2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)最新文献_第2页

Table tennis robot motion modeling and striking planning 乒乓球机器人运动建模与击球规划

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584232

Lishun Sun, Li-zhi Gu

引用次数: 0

The Effect of Different Scales on the Crawling Rate of Bionic Snake Robot * 不同尺度对仿生蛇机器人爬行速度的影响*

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584156

Nana Zhu, Hongbin Zang, Bing Liao, Dongsheng Liu, Jiangmin Tuo, Tao Zhou, Qian Wang

{"title":"The Effect of Different Scales on the Crawling Rate of Bionic Snake Robot *","authors":"Nana Zhu, Hongbin Zang, Bing Liao, Dongsheng Liu, Jiangmin Tuo, Tao Zhou, Qian Wang","doi":"10.1109/WRC-SARA.2018.8584156","DOIUrl":"https://doi.org/10.1109/WRC-SARA.2018.8584156","url":null,"abstract":"Inspired by the S winding movement of snakes in nature, and based on the analysis of the movement principle of snakes, the design of a kind of bionic snake robot driven by single motor is proposed. Its core mechanism consists of a spatial helix structure projected on the plane as a transverse wave and a series of articulated link clusters with touch feet (scale-like). The spiral motion of helical structure can be realized by single motor energy supply, and then the transverse wave motion of the link cluster is driven, and the snake's curve bionic motion is realized. Based on virtual prototyping technology, the motion simulation of different shaped touch feet structure is carried out. 3D printing technology is used to produce a prototype. A series of experiments are designed to compare the forward and backward motion of snake robot with different shaped touch feet. The experimental results show that the curved and oblique contact feet can make the bionic robot snake have high speed, verifying the feasibility and effectiveness of the design. This study aims to provide a new pattern of motion for the research of bionic snake robot.","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122329049","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

Image Defogging algorithm Based on Image Bright and Dark Channels* 基于图像明暗通道的图像去雾算法*

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584245

Shuhuan Wen, Yanfang Zhao, Jinrong Ma, H. Lam, Hongbin Wang

引用次数: 0

Calibration of Event-based Camera and 3D LiDAR 基于事件的相机和3D激光雷达的标定

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584215

Rihui Song, Zhihua Jiang, Yanghao Li, Yunxiao Shan, Kai Huang

引用次数: 6

WiFi initial position estimate methods for autonomous robots 自主机器人WiFi初始位置估计方法

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584212

Tao Wang, Lianyu Zhao, Yunhui Jia, Jutao Wang

{"title":"WiFi initial position estimate methods for autonomous robots","authors":"Tao Wang, Lianyu Zhao, Yunhui Jia, Jutao Wang","doi":"10.1109/WRC-SARA.2018.8584212","DOIUrl":"https://doi.org/10.1109/WRC-SARA.2018.8584212","url":null,"abstract":"Indoor WiFi initial position is challenging especially when deployed over wireless device with limited system resource, of course,the initial positioning of the mobile robot is a significant task. Although GPS(Global Positioning System) can give approximate position of the mobile users, it is usually limited indoor due to the degradation of signals by the building structures. While various alternative WiFi initial position techniques have been proposed to indoor uses, accurate results are hard to achieve due to the instability nature of wireless signal. In this paper, based on the ROS(Robot Operating System) platform,we design a WiFi indoor initialize positioning system by triangulation algorithm. We will show several experiments made in our university building to test the system. The major contributions to the presented work are that the initialize positioning error goes down and it has fast convergence compared with the method of global_localization service. The test results show that the WiFi indoor initialize position system combined with AMCL( Adaptive Monte Carlo Localization) algorithm can be accurately positioned and has high commercial value.","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126604459","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: 5

An Automatic Grasp System with Sensor Feedback Based on Soft Gripper 基于软爪的传感器反馈自动抓取系统

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584250

Peichen Wu, Nanlin. Lin, Yifan Duan, Ting Lei, Lei Chai, Xiaoping Chen

{"title":"An Automatic Grasp System with Sensor Feedback Based on Soft Gripper","authors":"Peichen Wu, Nanlin. Lin, Yifan Duan, Ting Lei, Lei Chai, Xiaoping Chen","doi":"10.1109/WRC-SARA.2018.8584250","DOIUrl":"https://doi.org/10.1109/WRC-SARA.2018.8584250","url":null,"abstract":"In this paper, we present a automatic robotic grasp system that is capable of grasping objects with a wide range of sizes and shapes firmly and delicately. The two main components of grasping object are grasp selection and grasp execution. The key novel feature of our proposal is that we define three grasp primitives which are able to handle diverse objects. In grasp selection process, the algorithm needs to determine a better grasp primitive for each grasp position. This phase does not rely on precise object model but just on the local length and width information of object. For different grasp primitives, there are different sensors triggered. We utilize decision-making tree method to build a rules set which guides grasp execution. The pressure value of suction cups, tactile information and the drive motor angle are needed in training process. We capture over 3000 data groups and labels in total to train the rules set with cross validation method. For decision-making tree, the true positive rate and true negative rate are 92.74% and 97.84% respectively. Our results also show that the gripper can grasp paper cups of diverse diameters delicately without crushing them. Finally, we display the ability of our system by grasping diverse objects automatically.","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125938421","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: 4

V-shaped wing design and hydrodynamic analysis based on moving base for recovery AUV 基于动基座的回收式水下航行器v型翼设计及水动力分析

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584244

Guiqiang Bai, Haitao Gu, Haiting Zhang, Lingshuai Meng, Dongsheng Tang

引用次数: 0

Autonomous underwater vehicle docking system based on wired transmission 基于有线传输的自主水下航行器对接系统

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584153

Jingqian Guo, Rong Zheng, Xiaolei Yu, Aobo Wei, Bo Yang

引用次数: 4

The research of an acceleration method for a space microgravity simulator 空间微重力模拟器的加速方法研究

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584225

Songbo Deng, H. Cai, Ke Li, Tao Deng, Yanbo Wang

{"title":"The research of an acceleration method for a space microgravity simulator","authors":"Songbo Deng, H. Cai, Ke Li, Tao Deng, Yanbo Wang","doi":"10.1109/WRC-SARA.2018.8584225","DOIUrl":"https://doi.org/10.1109/WRC-SARA.2018.8584225","url":null,"abstract":"The space microgravity simulator could be used to realize the whole physical simulation of the aircraft control system, which is a kind of simulation method in the process of developing satellites and other spacecraft. The simulator is required for a certain initial velocity in orbit motion simulation. If the initial velocity is generated completely by the thrust of the simulator nozzle, it is necessary to consume more propellant in the simulator as well as reduce the working time of the simulator. The acceleration distance is too long due to the little thrust of the nozzle. Therefore the effective working space of the simulator is reduced for limited test level bed. In this paper, the method of pneumatic servo thrusting acceleration is used to accelerate the simulator. Precise rotary platform is adopted to adjust the thrusting angle which could be changed in a large range. A servo cylinder is acted for ejection of simulator with dual-acting and single output lever which is micro friction. Servo feedback control is realized with high precision non-contact absolute displacement sensor. The piecewise variable gain control is adopted to realize the speed control in a large speed range for precise displacement and velocity output. Thereby the space microgravity simulator could be widely used in high speed flight vehicle simulation.","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122227361","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

Direct Kinematics for a Novel Robotic System Used as External Fixator 一种新型外固定器机器人系统的直接运动学

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584243

I. Akcali, E. Avşar, H. Mutlu, A. Aydın

引用次数: 2