'Aurizio, N / Gurgone, S et al. | BASE | 2023

    Freier Zugriff

    Design of Supernumerary Robotic Limbs and Virtual Test of Human-Machine Interaction Safety

    Chang, Tianzuo / Jiang, Surong / Chen, Bai et al. | TIBKAT | 2022