2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献_第8页

Design and Yaw Control of a Two-Motor-Actuated Biomimetic Robotic Fish 双电机驱动仿生机器鱼的设计与偏航控制

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961862

Sheng Du, Zhengxing Wu, Junzhi Yu

引用次数: 9

Development of a Novel Hand-eye Coordination Algorithm for Robot Assisted Minimally Invasive Surgery* 机器人辅助微创手术中手眼协调算法的发展*

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961587

Yanwen Sun, Bo Pan, Yili Fu, Guojun Niu

{"title":"Development of a Novel Hand-eye Coordination Algorithm for Robot Assisted Minimally Invasive Surgery*","authors":"Yanwen Sun, Bo Pan, Yili Fu, Guojun Niu","doi":"10.1109/ROBIO49542.2019.8961587","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961587","url":null,"abstract":"The minimally invasive surgical robot greatly improved surgical OR efficiency, and surgeon manipulates the surgical instruments through master-slave control under the guidance of laparoscope vision. As a mapping of the surgeon's hand-eye coordination, the coordination between surgical instruments and laparoscope has an important impact on the surgical efficiency and the ergonomics. In this paper, a novel hand-eye coordination algorithm is proposed for the robot -assisted minimally invasive surgery (RMIS). Firstly, a novel cascade-calibration (CC) algorithm structure is proposed to determine the pose relationship between the robot laparoscope arm coordinate system and the robot instruments arm coordinate system. A hand-eye coordination algorithm is also proposed, which provides accurate master-slave control and improves the surgical operation room (OR) efficiency. We validate the proposed algorithm through two experiments with our minimally invasive surgical robot system. Our experiments demonstrate that the proposed method is competitively effective to induce the hand-eye coordination for the RMIS.","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":"128866811","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

Leg Spring Parameters Design for a Six-Legged Walking Robot 六足步行机器人腿弹簧参数设计

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961776

Huayang Li, Chenkun Qi, Yan Xing, Yong Hu, F. Gao

引用次数: 0

A Triangle Feature Based Map-to-map Matching and Loop Closure for 2D Graph SLAM 基于三角形特征的二维图SLAM地图匹配与闭环

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961777

Binqian Jiang, Yilong Zhu, Ming Liu

引用次数: 3

Intelligent Decision Model for Home Robot Based on Structured and Unstructured Data Processing 基于结构化和非结构化数据处理的家庭机器人智能决策模型

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961403

G. Tian, Jie Li, Senyan Zhang, Fei Lu

{"title":"Intelligent Decision Model for Home Robot Based on Structured and Unstructured Data Processing","authors":"G. Tian, Jie Li, Senyan Zhang, Fei Lu","doi":"10.1109/ROBIO49542.2019.8961403","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961403","url":null,"abstract":"In order to enhance the user’s service experience and help the robot to make more intimate service decisions, this paper proposes a service task cognition and decision model based on structured and unstructured data processing. Firstly, all kinds of information mentioned in user instructions are extracted through natural language processing, including object information, namely structured data and environment information, namely unstructured data. For structured data, it is mapped to the predefined ontology knowledge base to obtain its location attributes and state attributes, and then obtain service instructions. Adaptive fuzzy Petri net (AFPN) is constructed based on fuzzy rules of temperature, humidity and other environmental information. The unstructured data is taken as the input parameter of AFPN, and the service instruction deduced as the output. Then, according to the user’s needs, the network weight can be continuously adjusted. If the user does not mention the environmental information, the environment information is periodically detected by the sensor, and the service instruction reasoning of the unstructured data is performed. Finally, back propagation neural network (BPNN) is introduced to combine the service inference of two kinds of data to eliminate the heterogeneity of different service instructions. Experimental results show that the model can provide different personalized services for users’ preferences.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"10 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120988912","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

Multi-View Global 2D-3D Registration Based on Branch and Bound Algorithm 基于分支定界算法的多视图2D-3D全局配准

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961379

Jin Pan, Z. Min, Ang Zhang, Han Ma, M. Meng

引用次数: 7

Dynamic Obstacle Tracking Based On High-Definition Map In Urban Scene 基于高清地图的城市场景动态障碍物跟踪

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961574

Yuxiao Li, Can Wang, Zhilong Su, Shengcai Duan, Xinyu Wu

{"title":"Dynamic Obstacle Tracking Based On High-Definition Map In Urban Scene","authors":"Yuxiao Li, Can Wang, Zhilong Su, Shengcai Duan, Xinyu Wu","doi":"10.1109/ROBIO49542.2019.8961574","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961574","url":null,"abstract":"The application of High-Definition map can realize centimeter-level position in urban scenes, the development of deep learning has made great breakthrough in the point cloud dynamic obstacle recognition. All these technologies make obstacle detection and tracking based on High-Definition map effectively realize in the modern smart city scene. It is different from the previous obstacle detection and tracking methods based purely on vision the using of High-Definition map can provide high-precision positioning and reduce the difficulty of point cloud classification. The using of lidar also solves the problem of up-to-scale in dynamic detection. In this paper, we put forward a new Multi-camera Lidar Point Cloud Map, we complete the map at normal speed on the highway and get a satisfactory result. At the same time, we also find a robust combination of traditional kalman filter, Hungary algorithm and current deep learning to solve dynamic obstacle tracking and detection. The experimental results show that our system can effectively complete the special problem of generating map and target tracking on urban scene.","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":"124998512","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

Ultrasonic Vibration Assisted Micro Electrochemical Discharge Drilling Technology* 超声振动辅助微电化学放电钻井技术*

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961642

Haoran Chen, Yong Liu, Zhiyuan Wei

引用次数: 3

System Design and Balance Control of a Bipedal Leg-wheeled Robot 两足腿轮机器人的系统设计与平衡控制

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961814

Chao Zhang, Tangyou Liu, Shuang Song, M. Meng

引用次数: 20

Sigmoid Super-Twisting Extended State Observer and Sliding Mode Controller for Quadrotor UAV Attitude System With Unknown Disturbance 具有未知扰动的四旋翼无人机姿态系统的s型超扭转扩展状态观测器与滑模控制器

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961654

Yongfeng Rong, Ran Jiao, Song Kang, Wusheng Chou

引用次数: 6