2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)最新文献_第4页

A Peristaltic Bionic Robot Controlled By A Single Elastic-Gasbag * 一个弹性气囊控制的蠕动仿生机器人*

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584220

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

{"title":"A Peristaltic Bionic Robot Controlled By A Single Elastic-Gasbag *","authors":"Jiangmin Tuo, Hongbin Zang, Yanxin Shu, Dongsheng Liu, Nana Zhu, Bing Liao, Tao Zhou, Qian Wang","doi":"10.1109/WRC-SARA.2018.8584220","DOIUrl":"https://doi.org/10.1109/WRC-SARA.2018.8584220","url":null,"abstract":"Inspired by the physiological structure and the movement mechanism of the peristaltic organism, a soft peristaltic robot with a bionic foot controlled by a single elastic gasbag is proposed. The robot is easy to control and works efficiently, and its manufacturing cost is low. The structure design and motion mechanism of the soft robot are given. With the help of the ordinary long strip rubber balloon and automatically shrinking spring ring, the robot can complete active extension and passive contraction of the straight motion . Using pneumatic actuators to expand and stretch, the bionic foot is anchored on the contact surface, and then shrinking to complete the creep process. By comparing the influence of bionic foot of industrial clay and 3D printing PLA material on the mobile efficiency, the creeping motion experiments of robots of different sizes are completed. Through analyzing the relationship among the different diameter and the bionic foot materials and the velocity, it is verified that the scheme can be continued and the optimal parameters of the high efficient motion of the soft robot can be obtained. Thus the method is proved to be efficient.","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"121 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":"128824588","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 SLAM algorithm of fused EKF and Particle filter 融合EKF和粒子滤波的SLAM算法

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584219

Hong He, Kai Wang, Lei Sun

引用次数: 4

Cooperative Motion Planning of Dual Industrial Robots via Offline Programming 基于离线规划的双工业机器人协同运动规划

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584157

Ju Haihua, Wu Dongyu, Hu Fuwen

引用次数: 4

A Flytrap-inspired Soft Manipulator Driven by Single Airbag* 一个受捕蝇器启发的由单个安全气囊驱动的软操纵器*

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584211

Dongsheng Liu, Hongbin Zang, Jiangmin Tuo, Nana Zhu, Bing Liao, Tao He, Lei Hu

{"title":"A Flytrap-inspired Soft Manipulator Driven by Single Airbag*","authors":"Dongsheng Liu, Hongbin Zang, Jiangmin Tuo, Nana Zhu, Bing Liao, Tao He, Lei Hu","doi":"10.1109/WRC-SARA.2018.8584211","DOIUrl":"https://doi.org/10.1109/WRC-SARA.2018.8584211","url":null,"abstract":"Inspired by the mechanism of the predatory action of the flytrap, a single soft airbag shape-driven manipulator is proposed. Base on the analysis of the movement mechanism of the flytrap and the geometric structure of the manipulator, through the expansion control of a single sphere elastic airbag and the passive contraction of elastic tendons, the opening action and closing action of different angles of the manipulator is achieved. As a further extension, through the control of the elastic airbag with different shapes, the shape actuators with different action trajectories is completed. By combining a long elastic airbag with a soft flexible spring, a soft bionic arm is completed, which can achieve contractile motion on a linear path. The experimental system was built, and the grabbing experiments of two-claw soft manipulator and three-claw soft manipulator were completed by low cost common industrial materials, which verified the feasibility of the scheme. The 3D printing technique has been used to implement the spiny bionic structure of the flytrap, which further improves the grabbing ability of the soft manipulator to different shape objects. The soft manipulator can achieve the grasping and lifting of an object with 10-15 times the weight of its own.","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"3 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":"132241244","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

Review of the research of Free-flying Vehicle in Space Station 国际空间站自由飞行器研究综述

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584247

Chen Zhang, Zongfeng Li

引用次数: 0

Robot Path Planning Based on Improved Ant Colony Algorithm 基于改进蚁群算法的机器人路径规划

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584217

Tao Wang, Lianyu Zhao, Yunhui Jia, Jutao Wang

引用次数: 36

Analysis of Gait Stability Criterion Based on Cognition of Human Walking Balance Mechanism* 基于人体行走平衡机制认知的步态稳定性判据分析*

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584198

Xiaoguang Wu, Lei Yang, Shaowei Liu, Tingjin Wang, Yanhui Li, Lei Wei

{"title":"Analysis of Gait Stability Criterion Based on Cognition of Human Walking Balance Mechanism*","authors":"Xiaoguang Wu, Lei Yang, Shaowei Liu, Tingjin Wang, Yanhui Li, Lei Wei","doi":"10.1109/WRC-SARA.2018.8584198","DOIUrl":"https://doi.org/10.1109/WRC-SARA.2018.8584198","url":null,"abstract":"How to evaluate the walking stability of robots and develop stable and effective walking control algorithms is a key research hotspot in the development of humanoid biped robots. At present, the main stability evaluation basis is zero moment point stability criterion. However, this method is poor in stability, flexibility and efficiency, which severely limits the walking ability of humanoid biped robot. This article is based on the human walking motion capture data, combining with the anatomical model, the kinematics forward solution algorithm which is used to calculate the trajectory of the human joint establish the kinematics model of the human walking process. This model analyzes the angular momentum balance and moment balance by introducing ground reference points and combining Euler's second theorem. Then on the base of these, we selected the forward distance between zero moment point and central moment axis, the vector plane centroid angular momentum and the acceleration of the center of mass in the forward direction as parameters to establish the human gait stability evaluation rules . Finally, The simulation results show that this stability criterion achieves an accurate discrimination of the walking gait stability of the human body and has high accuracy in determining the gait stability.","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"15 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":"126818607","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

Self-Driving 3-legged Crawling Prototype Capsule Robot with Orientation Controlled by External Magnetic Field 外磁场定向自动驾驶三足爬行胶囊机器人原型

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584222

A. Mousa, Lin Feng, Yuguo Dai, Oksana Tovmachenko

{"title":"Self-Driving 3-legged Crawling Prototype Capsule Robot with Orientation Controlled by External Magnetic Field","authors":"A. Mousa, Lin Feng, Yuguo Dai, Oksana Tovmachenko","doi":"10.1109/WRC-SARA.2018.8584222","DOIUrl":"https://doi.org/10.1109/WRC-SARA.2018.8584222","url":null,"abstract":"this paper presents a novel method to control endoscopy capsule robots by combining two innovated control system aiming to provide locomotion and orientation control to the capsule robot, by using three symmetric magnetic legs in a crawling cycle, the capsule will be able to journey its way through the digestive system in opposite to the traditional journey that depends on the digestive movement and speed, a prototype was made with an innovated switching mechanism which reduces the number of driving motors into one motors as well as reducing the complexity of the design removing the need for any gear systems, the capsule legs are able to expand allowing for 200% reach which will help hold the capsule in place while performing a task such as capturing a much needed clear footage, in opposite to traditional endoscopic capsules which the constant motion in the gastrointestinal tract negatively affects the quality of the footage retrieved, the tested prototype have achieved a translation cycle of 24 millimeter every 10.2 seconds which is equal to 141 millimeter per minute. The capsule integrates a magnetic control system to reorient the capsule, the system works by implementing a neodymium magnet inside the capsule robot, making it susceptible to a pre-generated external magnetic field, a magnetic model was designed utilizing four external magnets and an inner magnet, with more than 10 centimeters distance between the two sets of magnets, the stress on the inner magnet surface due to the driving magnets has reached a magnitude of 35 kilo pascals which is very efficient to reorient the capsule.","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"79 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120852462","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: 7

A Comparison of Methods of Facial Expression Recognition 面部表情识别方法的比较

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584202

Yingjie Chen, Han Wu, Tao Wang, Yizhou Wang

引用次数: 2

AUV Vertical Motion Control Based on Kalman Filtering 基于卡尔曼滤波的水下机器人垂直运动控制

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584242

Aobo Wei, Rong Zheng, Jingqian Guo

{"title":"AUV Vertical Motion Control Based on Kalman Filtering","authors":"Aobo Wei, Rong Zheng, Jingqian Guo","doi":"10.1109/WRC-SARA.2018.8584242","DOIUrl":"https://doi.org/10.1109/WRC-SARA.2018.8584242","url":null,"abstract":"AUV docking is a hot topic in underwater robot research. In order to fulfill the mission of docking, AUV needs to have more precise vertical navigation control ability, reduce the depth of the sensor there is a big noise data when calculating the error and AUV vertical depth when motion is not smooth. In this paper, the kalman filter is integrated into the motion control of vertical plane, and the double closed-loop PID cascade control system is designed and not based on the model. The whole control system is divided into two loops, the inner ring for the trim Angle PID controller, the output through the thrust allocation to calculate the required torque and torque, outer ring for the depth of the PID controller, the output for the input of pitch Angle. The kalman filter is integrated into the feedback loop of the depth data to improve the accuracy of the feedback data. The precision of vertical motion control is reflected by the stability of fixed depth navigation. Through the experiment on the lake, the depth mean square deviation of the vertical plane at the speed of 2kn is 0.24m2, the mean square deviation of the vertical Angle is 0.18 degree2 which proves the feasibility of this method.","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"66 11 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":"127564402","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