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Author:

Peng, Yanlong (Peng, Yanlong.) | Wang, Zhigang (Wang, Zhigang.) | Zhang, Yisheng (Zhang, Yisheng.) | Zhang, Shengmin (Zhang, Shengmin.) | Cai, Nan (Cai, Nan.) | Wu, Fan (Wu, Fan.) | Chen, Ming (Chen, Ming.)

Indexed by:

EI

Abstract:

The efficient disassembly of end-of-life electric vehicle batteries(EOL-EVBs) is crucial for green manufacturing and sustainable development. The current pre-programmed disassembly conducted by the Autonomous Mobile Manipulator Robot(AMMR) struggles to meet the disassembly requirements in dynamic environments, complex scenarios, and unstructured processes. In this paper, we propose a Battery Disassembly AMMR(BEAM-1) system based on NeuralSymbolic AI. It detects the environmental state by leveraging a combination of multi-sensors and neural predicates and then translates this information into a quasi-symbolic space. In real-time, it identifies the optimal sequence of action primitives through LLM-heuristic tree search, ensuring high-precision execution of these primitives. Additionally, it employs positional speculative sampling using intuitive networks and achieves the disassembly of various bolt types with a meticulously designed end-effector. Importantly, BEAM-1 is a continuously learning embodied intelligence system capable of subjective reasoning like a human, and possessing intuition. A large number of real scene experiments have proved that it can autonomously perceive, decide, and execute to complete the continuous disassembly of bolts in multiple, multi-category, and complex situations, with a success rate of 98.78%. This research attempts to use NeuroSymbolic AI to give robots real autonomous reasoning, planning, and learning capabilities. BEAM-1 realizes the revolution of battery disassembly. Its framework can be easily ported to any robotic system to realize different application scenarios, which provides a ground-breaking idea for the design and implementation of future embodied intelligent robotic systems. © 2024 IEEE.

Keyword:

Manipulators Robot applications Modular robots Integrated circuit design Industrial robots Intelligent robots Mobile robots Robot programming Structural analysis End effectors

Author Community:

  • [ 1 ] [Peng, Yanlong]Shanghai Jiao Tong University, School of Mechanical Engineering, Shanghai, China
  • [ 2 ] [Wang, Zhigang]Intel Labs China, Beijing, China
  • [ 3 ] [Zhang, Yisheng]Shanghai Jiao Tong University, School of Mechanical Engineering, Shanghai, China
  • [ 4 ] [Zhang, Shengmin]Shanghai Jiao Tong University, School of Mechanical Engineering, Shanghai, China
  • [ 5 ] [Cai, Nan]Kunming University of Science and Technology, Faculty of Mechanical and Electrical Engineering, Kunming, China
  • [ 6 ] [Wu, Fan]Beijing University of Technology, Beijing-Dublin International College, Beijing, China
  • [ 7 ] [Chen, Ming]Shanghai Jiao Tong University, School of Mechanical Engineering, Shanghai, China

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ISSN: 2153-0858

Year: 2024

Page: 6367-6374

Language: English

Cited Count:

WoS CC Cited Count:

SCOPUS Cited Count:

ESI Highly Cited Papers on the List: 0 Unfold All

WanFang Cited Count:

Chinese Cited Count:

30 Days PV: 13

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