2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)最新文献_第3页

FARAT1: an Upper Body Exoskeleton Robot FARAT1:上半身外骨骼机器人

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466183

F. Cheraghpour, Farbod Farzad, Milad Shahbabai, Mohammad Reza Shahabian Alashti

引用次数: 2

Finitary Optimal Gain for Diving Control of AUVs via Input-state Linearization 基于输入状态线性化的水下机器人潜水控制有限最优增益

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466204

S. Kazemi, Behead Geranmehr, S. R. Nekoo

引用次数: 3

Mechanical Design, Construction and Control of a Lower Extremity Exoskeleton Robot Prototype with a new structure in the form of three-wheeled Mobile robot 一种新型三轮移动机器人结构的下肢外骨骼机器人样机的机械设计、构造与控制

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466224

M. Sajadi, H. Esfahani

{"title":"Mechanical Design, Construction and Control of a Lower Extremity Exoskeleton Robot Prototype with a new structure in the form of three-wheeled Mobile robot","authors":"M. Sajadi, H. Esfahani","doi":"10.1109/ICROM.2017.8466224","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466224","url":null,"abstract":"In this paper, mechanical design, dynamic modeling, construction and Fuzzy computed torque control of a lab prototype of lower extremity exoskeleton robot with a new structure in the form of three-wheeled Mobile robot is presented. One of the most important applications of next generation of lower extremity exoskeleton robot is usability as smart vehicle. In order to autonomously moving of this robot which is the foundation of smart vehicle, a fuzzy Computed torque controller is used in order to follow the predefined specified trajectory. Another important feature of this new structure is the ability to reshape the structure in order to increase the acceleration of the robot at the time of start. Moreover, the reshaping in structure leads to decrease Rollover tendency while turning and increasing the stability of the robot. Mechanical design is done using SOLIDWORKS software and construction the lab prototype of the robot is done using new fabrication methods such as wire cut and laser cutting and controller simulation is done using MATLAB Software.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129407233","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

Biomechanical study on the nonlinear stiffness behavior of the calf muscle and ground reaction force estimation during running 小腿肌肉非线性刚度行为的生物力学研究及跑步过程中地面反作用力的估计

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466137

P. Jalali, S. Varahram, R. Hassannejad, M. Ettefagh

{"title":"Biomechanical study on the nonlinear stiffness behavior of the calf muscle and ground reaction force estimation during running","authors":"P. Jalali, S. Varahram, R. Hassannejad, M. Ettefagh","doi":"10.1109/ICROM.2017.8466137","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466137","url":null,"abstract":"Understanding the biomechanical behavior of the human body in different conditions of locomotion can be very advantageous for many purposes, such as developing the humanoid robots. With this approach, the aim of this study is investigating the nonlinear stiffness behavior of the calf muscle and the exerted ground reaction force (GRF) during running. For this purpose, a new active model of human body is proposed, which the distinctive features of this model are as follows: 1) The simulation model is considered to be five degrees of freedom (5-DOF) by using the standard solid model to simulate the calf muscle; 2) The optimum values of the considered mechanical parameters are obtained using the particle swarm optimization (PSO) algorithm; 3) The stiffness of the calf muscle is considered to be nonlinear and active, which is appropriately formulated with regard to the viscoelasticity nature of the calf muscle. This model is tested for two types of hard and soft shoes, and validated by the results of previous studies. Then the effects of different conditions of body mass distribution, touchdown velocities, and different types of shoes on the GRF are investigated and discussed. The results of this study can be used in producing and development of humanoid robots, artificial limbs, etc.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128502398","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 and Analysis of a Dredger Robot for Covered Irrigation Canals 覆盖灌渠挖泥机器人的设计与分析

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466207

Shima Shademani, P. Zarafshan, M. Khashechi, M. Kianmehr, S. M. Hashemy

{"title":"Design and Analysis of a Dredger Robot for Covered Irrigation Canals","authors":"Shima Shademani, P. Zarafshan, M. Khashechi, M. Kianmehr, S. M. Hashemy","doi":"10.1109/ICROM.2017.8466207","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466207","url":null,"abstract":"Upgrading the current operational and maintenance measures within irrigation districts has become one of the priorities of the authorities' due to the unsatisfactory performance of the existing irrigation systems. In order to achieve this, effective maintenance managements in irrigation canals must be provided, since providing a reliable source of water is challenging, especially in arid and semi-arid regions with frequent water shortage periods. One of the necessary measures in maintenance management of the irrigation canals is to remove debris, sediments, and weeds from the surface of the canal to provide enough space for passing the flow and prevent any probable obstruction. For this purpose, a robotic system is considered to remove weeds and sediments, with less damage to the canals. In this robotic system, the main arm includes variable width, stands outside the water. The robot consists of a manipulator that stays in the water for dredging operation. The end-effector of the robot is attached to the walls and sweeps the weeds and sediments. Design, simulation, and control of the robot have been conducted using conventional software such as SOLIDWORKS, ADAMS, and MATLAB.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"4 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120883257","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 Implementation of Small-sized 3D Printed Surena-Mini Humanoid Platform 小型3D打印Surena-Mini人形机器人平台的设计与实现

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466166

A. Nikkhah, A. Yousefi-Koma, Reihaneh Mirjalili, Hossein Morvaridi Farimani

{"title":"Design and Implementation of Small-sized 3D Printed Surena-Mini Humanoid Platform","authors":"A. Nikkhah, A. Yousefi-Koma, Reihaneh Mirjalili, Hossein Morvaridi Farimani","doi":"10.1109/ICROM.2017.8466166","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466166","url":null,"abstract":"This paper describes the design and implementation of a small-sized 3D printed humanoid robotic platform. Surena-Mini is the first small-sized humanoid robot which is fabricated completely with 3D printing technology. Because of the flexibility of 3D printing technology, Surena-Mini can be assigned with both human proportions and aesthetic appeals. The choice of using 3D printed plastic parts for all mechanical components not only simplifies the mechanical design process and the manufacture of the robot, but also reduces the cost and the weight of Surena-Mini humanoid which are important characteristics in small-sized humanoid robots. Surena-Mini has a total of 23 degrees of freedom with a height of 53 [cm] and weight 3.3 [kg]. The main objective of Surena-Mini is to be a humanoid robotic platform for research and education purposes to accelerate academic research. Consequently, researchers can then focus only on the challenges in which they are interested. First of all, design concepts, specifications and mechanical design of Surena-Mini are presented. Furthermore, various experimental tests are investigated on fabricated robots in order to verify the performance of the implemented humanoid robot.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"132 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121390754","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

Virtual Leader-Follower Formation Control of Multi Quadrotors by using Feedback Linearization Controller 基于反馈线性化控制器的多旋翼飞行器虚拟Leader-Follower编队控制

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466165

E. Abbasi, M. Ghayour, M. Danesh

引用次数: 9

Impact of Electro-mechanical Properties of the Actuation Mechanism on the Peak Power and Energy Requirements of Active Foot Prostheses 驱动机构的机电特性对主动足假体峰值功率和能量需求的影响

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466236

M. Eslamy, K. Alipour

{"title":"Impact of Electro-mechanical Properties of the Actuation Mechanism on the Peak Power and Energy Requirements of Active Foot Prostheses","authors":"M. Eslamy, K. Alipour","doi":"10.1109/ICROM.2017.8466236","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466236","url":null,"abstract":"Unlike passive ones, active prosthetic feet have the potential to mimic ankle kinematics and kinetics close to those of able-bodied humans. To achieve this goal, however, there are a number of challenges. One of them is the actuation mechanism. In some previous studies, we investigated on the peak power and energy requirements of the active foot prostheses just due to the activity. In other words, these requirements were calculated assuming no power losses in the system. In this study we extend our scope and take into account the electro-mechanical parameters of the actuation mechanism. We investigate, to what extent those peak power and energy requirements would change because of motor inertia, resistance, damping and ball screw transmission efficiency. The results show that resistance has the most influence on the increase of the peak power and energy requirements with respect to their ideal values. The least impact is related to the viscous damping. Furthermore, although these parameters can change the power and energy requirements drastically, they do not necessarily result in the deviation of the optimal stiffness from the ideal value.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122617451","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 Underactuated Mechanism of Hand Tendon Injury Rehabilitation 一种新的手部肌腱损伤欠驱动康复机制

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466194

Vahid Dehghan Niestanak, A. A. Moshaii, M. Moghaddam

引用次数: 6

Dynamic Characterization of a Parallel Haptic Device for Application as an Actuator in a Surgery Simulator 一种用于手术模拟器作动器的并联触觉装置的动态特性

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466168

Farshad Khadivar, Soroush Sadeghnejad, H. Moradi, G. Vossoughi, F. Farahmand

{"title":"Dynamic Characterization of a Parallel Haptic Device for Application as an Actuator in a Surgery Simulator","authors":"Farshad Khadivar, Soroush Sadeghnejad, H. Moradi, G. Vossoughi, F. Farahmand","doi":"10.1109/ICROM.2017.8466168","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466168","url":null,"abstract":"Tactile sense is a key element in developing virtual reality simulators or surgical training systems. In this regard, haptic interfaces, the generator of a sense of touch, play a significant role in producing a realistic haptic feedback force. Since the majority of practical control theories are model-based, the identification of the robot dynamic model is a process of high importance and application. The main concern, accordingly, is to find a precise dynamic model for the aforementioned user interfaces. In this research, we have implemented the Lion identification method to characterize the dynamics of a parallel haptic device in actuating a surgery simulation. We chose the Novint Falcon as our haptic device which is a parallel impedance-type robot of low price, considerable load capacities, and proper workspace. In order to cover robot nonlinearities, we considered piecewise linear functions in different operational points in the robot workspace. With respect to the Lion Identification Method, we guaranteed the stability of error dynamic of estimations from the Lyapunov perspective. Thereafter, the dynamics of parameter estimation and the identification cost function are derived. Next by running a single-axis haptic experimental setup, the robot generated force is calibrated, and four different sets of sine wave inputs of various frequencies are imposed on the robot to calculate the required parameters by Matlab Simulink. The results reveal that the system parameters converge to the specific values while the output tracking error and its derivative behavior is reasonable, that is, the system identification is of great accuracy.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"151 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121182694","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