2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)最新文献_第2页

Sketch Recognition Library Applied for an Image Replication with a Humanoid Robot in a Simulated Environment 草图识别库应用于仿人机器人在模拟环境中的图像复制

2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2020-10-16 DOI: 10.1109/ICMRA51221.2020.9398348

Steven Pacheco-Portuguez, M. Naya-Varela, Francisco Bellas-Bouza, Esteban Arias-Méndez

引用次数: 0

Applications of Myo Armband Using EMG and IMU Signals 肌电信号和IMU信号在Myo臂环中的应用

2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2020-10-16 DOI: 10.1109/ICMRA51221.2020.9398375

Uzair Muhammad, Khadija Amjad Sipra, M. Waqas, Shanshan Tu

{"title":"Applications of Myo Armband Using EMG and IMU Signals","authors":"Uzair Muhammad, Khadija Amjad Sipra, M. Waqas, Shanshan Tu","doi":"10.1109/ICMRA51221.2020.9398375","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398375","url":null,"abstract":"Human-Robot Interaction (HRI) plays an important role in a wide range of applications in healthcare, entertainment, and industries. Many ways are being devised to improve the interaction between humans and machines in the field of robotics. For instance, the existing approaches claim precise control over the robotic arm using many different controllers like the joystick, keypad control, or electroMyographic (EMG) sensors attached to the human arm as separate units. However, it requires a non-practical amount of calibration time and high operational expertise. Therefore, our goal is to mimic the human arm movements on the 6-degree of freedom (DOF) robotic arm in real-time, providing minimum latency. We practically show the interfacing of Myo armband with robots that provide tremendously low calibration time without compromising efficiency. We also allow a 6-DOF using EMG and inertial measurement unit (IMU) signals for Myo armband and extract the values of EMG and IMU sensors. The extracted raw EMG and IMU values are calibrated using Arduino as a standard micro-controller. Due to the extraction of raw values, Myo armband can also be integrated with other users' peripheral, which in our case is a 6-DOF robotic arm.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134092202","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

Contact Sensing via Active Oscillatory Actuation 通过主动振荡驱动的接触传感

2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2020-10-16 DOI: 10.1109/ICMRA51221.2020.9398364

Rahul Mitra, Kirkland Boyd, Divas Subedi, Digesh Chitrakar, Edwin Aldrich, Ananya Swamy, Kevin Huang

{"title":"Contact Sensing via Active Oscillatory Actuation","authors":"Rahul Mitra, Kirkland Boyd, Divas Subedi, Digesh Chitrakar, Edwin Aldrich, Ananya Swamy, Kevin Huang","doi":"10.1109/ICMRA51221.2020.9398364","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398364","url":null,"abstract":"Collaborative robotic approaches seek to incorporate either direct human intervention in tasks previously suited for isolated robot devices, or to use precise machines (cobots) to assist in sensitive tasks. Cobots work alongside humans to extend the scope of robot assistance to spaces such as service and dynamic industrial or assembly tasks. With that said, the close proximity of humans with machines necessitates safe interaction, which can be achieved via lightweight materials and novel sensing capabilities. The inherent physical strength needed in some robot tasks, such as in assembly, make contact sensing of particular concern when introducing a human collaborator. A minimally intrusive method that can be seamlessly subsumed into extant devices is desired. In this paper, such a contact sensor is prototyped and tested. The sensor is bidirectional in that it actively provides an oscillatory actuation signal to a rigid link while simultaneously recording and analyzing the mechanical vibration of said link. Natural oscillation frequency shifts and energy concentration changes due to damping are congruent with different types of contact with the rigid link. The method is lightweight, low-cost and can be quickly incorporated into various manipulators. The developed configuration is advantageous as it does not require any delicate sensors on the robot body and relies primarily on actuated oscillations of the manipulator. Oscillatory acceleration data is collected and subsequently used to train and classify different contact locations using frequency-based features. Three separate classes are distinguished according to contact location. Results are promising and show excellent classification of both contact and contact location.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117061973","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 Multi-UAV Path Planning and Obstacle Avoidance Based on Improved Artificial Potential Field Method 基于改进人工势场法的多无人机路径规划与避障研究

2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2020-10-16 DOI: 10.1109/ICMRA51221.2020.9398347

Lai Dongcheng, Dai Jiyang

引用次数: 6

MMJM: A High-Precision Motion Model for Human Arm Reaching Motion 人体手臂伸展运动的高精度运动模型

2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2020-10-16 DOI: 10.1109/ICMRA51221.2020.9398359

Shiqiu Gong, Jing Zhao

引用次数: 0

Analysis on the Environmental Adaptability of A Reconfigurable Wheel-Tracked Wheel 可重构轮式履带车轮的环境适应性分析

2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2020-10-16 DOI: 10.1109/ICMRA51221.2020.9398373

Lei Liu, Linsen Xu, Jinfu Liu, Shouqi Chen, Gaoxin Cheng, Jia Shi

{"title":"Analysis on the Environmental Adaptability of A Reconfigurable Wheel-Tracked Wheel","authors":"Lei Liu, Linsen Xu, Jinfu Liu, Shouqi Chen, Gaoxin Cheng, Jia Shi","doi":"10.1109/ICMRA51221.2020.9398373","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398373","url":null,"abstract":"In view of the complex outdoor road conditions, such as soft grounds and obstacles, this paper proposes a novel reconfigurable wheel, which is suitable for the locomotion of the robot. There are two different moving modes of the reconfigurable wheel, i.e., a wheeled mode and a tracked mode. The wheel can adaptively change the mode of the wheel according to the road conditions. It can move as fast as the ordinary wheels on hard ground. Meanwhile it can perform well on the soft ground and easily climb over obstacles in the tracked mode. Based on the adaptive requirements, the mechanical structure of the wheel is designed. Moreover, the mechanical model of the wheel on the soft ground is established, and the adaptability of the wheel to different road conditions is analyzed. The mechanical model of the wheel in the wheeled mode climbing over a vertical obstacle is established, and the rationality of the wheel climbing over obstacles is verified. The finite element analysis of some key components is conducted to verify the rationality of the design. A good adaptability of the reconfigurable wheel to the environment and a high working efficiency are verified according to the above analysis.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114985258","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

Design and Modeling of Micro-vibration Isolation for Spacecraft Flywheel 航天器飞轮微振动隔振设计与建模

2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2020-10-16 DOI: 10.1109/ICMRA51221.2020.9398352

Qing Luo, Jun Wu, Cai-zhi Fan

{"title":"Design and Modeling of Micro-vibration Isolation for Spacecraft Flywheel","authors":"Qing Luo, Jun Wu, Cai-zhi Fan","doi":"10.1109/ICMRA51221.2020.9398352","DOIUrl":"https://doi.org/10.1109/ICMRA51221.2020.9398352","url":null,"abstract":"In this paper, we focus on designing micro-vibration isolation platform for a typical kind spacecraft flywheel. Firstly, a passive isolation platform is proposed according to the disturbance characteristics of the flywheel. This platform incorporates both advantages of folded-beam-like isolators and rod-like isolation struts, and thereby achieving a multi-axis isolation. Secondly, we develop theoretical models to describe the coupled dynamics of the integrated isolation system that made up of the flywheel and isolation platform. This model can be well used to analyze the dynamics of flywheel isolation system and predict the isolation performance. Finally, we investigate the coupled dynamics and micro-vibration responses of the coupled isolation system using both experiments and simulation methods. Comparisons are conducted between the tests and simulations, and good match is achieved, which means the theoretical model developed in this paper can be extended to applications in flywheel isolation design and analysis. In the meanwhile, the isolation performance is also verified by comparing the output disturbances of with and without the proposed isolation platform.","PeriodicalId":160127,"journal":{"name":"2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132833161","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

The Strategy of Online Furnace of Pending Rolling Temperature Optimization Based on Genetic Algorithm 基于遗传算法的在线炉待轧温度优化策略

2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2020-10-16 DOI: 10.1109/ICMRA51221.2020.9398337

Zheng-guang Xu, Junxi Zhao, Kuo Sun, Siqaing Niu, Yanrong Lu, Li Yuan, Tao Liu

引用次数: 0

A CNN Approach to Assess Environment Complexity for Robotics Autonomous Navigation 一种评估机器人自主导航环境复杂性的CNN方法

2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2020-10-16 DOI: 10.1109/ICMRA51221.2020.9398356

D. Sartori, G. Ermacora, L. Pei, Danping Zou, Wenxian Yu

引用次数: 1

Bionic Design and Casting Forming Method of a Soft Gripper Robot 软抓取机器人的仿生设计与铸造成型方法

2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2020-10-16 DOI: 10.1109/ICMRA51221.2020.9398370

Lilly Te, Lan Tian, Liqiong Heng, Cui Boyao, Liang Zhenkun, W. Yongqing

引用次数: 3