2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献_第9页

Fast initialization method for monocular SLAM based on indoor model 基于室内模型的单目SLAM快速初始化方法

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324772

Jisheng Huang, Ruyu Liu, Jianhua Zhang, Shengyong Chen

引用次数: 7

Approach and control for robot assisted sinus surgery 机器人辅助鼻窦手术的方法与控制

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324545

Zeyu Zeng, Yucheng He, Qi Zhang, Ying Hu, Yong Cao

引用次数: 2

Adaptive task-space tracking for robot manipulators with uncertain kinematics and dynamics and without using acceleration 具有不确定运动学和动力学且不考虑加速度的机械臂自适应任务空间跟踪

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324494

Zhihao Xu, Xuefeng Zhou, Taobo Cheng, Kezheng Sun, Dan Huang

引用次数: 3

Cognitive and action control for goal-directed reaching in a humanoid robot 仿人机器人目标导向到达的认知与行动控制

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324691

J. Kralik, D. Muldrew, D. Gunasekaran, Richard D. Lange

引用次数: 2

Hybrid actuator design for a gait augmentation wearable 一种步态增强可穿戴设备的混合驱动器设计

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324761

F. Wan, Zheng Wang, Brooke Franchuk, Xinyao Hu, Zhenglong Sun, Chaoyang Song

{"title":"Hybrid actuator design for a gait augmentation wearable","authors":"F. Wan, Zheng Wang, Brooke Franchuk, Xinyao Hu, Zhenglong Sun, Chaoyang Song","doi":"10.1109/ROBIO.2017.8324761","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324761","url":null,"abstract":"We describe a fluidic actuator design that replaces the sealed chamber of a hydraulic cylinder using a soft actuator to provide compliant linear compression with a large force (>100 N) at a low operation pressure (<50 kPa) for lower-limb wearable. The external shells constrain the deformation of the soft actuator under fluidic pressurization. This enables us to use latex party balloons as a quick and cheap alternative for initial design investigation. We found that the forces exerted by the soft material deformation are well-captured by the rigid shells, removing the necessity of explicitly describing the mechanics of the soft material deformation and its interaction with the rigid structure. One can use the classical Force, Pressure and Area formula factored with an efficiency parameter to characterize the actuator performance. Furthermore, we proposed an engineering design of the hybrid actuator using a customized soft actuator placed inside a single shell cavity with an open end for compression force. Our results show that the proposed design can generate a very high force within a short stroke distance. At a low input pressure of 50 kPa, the exerted block force is approaching only about 3% less than the classical equation predicted. The actuator is fitted to a new gait augmentation design for correcting knee alignment, which is usually challenging for actuators made from the purely soft material.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"22 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":"115844555","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

Estimation of ankle dorsiflexion torque during loading response phase for spring coefficient identification 基于载荷响应阶段踝关节背屈力矩的弹簧系数辨识

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324751

Jing-Chen Hong, Yuta Fukushima, S. Suzuki, Kazuhiro Yasuda, Hiroki Ohashi, H. Iwata

{"title":"Estimation of ankle dorsiflexion torque during loading response phase for spring coefficient identification","authors":"Jing-Chen Hong, Yuta Fukushima, S. Suzuki, Kazuhiro Yasuda, Hiroki Ohashi, H. Iwata","doi":"10.1109/ROBIO.2017.8324751","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324751","url":null,"abstract":"In the previous work, we developed a dorsiflexion support robotic technology (RT) to help with gait rehabilitation for hemiplegic patients. The RT actively supports dorsiflexion force during swing phase with an artificial muscle. Because of the insufficient support of heel rocker, we consider using a spring for assisting resistive dorsiflexion force during loading response phase. The spring can be changed easily on our developed RT, which contributes to advantage of choosing spring with suitable spring constant. Thus, the ultimate goal for us is to find a way to determine the appropriate spring constant for corresponding individual gait to support full heel rocker in loading response phase. Support amount of dorsiflexion torque is needed for determining the spring constant. Therefore, our aim in this paper is to find out the correlation between ankle torque and individual gait factors, such as walking speed and step length. After selecting these factors, we collected gait data for 9 healthy volunteers and derive the formula to estimate dorsiflexion torque using multiple linear regression analysis. An accuracy evaluation test was also done to prove the availability of derived estimation formula.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"3 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":"115388316","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

Seeking true intelligence from the ground up: Evolutionary origins of cognition 从头开始寻找真正的智慧:认知的进化起源

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324759

Tyler H. Ray, J. Kralik

{"title":"Seeking true intelligence from the ground up: Evolutionary origins of cognition","authors":"Tyler H. Ray, J. Kralik","doi":"10.1109/ROBIO.2017.8324759","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324759","url":null,"abstract":"Higher cognitive function was built from a foundation laid by the lowest goal-directed systems in the human brain. Thus, to understand higher cognitive function we must first understand the lowest level. This paper presents our initial results of a computational investigation into the origins of our cognition. We present results from four experiments that investigated the conditions under which initial cognitive abilities arose in our lineage, by comparing a representative chordate, amphioxus, to its close cousins the tunicates and Pikaia. Experiment 1 found that the chordates that would eventually lead to amphioxus and Pikaia evolved a switching mechanism for actions partially from a need to deal with sparse food environments. Experiments 2 & 3 found that predator sensing was the most beneficial adaptation for an organism to receive, followed by increased speed and switching speeds, but also surprisingly, that sensing food was in some cases detrimental. In Experiment 4 we examined the addition of a higher radius of vision and found an amplified performance from predator detection. Our findings show that cognitive adaptations are more advantageous because they enable organisms to avoid predation, eventually enabling them to become predators themselves. Future research will then examine how these basic principles led to more sophisticated cognitive-control mechanisms and learning as evolution progressed to vertebrates, mammals, primates, and ultimately to the complete human mind and brain.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"36 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":"115417155","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

Generalized framework for the parallel semantic segmentation of multiple objects and posterior manipulation 多目标并行语义分割及后验操作的广义框架

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324476

Adrian Llopart, Ole Ravn, N. Andersen, Jong-Hwan Kim

{"title":"Generalized framework for the parallel semantic segmentation of multiple objects and posterior manipulation","authors":"Adrian Llopart, Ole Ravn, N. Andersen, Jong-Hwan Kim","doi":"10.1109/ROBIO.2017.8324476","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324476","url":null,"abstract":"The end-to-end approach presented in this paper deals with the recognition, detection, segmentation and grasping of objects, assuming no prior knowledge of the environment nor objects. The proposed pipeline is as follows: 1) Usage of a trained Convolutional Neural Net (CNN) that recognizes up to 80 different classes of objects in real time and generates bounding boxes around them. 2) An algorithm to derive in parallel the pointclouds of said regions of interest (ROI). 3) Eight different segmentation methods to remove background data and noise from the pointclouds and obtain a precise result of the semantically segmented objects. 4) Registration of the object's pointclouds over time to generate the best possible model. 5) Utilization of an algorithm to detect an array of grasping positions and orientations based mainly on the geometry of the object's model. 6) Implementation of the system on the humanoid robot MyBot, developed in the RIT Lab at KAIST. 7) An algorithm to find the bounding box of the object's model in 3D to then create a collision object and add it to the octomap. The collision checking between robot's hand and the object is removed to allow grasping using the MoveIt libraries. 8) Selection of the best grasping pose for a certain object, plus execution of the grasping movement. 9) Retrieval of the object and moving it to a desired final position.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"99 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":"115417411","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

Robust Wi-Fi indoor localization with KPCA feature extraction of dual band signals 基于KPCA特征提取的双频信号鲁棒Wi-Fi室内定位

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324533

Linsheng Zhao, Hongpeng Wang, Jiarui Wang, Haiming Gao, Jingtai Liu

引用次数: 7

Adaptive gripper with soft sheets for a uniformly distributed grasping force 自适应夹持器与软片均匀分布的抓握力

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324446

Yoshiyuki Furata, Tokuo Tsuji, Yosuke Suzuki, Tetsuyou Watanabe, M. Hikizu, H. Seki

引用次数: 2