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2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS)最新文献

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Real-time control of a humanoid robot 人形机器人的实时控制
2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2017-09-01 DOI: 10.1109/ARIS.2017.8297174
Wei-Zh Lai, Han-Pang Huang, Jianhao Chen
{"title":"Real-time control of a humanoid robot","authors":"Wei-Zh Lai, Han-Pang Huang, Jianhao Chen","doi":"10.1109/ARIS.2017.8297174","DOIUrl":"https://doi.org/10.1109/ARIS.2017.8297174","url":null,"abstract":"In this paper, the real-time feedback control and balancing strategies are most focused. We design a real-time stabilizer for humanoid robots, combining the advantages of both position-based and torque-based controllers. The ZMP distributor is used as the control reference and the COG Jacobian is used to realize whole body coordinate balancing. The workability of this stabilizer is proved in this paper. With the proposed stabilizer, the humanoid is able to endure external forces and walk on uneven terrain.","PeriodicalId":104750,"journal":{"name":"2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"249 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134281049","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Design and implementation of prototype service robot for shopping in a supermarket 超市购物服务机器人原型的设计与实现
2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2017-09-01 DOI: 10.1109/ARIS.2017.8297181
Chuan-Han Cheng, Chih-Yen Chen, Jie-Jhong Liang, Ting-Nan Tsai, Chih-Yin Liu, Tzuu-Hseng S. Li
{"title":"Design and implementation of prototype service robot for shopping in a supermarket","authors":"Chuan-Han Cheng, Chih-Yen Chen, Jie-Jhong Liang, Ting-Nan Tsai, Chih-Yin Liu, Tzuu-Hseng S. Li","doi":"10.1109/ARIS.2017.8297181","DOIUrl":"https://doi.org/10.1109/ARIS.2017.8297181","url":null,"abstract":"This paper proposes a design and implementation of service robot for shopping in a supermarket, which accompanies customers and helps them to take the merchandises down from the shelf. And stop to answer the question from the customers during the patrolling in the mall. To create flexible interaction between customers and the service robot, graphic and verbal communications are investigated. Before the service scenario, the maps of the market are built through the simultaneous localization and mapping (SLAM) function with the position of merchandises obtained meanwhile. And the image features of merchandises are extracted by the recognition system. After receiving the request of grasping merchandises, service robot do path planning to optimize the moving distance during the task and grasp every object accurately. Further, to ensure the safety of customers, obstacle avoiding and emergency stop are investigated. With the proposed service robot system, a comfortable, efficient and labor saving market can be realized.","PeriodicalId":104750,"journal":{"name":"2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126255926","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
A new type of eye-on-hand robotic arm system based on a low-cost recognition system 一种基于低成本识别系统的新型眼手机械臂系统
2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2017-09-01 DOI: 10.1109/ARIS.2017.8297200
Yu-Sin Wu, Min-Liang Wang, N. Mayer
{"title":"A new type of eye-on-hand robotic arm system based on a low-cost recognition system","authors":"Yu-Sin Wu, Min-Liang Wang, N. Mayer","doi":"10.1109/ARIS.2017.8297200","DOIUrl":"https://doi.org/10.1109/ARIS.2017.8297200","url":null,"abstract":"In recent years, research in medical engineering has become quite popular. In the medical area, one important invention is minimally invasive surgery. It's a huge progress for medical engineering. But the procedure is expensive because it requires high accuracy. In order to develop a low cost robotic arm to help doctors do work such as sewing wounds, or cleaning blood off of patients. By using the robotic arm, doctors can perform their job more effectively; they can save time doing preliminary checks on patients. It not only depends on the control system but also reference for synchronous simulation. It gains feedback by placing the servo motor and sensor together. Thus the robot can avoid making mistakes on patients.","PeriodicalId":104750,"journal":{"name":"2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129821264","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Programming everyday task using primitive skills and generative model of movement demonstrated by human 使用原始技能和人类运动的生成模型对日常任务进行编程
2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2017-09-01 DOI: 10.1109/ARIS.2017.8297177
Pham Ngoc Hung, T. Yoshimi
{"title":"Programming everyday task using primitive skills and generative model of movement demonstrated by human","authors":"Pham Ngoc Hung, T. Yoshimi","doi":"10.1109/ARIS.2017.8297177","DOIUrl":"https://doi.org/10.1109/ARIS.2017.8297177","url":null,"abstract":"This manuscript describes a method to program everyday manipulation tasks for the robots from human demonstration by using a movement generating model and primitive skills. The hand movement in the demonstrated task is recorded by using a hand motion tracker with a Kinect camera and a color-marker glove. The recorded movement is segmented to sub-actions and then mapped to primitive skills which can be built independently with the task. To adapt with the change of the goal position, Dynamic Movement Primitives model was applied to generate movement trajectory which follows the demonstrated trajectory. In experiment, we considered the task “dispensing water” from a water thermos pot performed by a robot arm. We implemented DMPs model for the sub-movement such as ‘approaching object’ to confirm the adaptation to new goal of movement trajectory. We proposed a list of necessary common skills to use for accomplishing the demonstrated task and can be reused in other everyday manipulation tasks.","PeriodicalId":104750,"journal":{"name":"2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130012922","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Carving 2D image onto 3D curved surface using hybrid additive and subtractive 3D printing process 采用加减法混合3D打印工艺将二维图像雕刻到三维曲面上
2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2017-09-01 DOI: 10.1109/ARIS.2017.8297180
R. Luo, P. Tseng
{"title":"Carving 2D image onto 3D curved surface using hybrid additive and subtractive 3D printing process","authors":"R. Luo, P. Tseng","doi":"10.1109/ARIS.2017.8297180","DOIUrl":"https://doi.org/10.1109/ARIS.2017.8297180","url":null,"abstract":"The objective of this paper is to describe that carve 2D image on the 3D curved surface based on surface flattening using hybrid 3D printing approach. Customized logo or trademark is supposed to be displayed on the surface of products, which cannot be completed only by 3D printing techniques. Projection algorithm, which transfers the 2D image to 3D sticker that matches the surface of products, is one of the techniques to satisfy this demand. In this paper, we propose a novel surface flattening algorithm that combines conformal mapping with optimal adjuster based on edge-lengths of the original mesh. By using the proposed algorithm, the surface of 3D model is unfolded. A two dimensional data or figure is mapped onto the unfolded plane. After the plane is mapped onto the 3D surface, a path for carving is obtained to sculpture the indicated figure onto the model. Moreover, compared with the several surface flattening methods, the proposed algorithm can minimize distortion while transferring 2D figure to 3D sticker. Furthermore, the algorithm is physically experimented to proof of the concept on the gantry-type hybrid machine developed in our NTU lab which integrates the additive (3D printing) and the subtractive (carving) process.","PeriodicalId":104750,"journal":{"name":"2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"614 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116329612","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Trajectory pre-compensation algorithm for improving the path accuracy of industrial robots 提高工业机器人路径精度的轨迹预补偿算法
2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2017-09-01 DOI: 10.1109/ARIS.2017.8297196
Y. Y. Du
{"title":"Trajectory pre-compensation algorithm for improving the path accuracy of industrial robots","authors":"Y. Y. Du","doi":"10.1109/ARIS.2017.8297196","DOIUrl":"https://doi.org/10.1109/ARIS.2017.8297196","url":null,"abstract":"In this paper, a trajectory pre-compensation algorithm is proposed for improving the path accuracy of 6 D.O.F. industrial robots. Via the analysis for the dynamic behavior of robot motion, a prediction model of path deviation is derived and applied to implement path pre-compensation scheme. The scheme is not only easy compatible with the interface of industry control platform, but also is low computation complexity. The proposed method is experimentally validated on the ITRI A-type industrial robot.","PeriodicalId":104750,"journal":{"name":"2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126501435","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Smooth path planning for intuitive teaching of 6-DOF manipulator tasks 六自由度机械手任务直观教学的平滑路径规划
2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2017-09-01 DOI: 10.1109/ARIS.2017.8297193
Chin-Sheng Chen, Shangzheng Liu, Shih-Kang Chen
{"title":"Smooth path planning for intuitive teaching of 6-DOF manipulator tasks","authors":"Chin-Sheng Chen, Shangzheng Liu, Shih-Kang Chen","doi":"10.1109/ARIS.2017.8297193","DOIUrl":"https://doi.org/10.1109/ARIS.2017.8297193","url":null,"abstract":"This paper proposed a skill to smooth the trajectory for intuitive teaching of 6-DOF manipulator tasks. Firstly, the teaching zones, including the starting zone and ending zone, and safety zone are well defined for different applications. Then, the backtracking method is used to teach the corresponding tasks in the ending zone to guarantee the accurate positioning of target point. In addition, a cubic spline is applied to connect two discrete points which are the boundary of teaching zone. The proposed strategy make the intuitive teaching more efficient in the teaching process and more accurate in the target position.","PeriodicalId":104750,"journal":{"name":"2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125137439","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Depth estimation of objects with known geometric model for IBVS using an eye-in-hand camera 利用眼控相机对已知几何模型的IBVS目标进行深度估计
2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2017-09-01 DOI: 10.1109/ARIS.2017.8297195
Junqing. Wu, M. Cheng
{"title":"Depth estimation of objects with known geometric model for IBVS using an eye-in-hand camera","authors":"Junqing. Wu, M. Cheng","doi":"10.1109/ARIS.2017.8297195","DOIUrl":"https://doi.org/10.1109/ARIS.2017.8297195","url":null,"abstract":"One of the most crucial and challenging issues in Image-Based Visual Servoing (IBVS) is the derivation of accurate depth information of feature points, which is indispensable in the calculation of the image Jacobian. For an object without a known geometric model, it is difficult to retrieve the depth information of feature points using a single camera. However, in many application scenarios such as industrial manufacturing processes, geometric models of artificial objects such as polyhedrons are known in advance. As a result, this paper aims at developing an estimation algorithm that can be used to retrieve the depth information of an object with a known geometric model. Several computer simulations and real experiments have been conducted to verify the effectiveness of the proposed depth estimation algorithm. In addition, a 6-DOF industrial robot is used to perform an eye-in-hand IBVS task with the aid of the proposed depth estimation algorithm.","PeriodicalId":104750,"journal":{"name":"2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134534288","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Tracking control of a spherical inverted pendulum with an omnidirectional mobile robot 全向移动机器人球面倒立摆的跟踪控制
2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2017-09-01 DOI: 10.1109/ARIS.2017.8297182
Sho-Tsung Kao, Ming-Tzu Ho
{"title":"Tracking control of a spherical inverted pendulum with an omnidirectional mobile robot","authors":"Sho-Tsung Kao, Ming-Tzu Ho","doi":"10.1109/ARIS.2017.8297182","DOIUrl":"https://doi.org/10.1109/ARIS.2017.8297182","url":null,"abstract":"This paper considers the problems of design and implementation of trajectory tracking control of a spherical inverted pendulum with an omni-directional mobile robot. The control objective is to control the robot to track the desired translational trajectory with desired orientation while maintaining the inverted pendulum in its upright position. The mathematical models of the spherical pendulum and omnidirectional mobile robot are given to facilitate the control analysis and design. Based on linear output regulation, and inverse dynamics, a tracking controller is designed to achieve asymptotic trajectory and orientation tracking. The designed control law is implemented on a digital signal processor and tested on an experimental apparatus. The effectiveness of the designed control scheme is validated through experimental studies. The results show that the robot is able to track the reference trajectory and reference orientation while balancing the inverted pendulum.","PeriodicalId":104750,"journal":{"name":"2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125959714","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Model-based point cloud alignment with principle component analysis for robot welding 基于模型的点云对准与机器人焊接主成分分析
2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2017-09-01 DOI: 10.1109/ARIS.2017.8297194
Xu Chen, Chwan-Hsen Chen
{"title":"Model-based point cloud alignment with principle component analysis for robot welding","authors":"Xu Chen, Chwan-Hsen Chen","doi":"10.1109/ARIS.2017.8297194","DOIUrl":"https://doi.org/10.1109/ARIS.2017.8297194","url":null,"abstract":"In this paper, we propose a fast pose estimate method to estimate the relative pose between a measured point cloud and a reference point cloud, in order to increase the speed and accuracy of the point cloud registration procedure. The method extracts feature points from the point cloud and find the principal components of the features points' coordinates. The relative pose of the measured point cloud is found by minimizing the principal components of the measured point cloud and that of the reference point cloud. After aligning the measured point cloud with the reference point, we apply the Iterative Closed Point registration procedure to find the final match. The method can find the rotation and transformation relationship of two similar point clouds in arbitrary positions in a short time. It can be applied to determine the positions of another similar target in the case of a given object pose.","PeriodicalId":104750,"journal":{"name":"2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115318015","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
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