2013 IEEE International Conference on Robotics and Automation最新文献_第3页

Design, fabrication, and experiments of an electromagnetic actuator for flapping wing micro air vehicles 扑翼微型飞行器电磁致动器的设计、制造与实验

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6630666

J. Roll, Bo Cheng, Xinyan Deng

{"title":"Design, fabrication, and experiments of an electromagnetic actuator for flapping wing micro air vehicles","authors":"J. Roll, Bo Cheng, Xinyan Deng","doi":"10.1109/ICRA.2013.6630666","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630666","url":null,"abstract":"The design and construction of a 2.6 gram electromagnetic actuator operated at resonance is presented. This design is based on wedge-shaped electromagnetic coil generating a driving torque on a rotor embedded with permanent magnets. Additional permanent magnets are used to create a virtual spring effect, supply a restoring torque to the rotor and adding nonlinear system stiffness. Flapping wing parameters were varied systematically to generate 16 unique wing profiles, from which wings were fabricated. Independent bench tests for the coil and spring magnets were used to modify analytical models of the actuator, derived in detail in a parallel study. Based on the equations of motion, estimates for the primary mode of resonance and the peak-peak stroke amplitude were determined using an approximate solution. Frequency response tests were conducted on the flapper using the set of test wings at varying supply voltages and spring configurations to verify the predicted resonate frequencies and amplitudes. Wing kinematics and mean lift measurements were performed for the flapper operating at resonance, producing a lift-to-weight ratio for the actuator of over one at 24V.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126045298","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: 35

Bimanual haptic teleoperation for discovering and uncovering buried objects 用于发现和揭露埋藏物体的双手触觉遥操作

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6630900

Hanns Tappeiner, R. Klatzky, P. Rowe, Jorgen Pedersen, R. Hollis

引用次数: 3

Decentralized centroid and formation control for multi-robot systems 多机器人系统的分散质心与编队控制

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6631068

G. Antonelli, F. Arrichiello, F. Caccavale, A. Marino

引用次数: 30

Long exposure localization in darkness using consumer cameras 使用消费类相机在黑暗中的长曝光定位

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6631105

Michael Milford, I. Turner, Peter Corke

引用次数: 20

Online identification and visualization of the statically equivalent serial chain via constrained Kalman filter 基于约束卡尔曼滤波的静态等效序列链在线辨识与可视化

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6631339

Alejandro González, M. Hayashibe, P. Fraisse

{"title":"Online identification and visualization of the statically equivalent serial chain via constrained Kalman filter","authors":"Alejandro González, M. Hayashibe, P. Fraisse","doi":"10.1109/ICRA.2013.6631339","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631339","url":null,"abstract":"A human's center of mass (CoM) trajectory is useful to evaluate the dynamic stability during daily life activities such as walking and standing up. To estimate the subject-specific CoM position in the home environment, we make use of a statically equivalent serial chain (SESC) developed with a portable measurement system. In this paper we implement a constrained Kalman filter to achieve an online estimation of the SESC parameters while accounting for the human body's bilateral symmetry. This results in constraining SESC parameters to be consistent with the human skeletal model used. The proposed identification method can inform the subject or the therapist, in real-time, about the quality of the on-going CoM estimation. This information can be helpful to reduce the identification time and establish a personalized protocol. A Kinect is used as a markerless motion capture system for measuring limb orientations while the Wii board is used to measure the subject's center of pressure (CoP) during the identification phase. CoP measurements and Kinect data were recorded for four able-bodied subjects. The recorded data was then given to the proposed recursive algorithm to identify the parameters of the SESC online. A cross-validation test was performed to verify the identification performance. The results for these subjects are shown and discussed.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125516467","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

Wireless tissue palpation: Proof of concept for a single degree of freedom 无线组织触诊:单自由度概念验证

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6630651

M. Beccani, C. Natali, M. Rentschler, P. Valdastri

{"title":"Wireless tissue palpation: Proof of concept for a single degree of freedom","authors":"M. Beccani, C. Natali, M. Rentschler, P. Valdastri","doi":"10.1109/ICRA.2013.6630651","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630651","url":null,"abstract":"Palpating tissues and organs to identify hidden tumors or to detect buried vessels is not a viable option in laparoscopic surgery due to lack of force feedback. So far, research toward restoring tactile and kinesthetic sensations in minimally invasive surgery has focused on the distal sensing element or on the proximal rendering of haptic cues. In this work we present a pilot study to assess the feasibility of wireless tissue palpation, where a magnetic device is deployed through a standard surgical trocar and operated to perform tissue palpation without requiring a dedicated entry port. The setup consists of a wireless intra-body device and an external robotic manipulator holding a load cell and a permanent magnet. Embedded in the wireless cylindrical device (12.7 mm in diameter and 27.5 mm in height) is a sensing module, a wireless microcontroller, a battery and a permanent magnet. This preliminary study assessed the precision in reconstructing the indentation depth based on magnetic field measurements at the wireless device (i.e., 0.1 mm accuracy). Experimental trials demonstrated the effectiveness of wireless vertical indentation in detecting the elastic modulus of three different silicone tissue simulators (elastic modulus ranging from 50 kPa to 93 kPa), showing a maximum relative error below 3%. Finally, wireless palpation was used to identify differences in tissue stiffness from a lump embedded into a porcine liver. The reported results have the potential to open a new paradigm in the field of palpation devices, where direct physical connection across the abdominal wall is no longer required.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126776893","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: 26

Analysis of manipulator structures under joint-failure with respect to efficient control in task-specific contexts 针对特定任务环境下关节失效的机械臂结构有效控制分析

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6630838

Susanne Petsch, Darius Burschka

{"title":"Analysis of manipulator structures under joint-failure with respect to efficient control in task-specific contexts","authors":"Susanne Petsch, Darius Burschka","doi":"10.1109/ICRA.2013.6630838","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630838","url":null,"abstract":"Robots are meanwhile able to perform several tasks. But what happens, if one or multiple of the robot's joints fail? Is the robot still able to perform the required tasks? Which capabilities of the robot get limited and which ones are lost? We propose an analysis of manipulator structures for the comparison of a robot's capabilities with respect to efficient control. The comparison is processed (1) within a robot in the case of joint failures and (2) between robots with or without joint failures. It is important, that the analysis can be processed independently of the structure of the manipulator. The results have to be comparable between different manipulator structures. Therefore, an abstract representation of the robot's dynamic capabilities is necessary. We introduce the Maneuverability Volume and the Spinning Pencil for this purpose. The Maneuverability Volume shows, how efficiently the end-effector can be moved to any other position. The Spinning Pencil reflects the robot's capability to change its end-effector orientation efficiently. Our experiments show not only the different capabilities of two manipulator structures, but also the change of the capabilities if one or multiple joints fail.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"98 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116435434","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

Probabilistic object recognition and pose estimation by fusing multiple algorithms 融合多算法的概率目标识别与姿态估计

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6631177

M. Lutz, D. Stampfer, C. Schlegel

引用次数: 11

Hybrid modeling and control of a coaxial unmanned rotorcraft interacting with its environment through contact 同轴无人旋翼机与环境接触交互的混合建模与控制

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6631354

K. Alexis, Christoph Hürzeler, R. Siegwart

引用次数: 43

Guaranteed search with large teams of unmanned aerial vehicles 保证有大量无人驾驶飞机进行搜索

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6630990

A. Kleiner, A. Kolling

引用次数: 17