2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献_第4页

Characterizing dynamic swimming behaviors of three-particle magnetic microswimmer near a solid surface 固体表面附近三粒子磁性微游动体动态游动行为的表征

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324620

Qianqian Wang, Lidong Yang, Jiangfan Yu, Li Zhang

引用次数: 1

Simulations for time-optimal trajectory planning along parametric polynomial lane-change curves for a unicycle 单轮自行车参数多项式变道曲线时间最优轨迹规划仿真

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324741

Chien-Sheng Wu, Zih-Yun Chiu, Jing-Sin Liu

引用次数: 1

Accuracy analysis for robotized assembly system 机器人装配系统精度分析

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324688

Fei Zhao, H. Gu, Cheng Li, Chanyuan Chen

引用次数: 4

Dynamic objects detection and tracking for a laser scanner and camera system 激光扫描仪和摄像系统的动态目标检测和跟踪

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324442

Cheng Zou, B. He, Liwei Zhang, Jianwei Zhang

引用次数: 4

Camera-odometer calibration and fusion using graph based optimization 基于图优化的摄像机-里程表校准和融合

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324650

Yijia He, Yue Guo, Aixue Ye, Kui Yuan

{"title":"Camera-odometer calibration and fusion using graph based optimization","authors":"Yijia He, Yue Guo, Aixue Ye, Kui Yuan","doi":"10.1109/ROBIO.2017.8324650","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324650","url":null,"abstract":"Monocular visual odometry (vo) estimates the camera motion only up to a scale which is prone to localization failure when the light is changing. The wheel encoders can provide metric information and accurate local localization. Fusing camera information with wheel odometer data is a good way to estimate robot motion. In such methods, calibrating camera-odometer extrinsic parameters and fusing sensor information to perform localization are key problems. We solve these problems by transforming the wheel odometry measurement to the camera frame that can construct a factor-graph edge between every two keyframes. By building factor graph, we can use graph-based optimization technology to estimate cameraodometer extrinsic parameters and fuse sensor information to estimate robot motion. We also derive the covariance matrix of the wheel odometry edges which is important when using graph-based optimization. Simulation experiments are used to validate the extrinsic calibration. For real-world experiments, we use our method to fuse the semi-direct visual odometry (SVO) with wheel encoder data, and the results show the fusion approach is effective.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"33 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":"131743634","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: 10

Real-time globally consistent 3D grid mapping 实时全球一致的三维网格映射

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324536

Sining Yang, Shaowu Yang, Xiaodong Yi, Wenjing Yang

引用次数: 4

Improved FDCM in laser scanning inspection system for workpiece deformation 改进FDCM在激光扫描工件变形检测系统中的应用

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324484

Yibin Huang, Yue Guo, Kui Yuan

引用次数: 1

C-Quad: A miniature, foldable quadruped with C-shaped compliant legs c型四足动物:小型可折叠四足动物，腿呈c型

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324389

Ahmet Furkan Guc, Mert Ali Ihsan Kalin, Cem Karakadioglu, Onur Özcan

{"title":"C-Quad: A miniature, foldable quadruped with C-shaped compliant legs","authors":"Ahmet Furkan Guc, Mert Ali Ihsan Kalin, Cem Karakadioglu, Onur Özcan","doi":"10.1109/ROBIO.2017.8324389","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324389","url":null,"abstract":"C-Quad is an origami-inspired, foldable, miniature robot whose legs and body are all machined from one PET sheet each. The already famous compliant legs are modified such that they can be manufactured from a flat PET sheet and folded into the C-shape wanted. The compliant legs enable the miniature robot to run fast and scale obstacles with ease due to the geometry of the legs. C-Quad has four legs that are manufactured separately from the main body frame, which is also manufactured from a single PET sheet. All of its legs are actuated individually with a total of four DC motors. Despite the thin PET film, the structural rigidity and robustness of the body frame is increased by using specialized folds and locks. The manufacturing and assembly of the robot takes approximately 2.5 hours. C-Quad carries a battery, an Arduino Pro Micro control board, a bluetooth communication module, custom made encoders and commercially available IR sensors for motor speed control and motor drivers, all of which weighs 38 grams. By using very simple control strategies, it can achieve the speed of 2.7 Bodylengths/sec, can perform in-place turns and can climb over obstacles more than half of its height.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"68 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":"132259727","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

Vertical motion control of underwater robot based on hydrodynamics and kinematics analysis 基于流体动力学和运动学分析的水下机器人垂直运动控制

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324474

Mingjie Dong, Wusheng Chou, Bin Fang

{"title":"Vertical motion control of underwater robot based on hydrodynamics and kinematics analysis","authors":"Mingjie Dong, Wusheng Chou, Bin Fang","doi":"10.1109/ROBIO.2017.8324474","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324474","url":null,"abstract":"Depth control of underwater robot is of vital importance, especially when it needs to work at specific depths under the water. However, vertical motion control of underwater robot is nonlinear and it is difficult to make the robot stop at the specific depth for the first time it reaches the depth for the existence of inertia. The paper proposes a vertical motion control strategy combining hydrodynamics with kinematics analysis, to make sure that the underwater robot can just stop at the specific depth with its velocity nearly zero at the same time. At first, the hydrodynamics analysis of underwater robot is finished using FLUENT to obtain the relationship between water resistance and speed of the underwater robot in heave direction. Then, the error of the hydrodynamics analysis is compensated through field experiments using least square method with the help of depth gauge. After that, the control strategy of thrust from the two vertical propellers is proposed using kinematical analysis of underwater robot, according to the difference between the current depth and the target depth. Simulation and field experiments verify the effectiveness of the proposed vertical motion control strategy.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"42 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":"132627636","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

Real-time stereo-vision localization system for safe landing of unmanned aerial vehicles 面向无人机安全着陆的实时立体视觉定位系统

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324773

Weiwei Kong, Tianjiang Hu, Jianwei Zhang

引用次数: 3