2013 IEEE Workshop on Advanced Robotics and its Social Impacts最新文献_第3页

Design of a double-tracked wall climbing robot based on electrostatic adhesion mechanism 基于静电粘附机构的双履带爬壁机器人设计

2013 IEEE Workshop on Advanced Robotics and its Social Impacts Pub Date : 2013-11-01 DOI: 10.1109/ARSO.2013.6705531

R. Chen, Rong Liu, Hua Shen

{"title":"Design of a double-tracked wall climbing robot based on electrostatic adhesion mechanism","authors":"R. Chen, Rong Liu, Hua Shen","doi":"10.1109/ARSO.2013.6705531","DOIUrl":"https://doi.org/10.1109/ARSO.2013.6705531","url":null,"abstract":"A double-tracked wall climbing robot based on electrostatic adhesion mechanism is proposed in this paper. First, the principle of the electrostatic adhesion and a calculation method of the adhesion force are presented. Then, an electrode panel is designed to evaluate the feasibility of the electrostatic adhesion mechanism applied to wall climbing robot. Finally, the mechanical structure design and control system design of the robot prototype are described in detail. Experiments of the climbing performances of the robot on different wall surfaces are carried out, including the straight line movement and turning movement. The results show that the robot can achieve forward and backward movements along a straight line successfully. However, the robot can only achieve turning movement on the glass surface with a slope angle of approximately o 30° at present. Dramatic decrease of the dynamic adhesion force when the electrode panels on the robot side slip against the wall may be the main reason. The theoretical analysis and experimental results in this study will provide a strong support for the optimal design of wall climbing robots based on electrostatic adhesion mechanism in the future.","PeriodicalId":122236,"journal":{"name":"2013 IEEE Workshop on Advanced Robotics and its Social Impacts","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128672193","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: 15

Socio-economic impact of medical lower-limb Exoskeletons 医疗下肢外骨骼的社会经济影响

2013 IEEE Workshop on Advanced Robotics and its Social Impacts Pub Date : 2013-11-01 DOI: 10.1109/ARSO.2013.6705500

Francesco Ferrati, R. Bortoletto, E. Menegatti, E. Pagello

引用次数: 12

A view-based wearable personal navigator with inertial speed estimation 具有惯性速度估计的基于视图的可穿戴个人导航仪

2013 IEEE Workshop on Advanced Robotics and its Social Impacts Pub Date : 2013-11-01 DOI: 10.1109/ARSO.2013.6705516

M. Harada, J. Miura, Junji Satake

引用次数: 1

An interactive support system for activating shopping streets using robot partners in informationally structured space 一种在信息结构化空间中使用机器人伙伴激活购物街的交互式支持系统

2013 IEEE Workshop on Advanced Robotics and its Social Impacts Pub Date : 2013-11-01 DOI: 10.1109/ARSO.2013.6705508

Yuki Shimizu, Shogo Yoshida, Junnya Shimazaki, N. Kubota

{"title":"An interactive support system for activating shopping streets using robot partners in informationally structured space","authors":"Yuki Shimizu, Shogo Yoshida, Junnya Shimazaki, N. Kubota","doi":"10.1109/ARSO.2013.6705508","DOIUrl":"https://doi.org/10.1109/ARSO.2013.6705508","url":null,"abstract":"This paper proposes an interactive information support system to activate shopping streets and local communities using robot partners based on informationally structured system. The aim of this paper is to recommend restaurants, shops, sightseeing spots to visitors in a rental bicycle shop. The interactive support system is composed of three main subsystems of sensor network devices, informationally structured space servers, and robot partners. Sensor network devices measure the number of people, human motions, and human behaviors. The informationally structured space server receives human motions and human requests and preference, and decides recommendation information. Robot partners perform communication and interaction through voice recognition and gesture recognition in addition to touch interface [1,2]. The schedule and requests of a visitor are inputted by the touch interface of a tablet PC equipped with the face of a robot partner. The informationally structured space server selects and recommends several shops, restaurants, and sightseeing spots along the route in a map by using content-based filtering [3]. Finally, we show experimental results of the proposed method, and discuss the future direction on this research.","PeriodicalId":122236,"journal":{"name":"2013 IEEE Workshop on Advanced Robotics and its Social Impacts","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129280710","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: 10

Design method of multilateral tele-control for multi-client and multi-coupled physical model server 多客户端和多耦合物理模型服务器的多边遥控设计方法

2013 IEEE Workshop on Advanced Robotics and its Social Impacts Pub Date : 2013-11-01 DOI: 10.1109/ARSO.2013.6705530

T. Miyoshi, T. Imamura, K. Terashima

引用次数: 5

Evaluation of advanced trajectory generators and a robust inverse kinematic solver with a 7-DOF industrial robot 基于7自由度工业机器人的先进轨迹生成器和鲁棒逆运动学求解器的评估

2013 IEEE Workshop on Advanced Robotics and its Social Impacts Pub Date : 2013-11-01 DOI: 10.1109/ARSO.2013.6705537

A. Miranda, Shu Huang, Yung-Jung Chang, Han-Pang Huang

{"title":"Evaluation of advanced trajectory generators and a robust inverse kinematic solver with a 7-DOF industrial robot","authors":"A. Miranda, Shu Huang, Yung-Jung Chang, Han-Pang Huang","doi":"10.1109/ARSO.2013.6705537","DOIUrl":"https://doi.org/10.1109/ARSO.2013.6705537","url":null,"abstract":"An optimized trajectory of multi-axis robotic manipulators is important and directly influences the performance of the executing task. In manipulators of seven or more axis, this optimization involves considerations regarding continuity of position and velocity in both Cartesian and joint space coordinates. In this paper, two trajectory generation algorithms are applied on a 7-axis manipulator for performance evaluation. These two trajectory generation algorithms evaluated here, namely the Cubic Spline and the Modified Tension Spline, are different in their mechanism and simplicity, and their evaluation will yield conclusions and guidelines which can be readily applied in the automation industry. Two application tasks are designed to evaluate the combined performance of the trajectory generators and the inverse kinematics (IK) solver; a triangular wave trajectory in a specific plane and a three-level shelf reaching trajectory. The results show that, near the vicinity of joint limits and singularities, a Cartesian pose which undershoots and overshoots will most certainly cause convergence errors in IK solvers. In addition, both a Cartesian space trajectory and pose optimization can potentially decrease the convergence of inverse kinematic solvers. Finally, the inclusion of low pass filters in the IK output will most certainly reduce power costs, increase the lifetime of motors and boost the stability of the accuracy and precision of robot position control.","PeriodicalId":122236,"journal":{"name":"2013 IEEE Workshop on Advanced Robotics and its Social Impacts","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126119870","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

Development of parallel manipulator sit to stand assistive device for elderly people 并联机械手老年人坐立辅助装置的研制

2013 IEEE Workshop on Advanced Robotics and its Social Impacts Pub Date : 2013-11-01 DOI: 10.1109/ARSO.2013.6705501

Omar Salah, A. Asker, A. F. El-Bab, Samy F. M. Assal, A. Ramadan, S. Sessa, A. Abo-Ismail

引用次数: 13

Fuzzy-based illumination normalization for face recognition 基于模糊光照归一化的人脸识别

2013 IEEE Workshop on Advanced Robotics and its Social Impacts Pub Date : 2013-11-01 DOI: 10.1109/ARSO.2013.6705518

Bima Sena Bayu, J. Miura

引用次数: 24

Design and basic experiments of a waterproof mobile robot propelled by RS-Wave mechanism RS-Wave机构驱动的防水移动机器人的设计与基础实验

2013 IEEE Workshop on Advanced Robotics and its Social Impacts Pub Date : 2013-11-01 DOI: 10.1109/ARSO.2013.6705532

Yu-Chun Fu, S. Hirose, G. Endo, E. F. Fukushima

引用次数: 1

Basic consideration about optimal control of a quadruped walking robot during slope walking motion 四足步行机器人斜坡行走运动最优控制的基本思考

2013 IEEE Workshop on Advanced Robotics and its Social Impacts Pub Date : 2013-11-01 DOI: 10.1109/ARSO.2013.6705533

Hirone Komatsu, G. Endo, R. Hodoshima, S. Hirose, E. F. Fukushima

引用次数: 5