2018 11th International Workshop on Human Friendly Robotics (HFR)最新文献

Teleoperation Snake Robots with Panorama Vision 具有全景视觉的遥控蛇机器人

2018 11th International Workshop on Human Friendly Robotics (HFR) Pub Date : 2018-11-01 DOI: 10.1109/HFR.2018.8633487

Long Chen, Xu Yuwen, Zhenshan Bing, Kai Huang, Jun Wang

{"title":"Teleoperation Snake Robots with Panorama Vision","authors":"Long Chen, Xu Yuwen, Zhenshan Bing, Kai Huang, Jun Wang","doi":"10.1109/HFR.2018.8633487","DOIUrl":"https://doi.org/10.1109/HFR.2018.8633487","url":null,"abstract":"Snake robots could be potentially used for exploring constricted situations with its particularly superiority including accessing narrow cavities and climbing pole-like objects. Due to the complexity of external scene, snake robots cannot cope with all complex situations independently. Therefore, we propose a teleoperation snake robots wtih teleoperation mode and autonomy mode using panorama vision. In the teleoperation mode, opretator can interacte with the snake rotot with a VR and a teleoperation device. When the target detected, the sanke robots can be switched to the autonomy mode and accomplish the established task automatically. In order to meet the needs of the both modes, we developed a wireless panorama camera with four lenses, one inertial measurement unit (IMU), one GPS, one WIFI module and one FPGA board for the teleoperation snake robot. Based on this camera, we present a whole pole-climbing solution, including Single Shot multibox Detector (SSD)-based pole detection, panorama SLAM for pole localization and locomotion strategy for the snake robot to move to and climb the poles. Several experimental results demonstrate the practicability of the panorama camera and the effectiveness of the pole-climbing solution.","PeriodicalId":263946,"journal":{"name":"2018 11th International Workshop on Human Friendly Robotics (HFR)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131273253","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

Survey on Intelligent Leather Nesting and Cutting Machine Technology 智能皮革套料切割机技术综述

2018 11th International Workshop on Human Friendly Robotics (HFR) Pub Date : 2018-11-01 DOI: 10.1109/HFR.2018.8633489

Xuexi Zhang, Guokun Lu, Shuting Cai, Zefeng Hu, Xiaoming Xiong, Qinhui Zhao

引用次数: 2

Teleoperation Master-slave Robot Based on Binocular Vision 基于双目视觉的远程操作主从机器人

2018 11th International Workshop on Human Friendly Robotics (HFR) Pub Date : 2018-11-01 DOI: 10.1109/HFR.2018.8633522

Xiaoming Mai, Xu Yuwen, Yang Wang, Long Chen

{"title":"Teleoperation Master-slave Robot Based on Binocular Vision","authors":"Xiaoming Mai, Xu Yuwen, Yang Wang, Long Chen","doi":"10.1109/HFR.2018.8633522","DOIUrl":"https://doi.org/10.1109/HFR.2018.8633522","url":null,"abstract":"Teleoperation master-slave robots could be used for a variaty of dangerous work, such as live work in power systems. It is important for the operator to get the information on site since the operator usually stay away from the scene. Vision as the most important way for humans to access outside information, is also the first choice for remote operators to perceive the surroundings of the salve robot. In order to let the operator sense the live scene better, we developed a visual system with fisheye binocular vision and ordinary binocular vision, which enables the operator to sense the wide-scale environment around the robot through the fisheye camera and to sense the details of the objects through the ordinary binocular camera. In order to solve the problem of large distortion of the fisheye camera, we focus on the correction and interpolation of the fisheye image, and propose a cosine similar interpolation algorithm, which can better recover the missing pixels of the fisheye image and realize the depth estimation. In addition, combined with our vision device and master-slave robot arm, we designed a teleoperation device with better human-computer interaction performance.","PeriodicalId":263946,"journal":{"name":"2018 11th International Workshop on Human Friendly Robotics (HFR)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116264168","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

Visual Perception System for Randomized Picking Task 随机挑选任务的视觉感知系统

2018 11th International Workshop on Human Friendly Robotics (HFR) Pub Date : 2018-11-01 DOI: 10.1109/HFR.2018.8633526

Bo Zhan, Xin Wang, Jingyuan Wu, Shuaishuai Wang, Aizhen Li

引用次数: 0

Research on Dynamic Stability Prediction of Large Heavy Six-legged Robots On Slope 大型重型六足机器人斜坡动态稳定性预测研究

2018 11th International Workshop on Human Friendly Robotics (HFR) Pub Date : 2018-11-01 DOI: 10.1109/HFR.2018.8633528

F. Zha, Qiming Wang, Penglong Zheng, Chen Chen, Wei Guo

引用次数: 0

Laser Point Detection Based on Improved Target Matching Method for Application in Home Environment Human-Robot Interaction 基于改进目标匹配方法的激光点检测在家庭环境人机交互中的应用

2018 11th International Workshop on Human Friendly Robotics (HFR) Pub Date : 2018-11-01 DOI: 10.1109/HFR.2018.8633527

Yaxin Liu, Yanqiang Zhang, Yufeng Yao, Ming Zhong

引用次数: 3

Design of Control System for Educational Robot with Six-Degree Freedom 六自由度教育机器人控制系统设计

2018 11th International Workshop on Human Friendly Robotics (HFR) Pub Date : 2018-11-01 DOI: 10.1109/HFR.2018.8633500

Gao Hewei, Li Xingdong, Wang Yangwei

引用次数: 2

People Following System Based on LRF 基于LRF的人员跟踪系统

2018 11th International Workshop on Human Friendly Robotics (HFR) Pub Date : 2018-11-01 DOI: 10.1109/HFR.2018.8633507

Zuoquan Zhao, Chenglei Fang, Qinyuan Ren

引用次数: 1

The Research of Depth Perception Method Based on Sparse Random Grid 基于稀疏随机网格的深度感知方法研究

2018 11th International Workshop on Human Friendly Robotics (HFR) Pub Date : 2018-11-01 DOI: 10.1109/HFR.2018.8633523

Dongxue Li, Fang Xu, Fengshan Zou, P. Di, Hongyu Wang

引用次数: 0

Mechatronic Design and Control of a 3D Printed Low Cost Robotic Upper Limb 3D打印低成本机器人上肢机电一体化设计与控制

2018 11th International Workshop on Human Friendly Robotics (HFR) Pub Date : 2018-11-01 DOI: 10.1109/HFR.2018.8633519

Duncan Carter-Davies, Junshen Chen, Fei Chen, Miao Li, Chenguang Yang

{"title":"Mechatronic Design and Control of a 3D Printed Low Cost Robotic Upper Limb","authors":"Duncan Carter-Davies, Junshen Chen, Fei Chen, Miao Li, Chenguang Yang","doi":"10.1109/HFR.2018.8633519","DOIUrl":"https://doi.org/10.1109/HFR.2018.8633519","url":null,"abstract":"Robots and robotic technologies are changing how society functions. Found throughout industry, education, and more recently consumers homes, robotic devices perform and assist with large varieties of tasks. Robotic limbs allow users to regain or enhance their abilities, notably when completing challenging tasks, ultimately leading to greater productivity with less stain on the user. However, robotic limbs tend to be very costly, a factor that limits the availability of current robotic limbs. In this paper, we have developed an inexpensive 3D printed, 4-degrees of freedom, robotic upper limb. An Arduino microcontroller, electromechanical actuators and additional electronics were integrated to and assembled in to the 3D printed chassis, forming a functional contained system. The assembled robotic upper limb, with potential for use as a supernumerary robotic limb or transhumeral prosthesis for both disabled and non disabled person to use, was then generally tested for appropriate function. Discussion of how this design can be improved leads to the conclusion that 3D printing and inexpensive components certainly pose potential for use in affordable robotic limbs, with the prototype limb being proclaimed a successful foundation.","PeriodicalId":263946,"journal":{"name":"2018 11th International Workshop on Human Friendly Robotics (HFR)","volume":"170 5 Pt 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116388648","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