A Graph Robot Network for Force Observer of Teleoperation Systems

doi:10.1109/TMECH.2024.3402995

	A Graph Robot Network for Force Observer of Teleoperation Systems
	Pan, Ming-Zhang 4; Li, Jing-Ao 4; Li, Zhen 2,3; Liang, Kun 4; Su, Tie-Cheng 4; Liang, Ke 4; Bian, Gui-Bin 1
刊名	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2024-06-05
页码	11
关键词	Deep learning force observer master-slave robot teleoperation system
ISSN号	1083-4435
DOI	10.1109/TMECH.2024.3402995
通讯作者	Bian, Gui-Bin(guibin.bian@ia.ac.cn)
英文摘要	Force information is crucial to teleoperation systems, which allows experts to perform tasks safely and reduces potential risks. However, due to the limitations of robot size and working environment, it is difficult to obtain contact force information through traditional force sensors. Therefore, this article proposes a graph robot network force observer, which can achieve sensorless force estimation without solving the robot dynamics. First, different association graphs are constructed according to the relative spatial position of the robot joints, establishing information transmission channels between each joint. Second, a neural reinforcement factor is introduced from robot joint motion information to enhance the feature information of different association subgraphs. Finally, a spatial and temporal feature fusion module is developed to extract and fuse both temporal and spatial information, which outputs the force information on the robot end effector along axes X, Y, and Z. Experiments in different environments and ablation experiments are carried out to verify the stability and generalization ability of the model. The experimental results show that the proposed force observer can accurately achieve the contact force between the robot and the object, and the proposed force observer achieves state-of-the-art performance compared with other algorithms.
资助项目	National Natural Science Foundation of China
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:001242965600001
资助机构	National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/58748]
专题	智能机器人系统研究
通讯作者	Bian, Gui-Bin
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence, Beijing 100190, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 3.Tongji Univ, Sch Elect & Informat Engn, Shanghai 200092, Peoples R China 4.Guangxi Univ, Sch Mech Engn, Nanning 530004, Peoples R China
推荐引用方式 GB/T 7714	Pan, Ming-Zhang,Li, Jing-Ao,Li, Zhen,et al. A Graph Robot Network for Force Observer of Teleoperation Systems[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2024:11.
APA	Pan, Ming-Zhang.,Li, Jing-Ao.,Li, Zhen.,Liang, Kun.,Su, Tie-Cheng.,...&Bian, Gui-Bin.(2024).A Graph Robot Network for Force Observer of Teleoperation Systems.IEEE-ASME TRANSACTIONS ON MECHATRONICS,11.
MLA	Pan, Ming-Zhang,et al."A Graph Robot Network for Force Observer of Teleoperation Systems".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2024):11.