2010 IEEE Conference on Robotics, Automation and Mechatronics最新文献

Optimal energy gait planning for humanoid robot using geodesics 基于测地线的仿人机器人能量步态优化规划

2010 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2010-06-28 DOI: 10.1109/RAMECH.2010.5513185

Liandong Zhang, Changjiu Zhou, Peijie Zhang, Zhiwei Song, Yue Pik Kong, Xinyu Han

{"title":"Optimal energy gait planning for humanoid robot using geodesics","authors":"Liandong Zhang, Changjiu Zhou, Peijie Zhang, Zhiwei Song, Yue Pik Kong, Xinyu Han","doi":"10.1109/RAMECH.2010.5513185","DOIUrl":"https://doi.org/10.1109/RAMECH.2010.5513185","url":null,"abstract":"A novel gait planning method using geodesics for humanoid robot is given in this paper. Both center of gravity (COG) and the exact Single Support Phase (SSP) are studied in our energy optimal gait planning based on geodesics. The kinetic energy of a 2-dimensional inverted pendulum is obtained at first. We regard the kinetic energy as the Riemannian metric and the geodesic on this metric is studied and this is the shortest line between two points on the Riemannian surface. This geodesic is the optimal kinetic energy gait for the COG because the kinetic energy along geodesic is invariant according to the geometric property of geodesics and the walking is stable and no impact. Then the walking in Single Support Phase is studied and the energy optimal gait for the swing leg is obtained using our geodesics method. Finally, experiments using traditional joint angles interpolating method and using our geodesics optimization method are carried out respectively and the corresponding currents of the joint motors are recorded. With the currents comparing results, the feasibility of this new gait planning method is verified.","PeriodicalId":140862,"journal":{"name":"2010 IEEE Conference on Robotics, Automation and Mechatronics","volume":"185 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116144346","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: 9

Accurate mathematical model for describing electrohydraulic loading system of helicopter pitch adjusting hydromechanical servos 描述直升机俯仰调节液压伺服系统电液加载系统的精确数学模型

2010 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2010-06-28 DOI: 10.1109/RAMECH.2010.5513173

Guojian Liu, Yunhua Li, Liman Yang

引用次数: 3

EMG-driven computer game for post-stroke rehabilitation 脑卒中后康复的肌电驱动电脑游戏

2010 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2010-06-28 DOI: 10.1109/RAMECH.2010.5513218

Shusong Xing, Zhang Xia

引用次数: 26

Recognition of occluded objects by feature interactions 基于特征交互的遮挡物识别

2010 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2010-06-28 DOI: 10.1109/RAMECH.2010.5513164

Jiayun Wu, K. Lim, Chengxin Xiao

引用次数: 4

Semi-autonomous flying robot for physical interaction with environment 与环境进行物理交互的半自主飞行机器人

2010 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2010-06-28 DOI: 10.1109/RAMECH.2010.5513152

A. Albers, S. Trautmann, T. Howard, Trong Anh Nguyen, M. Frietsch, C. Sauter

引用次数: 132

Robot path planning in a social context 社会环境下的机器人路径规划

2010 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2010-06-28 DOI: 10.1109/RAMECH.2010.5513126

S. Sehestedt, S. Kodagoda, G. Dissanayake

引用次数: 26

Using MTF for automated gated imaging system in turbid medium MTF在混浊介质自动门控成像系统中的应用

2010 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2010-06-28 DOI: 10.1109/RAMECH.2010.5513159

YekHong Chua, ChingSeong Tan, Xin Wang, C. Teoh, G. Seet, A. Sluzek

{"title":"Using MTF for automated gated imaging system in turbid medium","authors":"YekHong Chua, ChingSeong Tan, Xin Wang, C. Teoh, G. Seet, A. Sluzek","doi":"10.1109/RAMECH.2010.5513159","DOIUrl":"https://doi.org/10.1109/RAMECH.2010.5513159","url":null,"abstract":"This paper introduces an auto-tuning range-gated imaging system in turbid medium. The automated gated imaging system is able to auto-tune the best image quality by using the MTF evaluation technique. For a typical gated system, the gated images are recorded into video format in increasing gate opening time, each frame of the video recorded is basically to “slice” the targets at different distance from camera (based on time of light). Each frame would only able to show the targets within the specifically “sliced” target distance, which limits the capability of gated imaging system. Thus, it is necessary to develop auto-tuning system that will overcome the limitation in turbid water condition. In this paper, all enhanced target images within the field of view (FOV) are fused into one 3D image, and this will increase the efficiency of the study and works under turbid medium condition. Works had been done in selecting a quantitative image quality index for automated tuning system so that images with better quality can be detected accurately in turbid conditions. The non-reference measuring index-Modulation Transfer Function (MTF) can perform better in analyzing images under turbid condition thus is selected for this application. Experiment results show that the mid-band spatial frequencies from 21 to 61 demonstrate the degradation of image quality due to the turbid water backscattering noises. Thus, we propose to use MTF in the auto-tuning system to select best quality target from multiple images that scan thru the various gate timing. Subsequently, image fusion is performed to fuse multiple gate opening time images into a 3D extended targets turbid condition.","PeriodicalId":140862,"journal":{"name":"2010 IEEE Conference on Robotics, Automation and Mechatronics","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125617553","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 new compensation strategy for an AC contactor under voltage-sag events 电压凹陷下交流接触器的一种补偿策略

2010 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2010-06-28 DOI: 10.1109/RAMECH.2010.5513215

Chih-Yu Hung, C. Chi

{"title":"A new compensation strategy for an AC contactor under voltage-sag events","authors":"Chih-Yu Hung, C. Chi","doi":"10.1109/RAMECH.2010.5513215","DOIUrl":"https://doi.org/10.1109/RAMECH.2010.5513215","url":null,"abstract":"This paper aims at researching the effects of voltage-sag events upon AC electromagnetic contactor (abbreviated as AC contactor) and developing a compensation strategy based on feedback control approach. An AC contactor model is first analyzed when sags event is ensured occurrence as well as a novel voltage compensation strategy is designed for timely offsetting the coil voltage; therefore, the critical equipment in continuous process industries are safely protected and prevents the loss caused by downtime. A dynamic performance evaluation was conducted on governing numerical model of an AC contactor for analyzing the system performance when the proposed compensation strategy is introduced. The simulation results clearly depicted that contactors are critical component as it is unable to ride through 20% sag and longer than 48 milliseconds. The effectiveness and feasibility of the proposed coil voltage compensation strategy during voltage sag events occur is validated by using simulation approach. Moreover, the shading rings have the effect of the contactor's transient performance when voltage sags event occur is studied and discussed as well.","PeriodicalId":140862,"journal":{"name":"2010 IEEE Conference on Robotics, Automation and Mechatronics","volume":"333 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134207100","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

Design of an SMA-actuated jumping robot 基于sma驱动的跳跃机器人设计

2010 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2010-06-28 DOI: 10.1109/RAMECH.2010.5513129

Thanhtam Ho, Sangyoon Lee

引用次数: 2

Performance enhancement of a statically unstable Two Wheeled Mobile Robot traversing on an uneven surface 静不稳定两轮移动机器人在不平坦路面上行走的性能增强

2010 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2010-06-28 DOI: 10.1109/RAMECH.2010.5513197

Z. Kausar, K. Stol, N. Patel

引用次数: 23