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2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献

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Study on Self-Takeoff of a Flapping Robot without Running: Influence of the Initial Pitch Angle on the Takeoff Trajectory 不奔跑的扑翼机器人自起飞研究:初始俯仰角对起飞轨迹的影响
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961617
Terukazu Sato, Takahiro Nakano, N. Takesue
{"title":"Study on Self-Takeoff of a Flapping Robot without Running: Influence of the Initial Pitch Angle on the Takeoff Trajectory","authors":"Terukazu Sato, Takahiro Nakano, N. Takesue","doi":"10.1109/ROBIO49542.2019.8961617","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961617","url":null,"abstract":"Recently, research on flapping robots inspired by the behavior of insects and birds has become a focus of attention in the fields of robotics and biomimetics. However, most flapping robots require an operator or an assistance device to take off. The goal of this study was to develop a flapping robot that can achieve self-takeoff without running and can be used like a drone. This paper describes the development and evaluation of the flapping robot developed with this aim. The developed robot can generate a thrust that exceeds its own weight with a simple flapping mechanism and a lightweight design. The airspeed was simulated using the thrust measured with a force sensor and the resistance coefficient estimated in a gliding experiment, and it was found to exceed the minimum airspeed required to achieve takeoff 0.3 s from the onset of flapping. The result of the takeoff experiment demonstrated that takeoff was possible if the initial pitch angle was high. However, the pitch angle decreased immediately after takeoff due to the pitching moment generated by the flapping motion. The moment on the tail wing was not enough for the robot to maintain a horizontal posture at low airspeeds during takeoff. It was concluded that the robot requires a control mechanism for the pitching moment generated by the flapping motion and/or accelerators that function without flapping during takeoff, such as hind limbs. Therefore, the parameters required for the design of actuated hind limbs were estimated.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"1 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":"125415680","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
Slabstone Installation Skill Acquisition for Dual-Arm Robot based on Reinforcement Learning 基于强化学习的双臂机器人单板安装技能获取
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961805
Dong Liu, Jianfu Cao, X. Lei
{"title":"Slabstone Installation Skill Acquisition for Dual-Arm Robot based on Reinforcement Learning","authors":"Dong Liu, Jianfu Cao, X. Lei","doi":"10.1109/ROBIO49542.2019.8961805","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961805","url":null,"abstract":"Slabstone installation is so widely used in the construction industry that it is very significant to use the robot to finish this process, making the process more automatic, effective and safer. Because of the uncertain factors in environments and filling material, it is difficult to finish the final step of slabstone installation that pressing the slabstone into good contact with filling material. There is currently no mature theory and method to achieve control of the process. In this paper, we use a dual-arm robot to accomplish the final step. First, we use the spring-damping elements to model and simulate the filling material. Then, based on deep reinforcement learning, a skill acquisition method is proposed to solve the problems of uncertain factors in the final step of slabstone installation process. Finally, we use a simulation-platform to train and evaluate our algorithm. The results have shown that our method is capable and effective in accomplishing the installation process.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"40 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":"115043036","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
Lower Limbs Exoskeleton Control Strategy Based On Optimized Compliance Algorithm 基于优化顺应算法的下肢外骨骼控制策略
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961853
Fei Wang, Li-bin Yu, Han Wu, Ketao Shi
{"title":"Lower Limbs Exoskeleton Control Strategy Based On Optimized Compliance Algorithm","authors":"Fei Wang, Li-bin Yu, Han Wu, Ketao Shi","doi":"10.1109/ROBIO49542.2019.8961853","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961853","url":null,"abstract":"Aiming at achieving the compliance control of lower limbs exoskeleton, a compliant control strategy basing on optimized compliance algorithm was proposed. The motion trajectory of human body was collected by using inertial sensors and electromyography sensors, and the information is taken as the reference information to the exoskeleton robot. By introducing muscle activation degree as the feedforward loop to offset the hysteresis phenomenon which is shown in the process of movement, the following movement achieved compliant. The feasibility of this control method is both verified on the simulation software platform and physical prototype. The experimental results show that this control method is effective and feasible in the lower limbs exoskeleton system.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"141 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":"115094492","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
Online Center of Mass Detection for Quadruped Robots in Trot Gait Motion* 四足机器人小跑步态运动的在线质心检测*
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961773
Chao Ding, Lelai Zhou, Xuewen Rong, Yibin Li
{"title":"Online Center of Mass Detection for Quadruped Robots in Trot Gait Motion*","authors":"Chao Ding, Lelai Zhou, Xuewen Rong, Yibin Li","doi":"10.1109/ROBIO49542.2019.8961773","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961773","url":null,"abstract":"Most of the motion control strategies for the quadruped robots are based on the trajectory planning of the center of mass (CoM) and the hypothesis that the CoM locates at the geometrical center of the trunk. In fact, the CoM position offsets will introduce obvious influence to the control performance. This paper presents a method for online CoM detection for quadruped robots running in trot gait. The dynamical model of the robot is built in the inertial coordinate system. Transforming methods for the status variables from the base frame to the inertial frame are also provided. To get more precise results, the step height compensation method for swing feet and comparative ground reaction force calculations are presented. With the proposed method, the analytical solution of the CoM position is obtained. Simulations show the effectiveness of the proposed method.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"24 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":"115257909","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: 6
Proposal for Robot Hand and Forearm Design to Reproduce Human-to-human Physical Contact 再现人与人身体接触的机器人手和前臂设计方案
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961774
Azumi Ueno, I. Mizuuchi, Yukio Morooka
{"title":"Proposal for Robot Hand and Forearm Design to Reproduce Human-to-human Physical Contact","authors":"Azumi Ueno, I. Mizuuchi, Yukio Morooka","doi":"10.1109/ROBIO49542.2019.8961774","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961774","url":null,"abstract":"If a robot can reproduce human-to-human physical contact, it may be used to relieve humans’ stress for example. In our previous work, we made a prototype of an artificial hand aiming to reproduce human-to-human physical contact. It has both active touch functions and passive touch reproducibility. And, we conducted participant experiments for \"human-like touch feel\" evaluation and control experiments. We designed the temperature system, which the 1st prototype didn’t have, keeping the elements of the 1st prototype that were evaluated \"human-like\" at the previous participant experiment. And aiming at reproducing communication, we added sensors to feel the other person (we referred to the result of the control experiment). We also designed the artificial forearm with the aim of moving the hand actively. We made the above designs, the 2nd prototype, and tested whether the design worked well.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"4 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":"115340181","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
Implementation of a Remote Center of Motion Robot Finger with Tactile Sensors in the Joints 关节中带有触觉传感器的机器人手指远程运动中心的实现
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961450
Chincheng Hsu, A. Schmitz, Gagan Khullar, H. Kristanto, Zhen Wang, Prathamesh Sathe, S. Sugano
{"title":"Implementation of a Remote Center of Motion Robot Finger with Tactile Sensors in the Joints","authors":"Chincheng Hsu, A. Schmitz, Gagan Khullar, H. Kristanto, Zhen Wang, Prathamesh Sathe, S. Sugano","doi":"10.1109/ROBIO49542.2019.8961450","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961450","url":null,"abstract":"Robot grippers and hands are commonly used to grasp various objects. However, for multi-link fingers, it is challenging to cover the joints with tactile sensors, which limits the safety and sensitivity of such fingers. In the current paper we use a remote center of motion (RCM) mechanism for the joints, which enables us to cover also the joints completely with soft and thick tactile sensors, in particular distributed 3-axis sensors. The RCM joints are implemented as 6-bars, and we evaluate their robustness in simulation. A real implementation of the gripper is tested by grasping various objects, and the resulting tactile sensor readings are presented.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"119 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":"116072178","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
Vision Based Topological State Recognition for Deformable Linear Object Untangling Conducted in Unknown Background 基于视觉的可变形线性物体解缠的拓扑状态识别
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961652
Y. Song, Kang Yang, Xin Jiang, Yunhui Liu
{"title":"Vision Based Topological State Recognition for Deformable Linear Object Untangling Conducted in Unknown Background","authors":"Y. Song, Kang Yang, Xin Jiang, Yunhui Liu","doi":"10.1109/ROBIO49542.2019.8961652","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961652","url":null,"abstract":"In this paper, we propose a deep learning based method to recognize the topological state of a deformable linear object (DLO). The utilization of deep learning can ensure that topological state recognition is robust to background change. This feature is useful if applications of DLO manipulation in real environment. And this feature has never be realized. In addition, the proposed scheme is also applied to the situation when multiple DLOs exist. This situation has never been considered. By integrating the proposed topological state recognition method and DLO untangling strategy, rope untangling experiments are conducted for both the situations of containing a single DLO and double DLOs.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"51 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":"116560184","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: 7
Design and Analysis of a Flying-crawling Spherical Robot for Multi-mode Movement 多模式飞行-爬行球形机器人的设计与分析
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961837
P. Lu, Kun Xu, Xilun Ding, Shuiqing Jiang, Zixin Tang, Yaobing Wang
{"title":"Design and Analysis of a Flying-crawling Spherical Robot for Multi-mode Movement","authors":"P. Lu, Kun Xu, Xilun Ding, Shuiqing Jiang, Zixin Tang, Yaobing Wang","doi":"10.1109/ROBIO49542.2019.8961837","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961837","url":null,"abstract":"A novel spherical robot named flying-crawling spherical robot is designed in this paper. It can fly or roll on ground with its single rotor and eight tail fins. When its limbs stretch out it can crawl on the supporting surface. Besides, with its limbs the robot can realize carrying objects, landing on uneven ground and walking on the supporting surface. Dynamic model of the robot in flight mode is established and the motion characteristics are analyzed. A PID control system is designed to enable the robot to achieve stable flight. Trot gait planning of the robot is given and a PID controller is designed for tail fins assistant in crawling mode. Corresponding simulations are carried out and the simulation results verify the proposed methods.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"104 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":"122568020","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
Research on Driver’s Distracted Behavior Detection Method Based on Multiclass Classification and SVM 基于多类分类和支持向量机的驾驶员分心行为检测方法研究
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961551
Qingzhi Bu, Jun Qiu, Hao Wu, Chao Hu
{"title":"Research on Driver’s Distracted Behavior Detection Method Based on Multiclass Classification and SVM","authors":"Qingzhi Bu, Jun Qiu, Hao Wu, Chao Hu","doi":"10.1109/ROBIO49542.2019.8961551","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961551","url":null,"abstract":"To reduce the occurrence of traffic accidents caused by distraction. a detection method based on histogram of oriented gradient (HOG) and support vector machine (SVM) is proposed for driver’s distraction behavior in this paper. Interest region of driver was detected first from video image, also the image was enhanced, denoised and normalized. Then the histogram of oriented gradient is used to extract the feature of the image. Meanwhile, the cross-validation method is used to optimize parameters in SVM. Finally, the effectiveness of the method is verified by compared with classical SVM algorithm and Local Binary Pattern algorithm (LBP) based on SVM algorithms. The results show that, the proposed method can obtain better classification accuracy.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"114 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":"122685925","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: 4
Semantic Segmentation Model for Road Scene Based on Encoder-Decoder Structure 基于编解码器结构的道路场景语义分割模型
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961595
Yuanzhe Peng, Weichao Han, Y. Ou
{"title":"Semantic Segmentation Model for Road Scene Based on Encoder-Decoder Structure","authors":"Yuanzhe Peng, Weichao Han, Y. Ou","doi":"10.1109/ROBIO49542.2019.8961595","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961595","url":null,"abstract":"Semantic segmentation as a pixel-wise segmentation task provides rich object information, which is an important research topic in robotic perception. It has been widely applied in many fields, such as autonomous driving and robot navigation. In the application of understanding road scene, the semantic segmentation model should accurately describe the appearance and shape of different categories of objects. In addition, the semantic segmentation model need to understand the spatial relationships between different categories. In order to improve the performance of semantic segmentation model for road scene, we present a model based on encoder-decoder structure with dilated convolution. We apply this model on the Cityscapes dataset and compare it with other classical models. To assess performance, we rely on the standard Jaccard Index IoU (Intersection over Union) and mIoU (mean Intersection over Union). The experimental results verify that this model can effectively improve the performance of semantic segmentation and meet the requirements for road scene.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"133 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":"122926150","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: 4
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