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Research on Supernumerary Robotic Limbs with Relatively Independent Operation Ability

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Advances in Guidance, Navigation and Control ( ICGNC 2022)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 845))

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Abstract

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.

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Author information

Authors and Affiliations

  1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China

    Xiaobo Zhang & Jinguo Liu

  2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China

    Xiaobo Zhang & Jinguo Liu

  3. University of Chinese Academy of Sciences, Beijing, 100049, China

    Xiaobo Zhang

Authors
  1. Xiaobo Zhang
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  2. Jinguo Liu
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Corresponding author

Correspondence to Jinguo Liu .

Editor information

Editors and Affiliations

  1. Ningbo Institute of Technology, Beihang University, Ningbo, China

    Liang Yan

  2. School of Automation Science and Electrical Engineering, Beihang University, Beijing, Beijing, China

    Haibin Duan

  3. School of Automation Science and Electrical Engineering, Beihang University, Beijing, Beijing, China

    Yimin Deng

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Zhang, X., Liu, J. (2023). Research on Supernumerary Robotic Limbs with Relatively Independent Operation Ability. In: Yan, L., Duan, H., Deng, Y. (eds) Advances in Guidance, Navigation and Control. ICGNC 2022. Lecture Notes in Electrical Engineering, vol 845. Springer, Singapore. https://doi.org/10.1007/978-981-19-6613-2_431

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