Knowledge Commons of Institute of Automation,CAS
A Hybrid Admittance Control Algorithm for Automatic Robotic Cranium-Milling | |
Qian C(钱琛)1![]() ![]() ![]() | |
2024-06 | |
会议名称 | The 2024 IEEE International Conference on Robotics and Automation |
会议日期 | May 13th to 17th, 2024 |
会议地点 | Yokohama, Japan |
摘要 | Prior robot-assisted cranium-milling studies only considered controlling the force in the skull’s vertical direction and neglected the milling cutter’s feed force. Additionally, achieving stable force control in multiple directions is challenging for robots due to the uneven skull surface. Here a hybrid admittance control algorithm incorporating a model-free adaptive nonlinear force control and fuzzy control algorithms is proposed to accomplish effective automatic cranial-milling tasks. First, a pure data-driven model-free adaptive control method based on partial form dynamic linearization is used to control the feed force. Second, fuzzy control minimizes the total error of both the vertical and feed force by adaptively adjusting the milling cutter’s velocity and position. 42 ex vivo animal skull-milling experiments conducted by the automatic robotic cranium-milling system indicate that when using the proposed control algorithm, the force error percentage can be maintained below 5.0% within 3 s and the maximal root mean square error percentages for vertical and feed force are 1.85% and 1.94%, respectively. Moreover, no instances of dura mater damage are observed and the robotic system exhibits a high level of autonomy as it performs the skull milling task with minimal human involvement throughout the entire experiment. The results suggest the potential for advancing the intelligence level of neurosurgery in the future. |
语种 | 英语 |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 人-机-算法混合与协同决策 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/56612 |
专题 | 多模态人工智能系统全国重点实验室_智能机器人系统研究 |
通讯作者 | Bian GB(边桂彬) |
作者单位 | 1.中国科学院自动化研究所 2.北京天坛医院 |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Qian C,Li Z,Ye Q,et al. A Hybrid Admittance Control Algorithm for Automatic Robotic Cranium-Milling[C],2024. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
ICRA_949.pdf(1806KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 | ||
ICRA_Experimental_Vi(8494KB) | 影音 | 开放获取 | ODC BY | 浏览 下载 |
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