2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献_第10页

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2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/robio49542.2019.8961871

引用次数: 0

A Tendon-Driven Dexterous Hand Design with Tactile Sensor Array for Grasping and Manipulation* 基于触觉传感器阵列的肌腱驱动灵巧手的抓取和操作设计*

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961671

Bin Fang, F. Sun, Yang Chen, Chang Zhu, Ziwei Xia, Yiyong Yang

引用次数: 7

A Kinematic Equivalence Trajectory Planning Method of Hybrid Active and Passive Cable-Driven Segmented Hyper-Redundant Manipulator* 一种主被动混合索驱动分段超冗余度机械臂的运动等效轨迹规划方法*

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961540

Zhonghua Hu, Taiwei Yang, Wenfu Xu, Zonggao Mu, Jianqing Peng, Bin Liang

{"title":"A Kinematic Equivalence Trajectory Planning Method of Hybrid Active and Passive Cable-Driven Segmented Hyper-Redundant Manipulator*","authors":"Zhonghua Hu, Taiwei Yang, Wenfu Xu, Zonggao Mu, Jianqing Peng, Bin Liang","doi":"10.1109/ROBIO49542.2019.8961540","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961540","url":null,"abstract":"A hybrid active and passive cable-driven segmented hyper-redundant manipulator is very flexible and dexterous to conduct tasks in highly cluttered environment. However, computation load of inverse kinematics and trajectory planning are also very large. In the paper, a kinematic equivalence method is proposed for the hybrid active and passive cable-driven segmented hyper-redundant manipulator to overcome the above challenge when the position and direction of end-effector are considered. The kinematic equivalence method is an effective way to solve the inverse kinematics and trajectory planning by simplifying and rearranging joints of each segment. The mechanism and joint layout of the manipulator are first analyzed. Then, the kinematics model is established by both traditional DH method and kinematic equivalence method. The calculated amount is decreased by reducing the number of rotation axis that needs to be processed in each segment. Furthermore, the desired trajectory is generated for the end effector of the arm to approach the target point. Finally, the proposed method is applied to a practical prototype, which has five segments and each segment consists of six subsegments. Simulation results verified the proposed method.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"444 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124269583","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

Patient-Specific Subvalvular Apparatuses Consisting of Chordae Tendineae and Papillary Muscles to Complete Mitral Valve Replicas 由腱索和乳头肌组成的患者特异性瓣下器械完成二尖瓣复制品

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961664

M. Kruttschnitt, Friederike Rehfuess, K. Tiemann, N. Hitschrich, R. Sodian, T. Lueth

{"title":"Patient-Specific Subvalvular Apparatuses Consisting of Chordae Tendineae and Papillary Muscles to Complete Mitral Valve Replicas","authors":"M. Kruttschnitt, Friederike Rehfuess, K. Tiemann, N. Hitschrich, R. Sodian, T. Lueth","doi":"10.1109/ROBIO49542.2019.8961664","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961664","url":null,"abstract":"Mitral valve regurgitation is one of the most common heart valve diseases and mitral valve repair is the favored but challenging therapy. To improve preoperative understanding of mitral valve anatomy and enable preoperative simulation of mitral valve repair, patient-specific mitral valve replicas have been developed. However, most of these replicas are missing the subvalvular apparatus consisting of cords, the chordae tendineae, and papillary muscles. Hence, as they only represent incomplete anatomy, it is impossible to simulate the repair technique implantation of artificial chordae tendineae on them. To solve this problem, we developed patient-specific subvalvular apparatus replicas completing the mitral valve replicas. From 3D ultrasound images of hearts, the chordae tendineae were segmented and used to realize the subvalvular apparatus replicas which were 3D printed from soft material and integrated into the existing mitral valve replicas. The mitral valve replicas with subvalvular apparatus were assessed by an expert heart surgeon who rated them as realistic and successfully simulated mitral valve repair by implanting artificial chordae tendineae into them.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125021168","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

A bionic adhesive disc for torrent immune locomotion inspired by the Guizhou Gastromyzontidae* 一种受贵州腹足虫科启发的用于激流免疫运动的仿生粘接圆盘

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961841

Yaoyao Zhang, Xuan Wu, Ling Gong, Guisong Chen, XiaojieĀ Wang

{"title":"A bionic adhesive disc for torrent immune locomotion inspired by the Guizhou Gastromyzontidae*","authors":"Yaoyao Zhang, Xuan Wu, Ling Gong, Guisong Chen, XiaojieĀ Wang","doi":"10.1109/ROBIO49542.2019.8961841","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961841","url":null,"abstract":"The Guizhou Gastromyzontidae showed extraordinary normal adhesion and anisotropic friction on wet and slippery surfaces in the torrential stream. In this study, the surface microstructures of adhesive disc of the Guizhou Gastromyzontidae were characterized firstly by using the Scanning Electron Microscopy (SEM). It had been found that the fin rays of the fish were composed of the hexagonal pad-like unculi, setae arrays and micro-pores. Then, inspired by the surface structures of the adhesive disc of Guizhou Gastromyzontidae, the artificial adhesive discs with surface microstructures were designed and fabricated by using the 3D printing and molding technology. The regular disc with no surface microstructures was also fabricated for comparison study. The adhesion properties of two different disc samples were investigated in water condition on substrates with various roughnesses. The results show that the bionic adhesive discs with composite microstructures have good adhesion properties in water condition. The proposed adhesive disc could have potential applications for underwater robotics.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132323254","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

Robot Programming by Demonstration with Local Human Correction for Assembly 装配局部人工校正的机器人编程示范

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961854

Zhiqi Cao, Haopeng Hu, Zhilong Zhao, Y. Lou

{"title":"Robot Programming by Demonstration with Local Human Correction for Assembly","authors":"Zhiqi Cao, Haopeng Hu, Zhilong Zhao, Y. Lou","doi":"10.1109/ROBIO49542.2019.8961854","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961854","url":null,"abstract":"For the sake of boosting the usability of robots in assembly applications, Programming by Demonstration (PbD) has been regarded as a feasible solution to transfer human worker’s skills to robots. With one or more human assembly demonstrations, an assembly policy, which serves to generate a robot motion trajectory given a specific target, can be learned and then used to generate a smooth robot assembly trajectory. However, when it comes to complex and subtle assembly tasks that are widely spreading in industries, the success rate of the learned policy is limited by physical constraints introduced by the human demonstrations, the robot and the task. Motivated by this problem, this work proposes a robot PbD method of the human-in-the-loop framework that draws support from a human operator to reinforce the learned assembly policy. The Gaussian Mixture Model is utilized to pre-structure the policy and it is adjusted by requesting the human operator to provide corrections at critical positions, where unexpected collisions occur. A kinesthetic teaching experiment has demonstrated the effectiveness of the proposed method.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134509499","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: 5

Palm Reading: Using Palm Deformation for Fingers and Thumb Pose Estimation 手掌阅读:使用手掌变形的手指和拇指姿势估计

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961467

Mohammad Fattahi Sani, Mario Esteban Ochoa, S. Dogramadzi

{"title":"Palm Reading: Using Palm Deformation for Fingers and Thumb Pose Estimation","authors":"Mohammad Fattahi Sani, Mario Esteban Ochoa, S. Dogramadzi","doi":"10.1109/ROBIO49542.2019.8961467","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961467","url":null,"abstract":"Hand pose estimation is recognised as being one of the most challenging topics in the field of human pose estimation. Accurate estimation and tracking of multi degree of freedom hand joints can be beneficial to many research areas such as robotic tele-manipulation, motion patterns, robotic hand design and, more generally, human computer/robot interaction. Current solutions to hand tracking are unsatisfactory due to numerous simplifications used in modeling of the hand kinematics and noise-prone hand and finger position sensing methods. In this paper, we propose alternative hand pose sensing approach that includes detecting palm shape in order to more accurately estimate joint angles of middle and index fingers and thumb. We use Inertia Measurement Unit (IMU) sensors on the palm to detect forming of palm arches in different fingers and thumbs’ poses. Principal component analysis as well as Dynamic Neural Networks are utilized to create three different models for fingers and thumb poses, while Polaris optical motion capture system is used as a ground truth. Validating through the unused data shows that using the palm shape as an additional parameter in hand tracking can estimate the hand digit joint angles with the average error of under 4.1%.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131276657","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

Collaborative Object Transportation by Multiple Robots with Onboard Object Localization Algorithm 基于机载目标定位算法的多机器人协同物体运输

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961823

Zhixian Hu, Zhixiang Zhao, Lianxin Zhang, Hengli Liu, Ning Ding, Zhenglong Sun, Tin Lun Lam, Huihuan Qian

{"title":"Collaborative Object Transportation by Multiple Robots with Onboard Object Localization Algorithm","authors":"Zhixian Hu, Zhixiang Zhao, Lianxin Zhang, Hengli Liu, Ning Ding, Zhenglong Sun, Tin Lun Lam, Huihuan Qian","doi":"10.1109/ROBIO49542.2019.8961823","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961823","url":null,"abstract":"Collaborative object transportation has become a popular study trend with its remarkable application foreground. In previous relevant studies, localization of the transported object has always been accomplished by additional devices rather than robot onboard equipments. This paper presents a generalized multi-robot leader-follower system for collaborative object transportation and an onboard object localization algorithm for trajectory tracking of the target object. In this system, the mobile robots can directly push a cubic object without extra gripping devices, when tracking the reference trajectory. During the control process, the object is regarded as an virtual leader, whose localization information is utilized as the feedback, while the mobile robots are considered as the followers. In absence of external localization systems, the proposed onboard localization algorithm provides the real-time position information of the object using scan data from lidars equipped on the robots. A performed measurement accuracy test shows high precision of this algorithm. Finally, a lane-changing experiment of object transportation is conducted, and it verifies this multi-robot leader-follower system.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129115304","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

GPU accelerated real-time traversability mapping GPU加速实时可遍历映射

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961816

Yiyuan Pan, Xuecheng Xu, Yue Wang, X. Ding, R. Xiong

{"title":"GPU accelerated real-time traversability mapping","authors":"Yiyuan Pan, Xuecheng Xu, Yue Wang, X. Ding, R. Xiong","doi":"10.1109/ROBIO49542.2019.8961816","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961816","url":null,"abstract":"The navigation of autonomous mobile robots requires effective localization and mapping modules. Dense map representation of the robot surroundings, which contains detailed information of the drivable region can be easily used for motion planning. To build a dense map on mobile robots, the main challenge is that the system has to be efficient due to the limited computational resources. In this paper, we propose a novel approach to generate a dense map with drivable information. First, the dense map with elevation information is generated by the proprioceptive localization results acquired from kinematic and inertial measurement, as well as the accumulated raw data from the range sensor. Then, we calculate slope and roughness of each grid on the map to assess whether this area is accessible. Combining the data in these two steps, we can form the dense map with drivable information. The entire system accelerated by GPU performs well in handling dynamic obstacles. For implementations, we demonstrate the effectiveness of our approach with mobile robot in a complex outdoor environment and have a detailed comparison with other methods.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132303140","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: 17

Towards External Sensor based Simultaneous Magnetic Actuation and Localization for WCE 基于外部传感器的WCE同步磁致动与定位研究

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961756

Yangxin Xu, Ziqi Zhao, Keyu Li, M. Meng

引用次数: 12