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

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Stable Gait Generation of Impaired Biped Robot with Reaction Wheel 带反作用轮的损伤双足机器人稳定步态生成
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961807
Cong Yan, F. Asano, Longchuan Li
{"title":"Stable Gait Generation of Impaired Biped Robot with Reaction Wheel","authors":"Cong Yan, F. Asano, Longchuan Li","doi":"10.1109/ROBIO49542.2019.8961807","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961807","url":null,"abstract":"In this paper, we propose two methods for stable gait generation of a biped robot with damaged motor on one-side. First, we derive the dynamics and control method. Only single control torque between the hip and one leg is applied by reaction wheel or one more reaction wheel act on damaged leg. Second, we numerically show the period-2 gait of this dynamic walking. Finally, the gait properties are analyzed via parametric study. The results show that by adjusting the target control time for the actuated swing/stance leg separately and appropriately with only one input, the impaired biped robot can walk steadily. Add one more reaction wheel on the damaged leg, Not only steady-state gait of the robot can be generated, but also its stride length and walking speed can be controlled. Consequently, the potential barrier can be overcome successfully.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"152 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":"114433601","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
Design of A Lower Limb Exoskeleton Driven by Tendon-sheath Artificial Muscle* 基于肌腱鞘人工肌肉驱动的下肢外骨骼设计*
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961802
Mengqian Tian, Xingsong Wang, Jie Wang, Zhenbo Gan
{"title":"Design of A Lower Limb Exoskeleton Driven by Tendon-sheath Artificial Muscle*","authors":"Mengqian Tian, Xingsong Wang, Jie Wang, Zhenbo Gan","doi":"10.1109/ROBIO49542.2019.8961802","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961802","url":null,"abstract":"In the past decades, with the development of science and technology, lower limb exoskeletons have been developed quickly, which can help patients to walk or do rehabilitation training. In this paper, the design of a lower limb exoskeleton, named SEU-EXO, will be presented in detail. The SEU-EXO is driven by a new type of artificial muscle, which actuated by a motor and tendon-sheath system based on Hill muscle model. In this structure, with a controllable clamper, a series spring and a parallel spring, this artificial muscle can mimics muscle’s characteristics, and has better compliance and controllability. Based on the principle of bionics, the degrees of freedom for rehabilitation exoskeleton are allocated reasonably, the mechanical structure is presented, and the tendon-sheath transmission path optimization method is studied. Finally, the evaluation experiments are verified, which proves the reliability and stability of the SEU-EXO.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"11 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":"128368683","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
Gait Motor Function Evaluation Based on Muscle Synergy Method* 基于肌肉协同法的步态运动功能评价*
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961633
Yanxia Deng, Farong Gao, Chao Chen, Ying Cao
{"title":"Gait Motor Function Evaluation Based on Muscle Synergy Method*","authors":"Yanxia Deng, Farong Gao, Chao Chen, Ying Cao","doi":"10.1109/ROBIO49542.2019.8961633","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961633","url":null,"abstract":"Considering the complexity and functionality of multi-muscle synergies, involved in the human lower limb gait movement, a gait function evaluation method, based on synergy structure, is proposed. Firstly, the surface electromyography (sEMG) from selected muscles are collected and pretreated, to extract its envelope. Next, it is decoupled by the algorithm of non-negative matrix decomposition, so that the synergy elements of the gait action can be extracted and the corresponding activation coefficients calculated, while subsequently these data are converted into normalized form. Then, the energy distribution and complexity of the synergy motion are analyzed. Finally, the function of gait motion is mapped, according to synergy structure, to determine whether the gait phases are normal or not. This study is helpful for quantitative analysis of lower limb gait and evaluation of motor function, in the framework of rehabilitation therapy.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"25 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":"129346100","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
Accelerating the Validation of Motion Control for a 4WD4WS Ground Vehicle Using a Hierarchical Controller Hardware-in-the-loop System∗ 利用层次控制器硬件在环系统加速4WD4WS地面车辆运动控制验证*
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961761
Hao Sun, Huiyun Li, Yudong Li, Zhibin Song, Kun Xu
{"title":"Accelerating the Validation of Motion Control for a 4WD4WS Ground Vehicle Using a Hierarchical Controller Hardware-in-the-loop System∗","authors":"Hao Sun, Huiyun Li, Yudong Li, Zhibin Song, Kun Xu","doi":"10.1109/ROBIO49542.2019.8961761","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961761","url":null,"abstract":"Due to the actuator redundancy and complexity of the unmanned ground vehicle actuated by four-wheel drive and four-wheel steering powertrains (4WD4WS UGV), it is a significant challenge to conduct fast verification of the complex control system. This work presents a dedicated hierarchical controller hardware-in-the-loop system to accelerate the verification of the motion control system for a 4WD4WS UGV. The hierarchical controller, that is implemented in a combined onboard-computer and embedded micro-controller, adopts a three-layered architecture. The upper layer uses a model predictive control algorithm (MPC) to calculate the desired heading angle and vehicle speed. The middle layer converts the control effect into the desired speeds and steering angles of four wheels. The bottom layer controls the drive motor and steering motor to track the desired speed and steering angle of each wheel. The proposed HC-HIL system establishes a multibody dynamics model of the 4WD4WS UGV with high fidelity, and accelerates the validation process of the motion control performance, via which the complex control strategy can run in the actual control hardwares and be verified in a virtual model with high fidelity. The HC-HIL system provides a fast and low cost method for initial testing prior to the real implementation, thereby reducing the potential failures in future real testing.","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":"129094260","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
A Novel Method of Combining Computer Vision, Eye-Tracking, EMG, and IMU to Control Dexterous Prosthetic Hand 结合计算机视觉、眼动追踪、肌电图和IMU控制灵巧假手的新方法
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961582
Chunyuan Shi, Le Qi, Dapeng Yang, Jingdong Zhao, Hong Liu
{"title":"A Novel Method of Combining Computer Vision, Eye-Tracking, EMG, and IMU to Control Dexterous Prosthetic Hand","authors":"Chunyuan Shi, Le Qi, Dapeng Yang, Jingdong Zhao, Hong Liu","doi":"10.1109/ROBIO49542.2019.8961582","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961582","url":null,"abstract":"Due to poor robustness, instability, and the heavy burden of use, the traditional myoelectric control method is still powerless in the face of the control of the dexterous prosthetic hand. To solve this problem, a new method (CVEEI), that combines computer vision, eye tracking, electromyogram (EMG) and IMU was proposed in this paper. Firstly, through gazing (eye-tracking) in front of the screen, the grasping pattern of the objects can be fed back to the prosthetic hand controller; Then, the prosthetic hand can be controlled to transport the object to the position expected, on collaboration of both EMG and IMU. In this process, the grasping pattern of all objects can be recognized by computer vision in real-time. Importantly, through comparing the traditional EMG control method (co-contraction to switch) in the transport experiment of the objects, the superiority of this new method in operating the dexterous prosthetic hand was further verified (fast > 1s/single object) in this paper.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"35 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":"129114870","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
A Closed-Loop Controller for Cable-Driven Hyper-Redundant Manipulator with Joint Angle Sensors * 带关节角度传感器的缆索驱动超冗余度机械臂闭环控制
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961405
Baibo Wu, Lingyun Zeng, Yang Zheng, Shu'an Zhang, Xiangyang Zhu, Kai Xu
{"title":"A Closed-Loop Controller for Cable-Driven Hyper-Redundant Manipulator with Joint Angle Sensors *","authors":"Baibo Wu, Lingyun Zeng, Yang Zheng, Shu'an Zhang, Xiangyang Zhu, Kai Xu","doi":"10.1109/ROBIO49542.2019.8961405","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961405","url":null,"abstract":"A cable-driven hyper-redundant manipulator is especially suited for manipulations in confined spaces. In most of the existing approaches, a controller is often designed to actuate the joints by pulling the corresponding cables without the feedback from remote sensors at the joints. The un-modeled elongations of these cables due to unknown tensions often cause a decrease in control precision. To improve the performance of such a manipulator, this paper presents an investigation where miniature potentiometers are integrated into the joints for angle feedback. Furthermore, a puller-follower controller is developed to control the three cables of a universal joint for not only closed- loop joint angle control but also cable tension preservation. Applying the Hooke’s Law, the cable tension is represented by its deformation. In this way, the controller is designed to realize both the desired angles and the cable deformations, without force sensing on the cables. Finally, experiments on a single joint and multiple joints were conducted to verify the effectiveness of this proposed controller.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"26 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":"124027327","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
Obstacle Avoidance for Autonomous Sailboats via Reinforcement Learning with Coarse-to-fine Strategy 基于粗到精强化学习的自主帆船避障研究
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961749
Ziyuan Cheng, Weimin Qi, Qinbo Sun, Hengli Liu, Ning Ding, Zhenglong Sun, Tin Lun Lam, Huihuan Qian
{"title":"Obstacle Avoidance for Autonomous Sailboats via Reinforcement Learning with Coarse-to-fine Strategy","authors":"Ziyuan Cheng, Weimin Qi, Qinbo Sun, Hengli Liu, Ning Ding, Zhenglong Sun, Tin Lun Lam, Huihuan Qian","doi":"10.1109/ROBIO49542.2019.8961749","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961749","url":null,"abstract":"Obstacle avoidance of autonomous sailboats is a complicated task due to big inertia, highly nonlinear motion of sailboat and uncertain disturbance from wind and water current. To deal with the obstacle avoidance problem of autonomous sailboats, we promote a novel method based on reinforcement learning with coarse-to-fine strategy. In this strategy, coarse stage is used to detect the autonomous sailboat roughly in the test environment. Then fine stage is applied to localize the autonomous sailboat accurately. Hereby, the avoidance performance is improved by the transition from coarse to fine. We have verified our algorithms both in simulation and real experiments. With our method, the sailboat avoids the obstacle in higher precision than the method without the coarse-to-fine strategy. The final success rate of obstacle avoidance is near 83% and the rate of reaching goal is 70%. Both simulation results and experiments show that our method is effective.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"167 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":"116311961","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
Robot Machining Method Bases on Dynamic System and Compliant Control 基于动态系统和柔性控制的机器人加工方法
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961409
Mingqi Feng, Jinxing Yang, Yinhui Xie, Jun Li, Yong Yang, Hao-hao He
{"title":"Robot Machining Method Bases on Dynamic System and Compliant Control","authors":"Mingqi Feng, Jinxing Yang, Yinhui Xie, Jun Li, Yong Yang, Hao-hao He","doi":"10.1109/ROBIO49542.2019.8961409","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961409","url":null,"abstract":"This paper proposes a force control strategy based on velocity modulation and impedance control algorithm to address unstable contact problem between the tool and workpiece in machining. In many application scenarios of industrial robots, contact force is required to some extent. Therefore, a force control component guarantees that robot can maintain stable contact force with the predetermined trajectory and react in the rapidly changing environment. The position controller is used to adjust the movement of the robot. During movement, position controller combined with speed-based impedance control can compensate for the uncertainty of controller and robot Meanwhile, the velocity of the robot is controlled in the velocity modulation subspace to reduce the vibration force in contact, thus the contact overshoot decreases and the machining accuracy of the workpiece is improved. Evaluations through non-contact to contact transition experiment indicates that low contact vibration and reliable position/force control can be achieved by this proposed controller.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"70 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":"121469122","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
Closed Loop Control of a Continuum Surgical Manipulator for Improved Absolute Positioning Accuracy 连续体手术机械臂的闭环控制以提高绝对定位精度
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961486
Qi Li, Haozhe Yang, Yuyang Chen, Kai Xu
{"title":"Closed Loop Control of a Continuum Surgical Manipulator for Improved Absolute Positioning Accuracy","authors":"Qi Li, Haozhe Yang, Yuyang Chen, Kai Xu","doi":"10.1109/ROBIO49542.2019.8961486","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961486","url":null,"abstract":"Robotic assistance in MIS (Minimally Invasive Surgery) has attracted worldwide attention in the past decades. Even though majority of the implemented robotic surgical manipulators have articulated structures, continuum structures have been more widely applied due to their advantages of intra-abdominal dexterity and safe interaction with anatomy. However, absolute positioning accuracy of a continuum surgical manipulator can be low due to its nonlinear bending behaviors under different loads and un-modeled manufacturing clearance. This paper hence presents a proof-of-concept investigation of closed loop control scheme for improving the manipulator’s absolute positioning accuracy. System descriptions, kinematics modeling and experimental validations are reported in detail to demonstrate the effectiveness of the proposed control scheme.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"44 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":"114740127","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
A Multibeam Underwater Terrain Modeling Algorithm Based on Echo Energy Distribution Gradient* 基于回波能量分布梯度的多波束水下地形建模算法*
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961744
Yipeng Tang, Bo Zhou
{"title":"A Multibeam Underwater Terrain Modeling Algorithm Based on Echo Energy Distribution Gradient*","authors":"Yipeng Tang, Bo Zhou","doi":"10.1109/ROBIO49542.2019.8961744","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961744","url":null,"abstract":"In the field of underwater robot, abundant researches have been carried out in development of multibeam echo-sounding bottom detection. However, most works focused on the analysis of the amplitude of the reverberated echo which had its own limitation. In this paper, a new algorithm based on the multibeam echo energy gradient is developed to map the shallow water bottom topography. On this basis, all single-frame bottom depth curves are joined together to form a seabed surface. Kalman filter is further used to remove outliers and improve the reliability of surface mapping. The effectiveness of our algorithm is validated by both simulation and practical experiment.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"23 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":"114755949","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
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