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

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Design, Control and Implementation of a Powered Prosthetic Leg 动力假肢的设计、控制与实现
2018 11th International Workshop on Human Friendly Robotics (HFR) Pub Date : 2018-11-01 DOI: 10.1109/HFR.2018.8633466
Qinjian Li, Shuqiao Chen, Cuichao Xu, Xiaoli Chu, Zhijun Li
{"title":"Design, Control and Implementation of a Powered Prosthetic Leg","authors":"Qinjian Li, Shuqiao Chen, Cuichao Xu, Xiaoli Chu, Zhijun Li","doi":"10.1109/HFR.2018.8633466","DOIUrl":"https://doi.org/10.1109/HFR.2018.8633466","url":null,"abstract":"The design, control and implementation of a lower limb prosthesis with powered knee and ankle for transfemoral amputees are described in this paper. Firstly, the mechanical design is introduced. Then a hierarchical control approach for walking coordination is proposed. The hierarchical control approach acquires expected motion trajectory of prosthesis which is obtained from the movement physiological information of the amputee’s healthy leg collected by Inertial Measurement Unit (IMU). Meanwhile, the motion recognition during walking is carried out by decoding of EMG signals. In order to verify the design and its ability to assist walking, an impedance controller was used on the prototype of the powered lower limb prosthesis and a transfemoral amputee subject was invited to participate in the wear experiment. The experimental data shows that the designed mechanical structure and the proposed control method can make the prosthesis produce similar movement characteristics of the amputee’s healthy leg. It allows transfemoral amputees to have gaits close to those of normal people.","PeriodicalId":263946,"journal":{"name":"2018 11th International Workshop on Human Friendly Robotics (HFR)","volume":"76 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":"115616699","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
PLSTMNet: A New Neural Network for Segmentation of Point Cloud PLSTMNet:一种新的点云分割神经网络
2018 11th International Workshop on Human Friendly Robotics (HFR) Pub Date : 2018-11-01 DOI: 10.1109/HFR.2018.8633482
Junhe Zhao, Chunlei Liu, Baochang Zhang
{"title":"PLSTMNet: A New Neural Network for Segmentation of Point Cloud","authors":"Junhe Zhao, Chunlei Liu, Baochang Zhang","doi":"10.1109/HFR.2018.8633482","DOIUrl":"https://doi.org/10.1109/HFR.2018.8633482","url":null,"abstract":"Point cloud is a significant data which is collected from various sensors. but due to the unordered and irregular data form, an efficient and fully exploitation of raw point cloud is still challenging. PointNet provides us a promising network architecture to utilize the raw point cloud directly, which can considered to be a global descriptor of point cloud in an efficient way. Nevertheless, the information contained in local geometry is ignored by PointNet, if properly used, which can lead to a more accurate result. In this paper, LSTM network is employed to acquire the relationship contained in the point cloud, and we put forward an innovative deep-learning network, termed PLSTMNet. In experiments, we apply our PLSTMNet in the semantic segmentation task, and achieve much better performance than PointNet. The result shows the potential of LSTM in processing of point cloud.","PeriodicalId":263946,"journal":{"name":"2018 11th International Workshop on Human Friendly Robotics (HFR)","volume":"66 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":"124489085","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
Predicting human trajectory with virtual HRI environment 基于虚拟HRI环境的人类轨迹预测
2018 11th International Workshop on Human Friendly Robotics (HFR) Pub Date : 2018-11-01 DOI: 10.1109/HFR.2018.8633515
Ke Xuel, P. Di, Hongyu Wang, Fengshan Zou
{"title":"Predicting human trajectory with virtual HRI environment","authors":"Ke Xuel, P. Di, Hongyu Wang, Fengshan Zou","doi":"10.1109/HFR.2018.8633515","DOIUrl":"https://doi.org/10.1109/HFR.2018.8633515","url":null,"abstract":"Although the topic of HRI (human-robot interaction) has prevailed for a long time, we still require a great endeavor to achieve the vision which robot collaborates with human friendly. One of the reasons for this is the lacking of security. Since robot cannot have the same inteligence and physical experience as human, at least for now, they won’t communicate with us fluently, and may do harm to human physically. In order to stay clear from these accidents, we need to experiment with a safer environment and make robot more smart which can be done with predicting human trajectory. In this paper a virtual environment which built up for HRI is introduced firstly. In this model, interactive object models and human body model which can be controlled by skeleton tracking algorithm. The code of human body model is published on the Github, hoping to help researchers who do HRI debugging in virtual environment Then we propose human trajectory prediction model using neural network and implement it in real world. The results show our prediction model outperforms other typical models and the video of our experiment provides more intuitive perspective.","PeriodicalId":263946,"journal":{"name":"2018 11th International Workshop on Human Friendly Robotics (HFR)","volume":"21 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":"116853109","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
Method of Dual Manipulator Human-friendly Control Based on Wireless Motion Capture Technology 基于无线运动捕捉技术的双机械手人机友好控制方法
2018 11th International Workshop on Human Friendly Robotics (HFR) Pub Date : 2018-11-01 DOI: 10.1109/HFR.2018.8633529
Zhiguo Lu, Yichen Zhang, Hu Dong, Dexin Cheng, Shixiong Wang
{"title":"Method of Dual Manipulator Human-friendly Control Based on Wireless Motion Capture Technology","authors":"Zhiguo Lu, Yichen Zhang, Hu Dong, Dexin Cheng, Shixiong Wang","doi":"10.1109/HFR.2018.8633529","DOIUrl":"https://doi.org/10.1109/HFR.2018.8633529","url":null,"abstract":"A Human-friendly control method is proposed to solve the problem that traditional inverse kinematics of the motion chain is difficult to be solved by the coupling of chest when waist as the starting of the double arm motion chain. The inertial motion capture module collects the operator’s motion and establishes the relative rotation matrix between the modules. The joint angle of the manipulator is calculated by the corresponding relation between the robot joint and the relative rotation matrix. The master-slave control experiment was carried out using the solid-arm humanoid robot. The operator control robot platform completes the interactive action of shaking hands with others, verifies the validity of the method and obtains satisfactory results.","PeriodicalId":263946,"journal":{"name":"2018 11th International Workshop on Human Friendly Robotics (HFR)","volume":"109 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":"114649956","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
3D Printed Data Glove Design for VR Based Hand Gesture Recognition 基于VR手势识别的3D打印数据手套设计
2018 11th International Workshop on Human Friendly Robotics (HFR) Pub Date : 2018-11-01 DOI: 10.1109/HFR.2018.8633511
Oqua Ika Oqua, Junshen Chen, A. Annamalai, Chenguang Yang
{"title":"3D Printed Data Glove Design for VR Based Hand Gesture Recognition","authors":"Oqua Ika Oqua, Junshen Chen, A. Annamalai, Chenguang Yang","doi":"10.1109/HFR.2018.8633511","DOIUrl":"https://doi.org/10.1109/HFR.2018.8633511","url":null,"abstract":"This paper presents a 3D printed exoskeleton data glove that was designed as a low cost input device for Virtual Reality (VR) environment. The glove captures up to ten degrees of freedom of the human hand and integrates with a virtual model designed on Unity software to simulate the movement of the user’s hand. The orientation and position of the user’s hand in space was tracked by an Inertial Measurment Unit (EMU) sensor in a Myo armband. The data glove applies rotary potentiometer as its finger flexion sensors and was controlled by an Arduino Uno R3 microcontroller. The glove communicates with the virtual model on the computer serially via Bluetooth. A prototype was 3D printed and uses acrylonitrile butadiene styrene (ABS) plastic as its predominant material. The prototype is calibrated using a system where the user’s hand is opened and then closed to capture accurately the minimum and maximum value of the glove wearer’s finger flexion. The prototype was tested with the Unity virtual model and was fully functional.","PeriodicalId":263946,"journal":{"name":"2018 11th International Workshop on Human Friendly Robotics (HFR)","volume":"21 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":"120961498","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
A Parallel Measuring Method for Robot Off-line Teaching Programming 机器人离线教学编程的并行测量方法
2018 11th International Workshop on Human Friendly Robotics (HFR) Pub Date : 2018-11-01 DOI: 10.1109/HFR.2018.8633530
W. Xiao, D. Wei, G. Zhao
{"title":"A Parallel Measuring Method for Robot Off-line Teaching Programming","authors":"W. Xiao, D. Wei, G. Zhao","doi":"10.1109/HFR.2018.8633530","DOIUrl":"https://doi.org/10.1109/HFR.2018.8633530","url":null,"abstract":"By analyzing the limitations of existing industrial robot programming methods in single-piece and small-batch process applications, the off-line teaching programming method of industrial robots is proposed. A six-DOF parallel measuring platform was designed to support this programming method. The communication between the host computer and the measuring platform is achieved through the network port, along with the simulation of the machining motion of an industrial robot is completed. By applying the forward kinematics of this platform, the position and orientation of the trajectory points on the workpiece are manually obtained. By plotting singularity locus of the parallel measuring platform, the singularity of the defined workspace is analyzed. Finally, the feasibility of robot off-line teaching programming by means of parallel measuring platform is verified by experiments.","PeriodicalId":263946,"journal":{"name":"2018 11th International Workshop on Human Friendly Robotics (HFR)","volume":"83 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":"130324357","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
Stereo Matching Using Gabor Convolutional Neural Network 基于Gabor卷积神经网络的立体匹配
2018 11th International Workshop on Human Friendly Robotics (HFR) Pub Date : 2018-11-01 DOI: 10.1109/HFR.2018.8633525
Zhendong Liu, Qinglei Hu, Jiachen Liu, Baochang Zhang
{"title":"Stereo Matching Using Gabor Convolutional Neural Network","authors":"Zhendong Liu, Qinglei Hu, Jiachen Liu, Baochang Zhang","doi":"10.1109/HFR.2018.8633525","DOIUrl":"https://doi.org/10.1109/HFR.2018.8633525","url":null,"abstract":"Stereo matching is important to many robot applications. Recent work has shown that we can use convolutional neural networks (CNNs) to compute disparity map from a stereo image pair directly. However, current methods don’t take the problem of geometric deformation caused by perspective projection into account. To address the problem, we design a new model that utilizes Gabor convolutional neural networks (Gabor CNNs) in the feature extraction part of the network architecture. In Gabor CNNs, the learned filters from ordinary CNNs are modulated by the Gabor filters, which can enhance their abilities to address the problem of geometric deformations. Finally, we test our model on KITTI and Scene Flow datasets. The results show that our model outperforms the ordinary model that uses ordinary CNNs by a large margin.","PeriodicalId":263946,"journal":{"name":"2018 11th International Workshop on Human Friendly Robotics (HFR)","volume":"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":"115957382","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
Online Learning Shared Control System of Electric Wheelchair for Persons with Severe Disabilities 重度残疾人电动轮椅在线学习共享控制系统
2018 11th International Workshop on Human Friendly Robotics (HFR) Pub Date : 2018-11-01 DOI: 10.1109/HFR.2018.8633469
Lele Xi, M. Shino
{"title":"Online Learning Shared Control System of Electric Wheelchair for Persons with Severe Disabilities","authors":"Lele Xi, M. Shino","doi":"10.1109/HFR.2018.8633469","DOIUrl":"https://doi.org/10.1109/HFR.2018.8633469","url":null,"abstract":"Persons with severe disabilities experience difficulties in operating an Electric Wheelchair (EW) due to their lack of muscle power and the deformation of their hands. Even special input devices are developed to meet their physical limits, there is no guarantee that they can operate the EW correctly as they intend. To deal with this, EW needs to add more or less intelligence. Unlike autonomous driving, shared control can not only improve the operation but also keep users’ residual physical function and improve their enthusiasm. However, it is always a difficult problem to decide the control weights between user and machine to meet the requirements that making full use of users’ operating abilities and giving assistance when necessary. In this paper, we propose a novel online learning shared central system that can adjust the central weights considering users' motivation, safety and social adaptabilities by online evaluating users’ operating ability. Simulation results show the validity of the proposed method.","PeriodicalId":263946,"journal":{"name":"2018 11th International Workshop on Human Friendly Robotics (HFR)","volume":"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":"130413482","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
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