2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献

Mimicking fly motion tracking and fixation behaviors with a hybrid visual neural network 基于混合视觉神经网络的苍蝇运动跟踪与注视行为模拟

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-08 DOI: 10.1109/ROBIO.2017.8324652

Qinbing Fu, Shigang Yue

{"title":"Mimicking fly motion tracking and fixation behaviors with a hybrid visual neural network","authors":"Qinbing Fu, Shigang Yue","doi":"10.1109/ROBIO.2017.8324652","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324652","url":null,"abstract":"How do animals like insects perceive meaningful visual motion cues involving directional and locational information of moving objects in visual clutter accurately and efficiently? In this paper, with respect to latest biological research progress made in underlying motion detection circuitry in the fly's preliminary visual system, we conduct a novel hybrid visual neural network, combining the functionality of two bio-plausible, namely the motion and the position pathways, for mimicking motion tracking and fixation behaviors. This modeling study extends a former direction selective neurons model to the higher level of behavior. The motivated algorithms can be used to guide a system that extracts location information of moving objects in a scene regardless of background clutter, using entirely low-level visual processing. We tested it against translational movements in synthetic and real-world scenes. The results demonstrated the following contributions: (1) The proposed computational structure fulfills the characteristics of a putative signal tuning map of the fly's physiology. (2) It also satisfies a biological implication that visual fixation behaviors could be simply tuned via the position pathway; nevertheless, the motion-detecting pathway improves the tracking precision. (3) Contrary to segmentation and registration based computer vision techniques, its computational simplicity benefits the building of neuromorphic visual sensor for robots.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133630999","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: 12

Respiratory simulator for robotic respiratory tract treatments 用于机器人呼吸道治疗的呼吸模拟器

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-08 DOI: 10.1109/ROBIO.2017.8324764

M. Giannaccini, Keren Yue, J. Graveston, M. Birchall, A. Conn, J. Rossiter

引用次数: 3

A smooth position-force controller for asbestos removal manipulator 一种用于石棉清除机械手的平滑位置-力控制器

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-05 DOI: 10.1109/ROBIO.2017.8324599

Kamal Mohy El Dine, J. Corrales, Y. Mezouar, J. Fauroux

{"title":"A smooth position-force controller for asbestos removal manipulator","authors":"Kamal Mohy El Dine, J. Corrales, Y. Mezouar, J. Fauroux","doi":"10.1109/ROBIO.2017.8324599","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324599","url":null,"abstract":"In robotic grinding tasks, the robot controller must reactively adapt to sudden changes in the environment and be able to handle uncertainties in texture, change in materials, and disturbances caused by vibrations, impacts and friction of the grinding tool operating at high rotational speed. This requires managing sudden signal changes in sensor data. In this paper, we present a smooth hybrid force/position controller based on distance measurements from radars, enabling the robot to achieve a stable interaction with the environment while grinding an unknown three-dimensional surface. The control uses an actively compliant wrist that maintains a desired force centered on the disc and normal to the surface. Our controller is based on a smooth transition between free space and contact modes, significantly reducing the impact force. Additionally, the vibro-dynamic effects are suppressed and smooth environmental tracking is ensured by the impedance/admittance control of the wrist. This framework is validated on a 6-dof anthropomorphic arm through dynamic simulation. The controller is able to adapt reactively to abrupt disturbances in the environment (ex: sudden impacts on the disc) while ensuring good position and force tracking performance.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131895020","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

Weak actuators generate versatile locomotion patterns without a brain 弱致动器在没有大脑的情况下产生多种运动模式

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324591

Keisuke Naniwa, Yoichi Masuda, M. Ishikawa, K. Osuka

引用次数: 5

Map-based localization in structured underwater environment using simulated hydrodynamic maps and an artificial lateral line 利用模拟水动力图和人工侧线在结构化水下环境中进行地图定位

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324406

J. Fuentes‐Pérez, Naveed Muhammad, J. Tuhtan, Ruth Carbonell-Baeza, M. Musall, G. Toming, M. Kruusmaa

{"title":"Map-based localization in structured underwater environment using simulated hydrodynamic maps and an artificial lateral line","authors":"J. Fuentes‐Pérez, Naveed Muhammad, J. Tuhtan, Ruth Carbonell-Baeza, M. Musall, G. Toming, M. Kruusmaa","doi":"10.1109/ROBIO.2017.8324406","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324406","url":null,"abstract":"Flow sensing has recently gained attention of the robotics community, as it can complement the conventional sensing modalities of vision and sonar in underwater robotics. There is increasing literature in flow sensing for robotics focusing on performing tasks such as object detection and positioning, and robot's orientation estimation, most commonly under idealized laboratory conditions. In this paper, using recent advances and methodologies for bioinspired flow sensing, we propose a map-based localization technique that employs simulated hydrodynamic maps. The proposed conceptual idea could be an interesting complement to perform localization in those underwater environments with structural maps and a heterogeneous hydrodynamic, such as dams, harbour structures, fishways, caves, swers or any other drowned structure. To demonstrate its performance, computational fluid dynamic models are used to generate flow-speed maps of a structured underwater environment. Later, during off-line experiments, pressure data acquired using a flow sensing probe fitted on a Cartesian robot is transformed into speed information, and used inside a particle-filter to perform localization within the simulated flow-speed maps. The proposed technique has been tested using multiple scenarios with varying particle densities and motion command error levels. The results show filter convergence for all studied scenarios, inducing motion errors up to 0.20 m, suggesting that flow based information could be used to improve the navigation and localization abilities of underwater robots.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121125616","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: 8

Parameter optimization and trajectory planning of 3P-Delta parallel mechanism 3P-Delta并联机构参数优化及轨迹规划

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324733

Qiang Cheng, Ruiqin Li, George Zhang

{"title":"Parameter optimization and trajectory planning of 3P-Delta parallel mechanism","authors":"Qiang Cheng, Ruiqin Li, George Zhang","doi":"10.1109/ROBIO.2017.8324733","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324733","url":null,"abstract":"3P-Delta parallel mechanism is a spatial 3-DOF translational parallel mechanism which has the advantages of simple structure and easy to control. It can be used in sorting, handling, packaging and other automatic applications. In this paper, taking the 3P-Delta parallel mechanism as the research object, firstly the forward and the inverse kinematics of the mechanism are formulated by using closed-loop vector method. Through the Jacobian matrix of the mechanism, the velocity and acceleration expressions are derived. The singularity points of the mechanism are studied based on the Jacobian matrices and all singularity configurations of the mechanism are obtained. Secondly, based on the inverse kinematics of the mechanism, the workspace of the mechanism is solved by using the extreme limit boundary searching method and the stereoscopic graph of the workspace is plotted. Taking the Jacobian condition number of the mechanism as an index, the dexterity of the mechanism is analyzed, figuring out the Jacobian condition number of each point in the workspace. The global Jacobian condition number of the mechanism is obtained by MATLAB simulation. And taking the minimum global Jacobian condition number as the optimization objective, the structural parameters of the mechanism are optimized using the genetic algorithm to obtain the optimal dimension of the mechanism. Then, the virtual prototype model is established using ADAMS to simulate the mechanism and the velocity and acceleration curves of the mechanism are obtained. From the curve, it can be concluded that the mechanism has a good movement performance. Finally, the experimental prototype is constructed and the motion trajectory of the mechanism is planned by trapezoidal velocity curve. With the trajectory planning, the moving platform can pass through a given path with a good kinematics performance.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127116660","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

Fast-BIT∗: Modified heuristic for sampling-based optimal planning with a faster first solution and convergence in implicit random geometric graphs 快速比特(Fast-BIT):隐式随机几何图中首解更快且收敛的基于抽样的最优规划的改进启发式

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324695

Alexander C. Holston, Deok-Hwa Kim, Jong-Hwan Kim

{"title":"Fast-BIT∗: Modified heuristic for sampling-based optimal planning with a faster first solution and convergence in implicit random geometric graphs","authors":"Alexander C. Holston, Deok-Hwa Kim, Jong-Hwan Kim","doi":"10.1109/ROBIO.2017.8324695","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324695","url":null,"abstract":"This paper presents Fast Batch Informed Trees (Fast-BIT∗), a modification to the asymptotically optimal path planner Batch Informed Trees (BIT∗). Fast-BIT∗ modifies the underlying heuristic that dictates the expansion and processing of vertex and edge queues. BIT∗ uses heuristics to guide the search of implicit Random Geometric Graphs (RGGs) to generate an explicit solutions, while minimizing highly computational tasks such as collision checking. Fast-BIT∗ builds on BIT∗ by biasing the search heuristic towards the goal, in a solution analogous to depth-first search, finding an initial solution of the implicit RGG at a faster rate, at the cost of decreasing initial optimality. Fast-BIT∗ requires additional procedures to reset expansion variables of affected areas in the graph, ensuring the bias is not lasting in the graph expansion. An earlier initial solution leads to a faster initial upper bound for use in informed graph pruning, allowing convergence of path cost to begin earlier in the planning procedure. We show that Fast-BIT∗ finds a first solution faster than BIT∗ as well as the commonly used RRT-Connect and similar methods, along with a faster overall convergence rate. This paper shows various random-world test examples, showing the benefits of similar algorithms, along with a robot path planning simulation.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127237163","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: 8

Translational and tumbling gaits for trinal-branch robots 三分支机器人的平移和翻滚步态

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324771

Jingdong Zhao, Junguang Han, Yikun Gu, Liangliang Zhao, F. Ni, Yongjun Sun, S. Fan, Hong Liu

引用次数: 0

GEO debris towing removal using reel control of tethered space robots 利用系留空间机器人卷轴控制的GEO碎片拖曳清除

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324750

Zhongjie Meng, Bingheng Wang, Panfeng Huang

引用次数: 0

Recurring side-winding motion generation for modular snake robot 模块化蛇形机器人的循环侧绕运动生成

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324624

Sajjad Manzoor, Youngjin Choi

引用次数: 2