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2005 IEEE International Conference on Robotics and Biomimetics - ROBIO最新文献

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Haptic simulation of fixture loading planning 夹具加载规划的触觉仿真
2005 IEEE International Conference on Robotics and Biomimetics - ROBIO Pub Date : 1900-01-01 DOI: 10.1109/ROBIO.2005.246261
Tong Liu, M. Wang
{"title":"Haptic simulation of fixture loading planning","authors":"Tong Liu, M. Wang","doi":"10.1109/ROBIO.2005.246261","DOIUrl":"https://doi.org/10.1109/ROBIO.2005.246261","url":null,"abstract":"The paper presents a haptic-guided fixture loading planning system. The system consists three parts, a multi-body contact dynamics solver based on time-stepping, and Gauss-Seidel method, a planning scheme based on a criteria of non-jamming condition that can monotonously increase the contacts with locators, and a haptic simulation system","PeriodicalId":280451,"journal":{"name":"2005 IEEE International Conference on Robotics and Biomimetics - ROBIO","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128209230","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: 2
On discretization methods for generalized weighted region shortest path problems 广义加权区域最短路径问题的离散化方法
2005 IEEE International Conference on Robotics and Biomimetics - ROBIO Pub Date : 1900-01-01 DOI: 10.1109/ROBIO.2005.246259
Zheng Sun, Tian-Ming Bu, Li-fen Zhang
{"title":"On discretization methods for generalized weighted region shortest path problems","authors":"Zheng Sun, Tian-Ming Bu, Li-fen Zhang","doi":"10.1109/ROBIO.2005.246259","DOIUrl":"https://doi.org/10.1109/ROBIO.2005.246259","url":null,"abstract":"The optimal path planning problems are very difficult for some of the generalized weighted region shortest path problems, where the cost metric varies not only in different regions of the space, but also in different directions inside the same region. If the classic discretization approach is adopted to compute an epsi-approximation of the optimal path, the size of the discretization (and thus the complexity of the approximation algorithm) is usually dictated by a number of geometric parameters and thus can be very large. In this paper we show a general method for choosing the variables of the discretization to maximally reduce the dependency of the size of the discretization on various geometric parameters. We use this method to improve the previously reported results on two optimal path problems with direction-dependent cost metrics","PeriodicalId":280451,"journal":{"name":"2005 IEEE International Conference on Robotics and Biomimetics - ROBIO","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130560960","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
3D segmentation using interval analysis and pre-attentive behaviour for a humanoid robot 基于区间分析和预注意行为的仿人机器人三维分割
2005 IEEE International Conference on Robotics and Biomimetics - ROBIO Pub Date : 1900-01-01 DOI: 10.1109/ROBIO.2005.246278
O. Stasse, B. Telle, K. Yokoi
{"title":"3D segmentation using interval analysis and pre-attentive behaviour for a humanoid robot","authors":"O. Stasse, B. Telle, K. Yokoi","doi":"10.1109/ROBIO.2005.246278","DOIUrl":"https://doi.org/10.1109/ROBIO.2005.246278","url":null,"abstract":"This paper presents a 3D object segmentation algorithm based on dense 3D map provided by a stereoscopic vision system. The novelty of this paper is to use interval analysis for deciding to which region a 3D point should be merged with. This algorithm is used to implement an exploration behaviour on the HRP-2 humanoid robot","PeriodicalId":280451,"journal":{"name":"2005 IEEE International Conference on Robotics and Biomimetics - ROBIO","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130561413","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
Design and realization of control system of humanoid robot 仿人机器人控制系统的设计与实现
2005 IEEE International Conference on Robotics and Biomimetics - ROBIO Pub Date : 1900-01-01 DOI: 10.1109/ROBIO.2005.246277
Hua Zhong, Zhenwei Wu, Chunguang Bu
{"title":"Design and realization of control system of humanoid robot","authors":"Hua Zhong, Zhenwei Wu, Chunguang Bu","doi":"10.1109/ROBIO.2005.246277","DOIUrl":"https://doi.org/10.1109/ROBIO.2005.246277","url":null,"abstract":"Aimed at structure of humanoid robot and requirements for control performance, this paper designs and realizes joint controller based on CAN bus, and structures an effective credible control system by connecting all joint controllers, force sensors, task management computer and upper limbs control computer together; and realizes the transmission of audio and video information by wireless LAN; constitutes whole control system of humanoid robot. Characteristics of the system are simple structure, high reliability, good real-time, and friendly human-machine interface. This paper includes mainly: overall structure of the humanoid robot, design and implement of controller, topology of control system, and bring forward some imaginations to enhance performance of the control system","PeriodicalId":280451,"journal":{"name":"2005 IEEE International Conference on Robotics and Biomimetics - ROBIO","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129871726","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: 7
Contact position estimation of two quadric bodies using basic probing operation 用基本探测操作估计两个二次体的接触位置
2005 IEEE International Conference on Robotics and Biomimetics - ROBIO Pub Date : 1900-01-01 DOI: 10.1109/ROBIO.2005.246289
Yong Yu, Y. Kamo, Hironobu Kawakoe, S. Tsujio
{"title":"Contact position estimation of two quadric bodies using basic probing operation","authors":"Yong Yu, Y. Kamo, Hironobu Kawakoe, S. Tsujio","doi":"10.1109/ROBIO.2005.246289","DOIUrl":"https://doi.org/10.1109/ROBIO.2005.246289","url":null,"abstract":"In order to perform an assembly operation by robot successfully, it is necessary to estimate the correct position and geometric information of a fixed environment. This paper describes a technique that can estimate the contact position and geometric information between a quadric object and a quadric environment from a number of positions and orientations of a moving object, which are measured while the object is dexterously slid and rotated on the environment around the contact position. There are six kinds of basic contact forms when the two quadric bodies are in contact with each other. Corresponding to four of these basic contact forms, four kinds of estimation approaches are proposed. By these estimation approaches, the environment position and geometric information on contacting parts can be estimated successfully. Experimental verification on the proposed approaches is performed and its results are outlined","PeriodicalId":280451,"journal":{"name":"2005 IEEE International Conference on Robotics and Biomimetics - ROBIO","volume":"19 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113979028","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
Mechanochemical theory for the ATP-fuelled biomolecular motors atp燃料生物分子马达的机械化学理论
2005 IEEE International Conference on Robotics and Biomimetics - ROBIO Pub Date : 1900-01-01 DOI: 10.1109/ROBIO.2005.246290
Ming S. Liu, B. D. Todd, R. Sadus
{"title":"Mechanochemical theory for the ATP-fuelled biomolecular motors","authors":"Ming S. Liu, B. D. Todd, R. Sadus","doi":"10.1109/ROBIO.2005.246290","DOIUrl":"https://doi.org/10.1109/ROBIO.2005.246290","url":null,"abstract":"Biomolecular motors are normally single or complex biomolecules exerting mechanical forces across molecular and cellular scales. The ATP-fuelled biomolecular motors can transduce the chemical energy from ATP hydrolysis into forces and motions in cells. In biomolecular motors, transport reactions are both stoichiometric and enzymatic. We set up a mechanochemical theory for biomolecular motors to understand its enzymatic kinetics and continuous dynamics. This theory is validated by modeling the operating mechanism and dynamics of several ATP-fuelled molecular motors driving various loads","PeriodicalId":280451,"journal":{"name":"2005 IEEE International Conference on Robotics and Biomimetics - ROBIO","volume":"67 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122002921","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
A teleoperation system for a humanoid robot with multiple information feedback and operational modes 一种具有多信息反馈和操作模式的仿人机器人遥操作系统
2005 IEEE International Conference on Robotics and Biomimetics - ROBIO Pub Date : 1900-01-01 DOI: 10.1109/ROBIO.2005.246279
Lei Zhang, Qiang Huang, Qiusheng Liu, Tao‐Le Liu, Dongguang Li, Yuepin Lu
{"title":"A teleoperation system for a humanoid robot with multiple information feedback and operational modes","authors":"Lei Zhang, Qiang Huang, Qiusheng Liu, Tao‐Le Liu, Dongguang Li, Yuepin Lu","doi":"10.1109/ROBIO.2005.246279","DOIUrl":"https://doi.org/10.1109/ROBIO.2005.246279","url":null,"abstract":"This paper presents a teleoperation system to control humanoid robot BHR-01. Multiple input devices such as keyboards, mouse and master arm are adopted to input the commands, and different operational modes are designed to control different parts of the humanoid robot. In order to let the operator to know the situation of the robot environment, some information obtained by robot's sensors, environment's monitoring devices and virtual devices are transferred to the operator. Finally, the effectiveness of the teleoperation system is illustrated by experiments that the operator manipulates BHR-01","PeriodicalId":280451,"journal":{"name":"2005 IEEE International Conference on Robotics and Biomimetics - ROBIO","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125933855","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
3D simulation design based on openGL for four-legged robot 基于openGL的四足机器人三维仿真设计
2005 IEEE International Conference on Robotics and Biomimetics - ROBIO Pub Date : 1900-01-01 DOI: 10.1109/ROBIO.2005.246356
Qing-Hua Ling, M.Q.-H. Meng, Tao Mei, Haoran Lu
{"title":"3D simulation design based on openGL for four-legged robot","authors":"Qing-Hua Ling, M.Q.-H. Meng, Tao Mei, Haoran Lu","doi":"10.1109/ROBIO.2005.246356","DOIUrl":"https://doi.org/10.1109/ROBIO.2005.246356","url":null,"abstract":"This paper introduces and analyses a three dimensional real-time kinematic simulation system for four-legged robot. The effective method of constructing interface between 3D geometrical modeling software and simulation system in OpenGL is applied in the geometrical modeling module for the robot. The construction of kinematic model and the demonstration of animation are analyzed emphatically. Further more, the structure of the functional modules of simulation system is discussed in detail","PeriodicalId":280451,"journal":{"name":"2005 IEEE International Conference on Robotics and Biomimetics - ROBIO","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127128129","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: 6
Balance control of multi-arm free-floating space robots during capture operation 多臂自由漂浮空间机器人捕获过程中的平衡控制
2005 IEEE International Conference on Robotics and Biomimetics - ROBIO Pub Date : 1900-01-01 DOI: 10.1109/ROBIO.2005.246300
Panfeng Huang, Yangsheng Xu, Bin Liang
{"title":"Balance control of multi-arm free-floating space robots during capture operation","authors":"Panfeng Huang, Yangsheng Xu, Bin Liang","doi":"10.1109/ROBIO.2005.246300","DOIUrl":"https://doi.org/10.1109/ROBIO.2005.246300","url":null,"abstract":"This paper investigates the problem of the dynamic balance control of two-arm free-floating space robot capturing an active object in close proximity. The position and orientation of space base would be affected during the operation of space manipulator because of the dynamics coupling between the manipulator and space base. Such a disturbance would produce the serious impact between the manipulator hand and the object. We propose to develop a space robot system consisting of two arms, with one arm (mission arm) for accomplishing the capture mission, and the other one (balance arm) compensating for the disturbance of the base. We present the coordinated control concept for balance of the attitude of the base using the balance arm. The mission arm can motion along the planned trajectory to approach and capture the target and that not need to consider the disturbance for free-floating space robot. We establish a relationship between the motion of two arm that can realize the zeros reaction to the base. The simulation studies verified the proposed balance control method","PeriodicalId":280451,"journal":{"name":"2005 IEEE International Conference on Robotics and Biomimetics - ROBIO","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127165747","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: 22
An immune model and its application to a mobile robot simulator 一种免疫模型及其在移动机器人模拟器中的应用
2005 IEEE International Conference on Robotics and Biomimetics - ROBIO Pub Date : 1900-01-01 DOI: 10.1109/ROBIO.2005.246396
Tao Gong, Sigma Xi, Zixing Cai
{"title":"An immune model and its application to a mobile robot simulator","authors":"Tao Gong, Sigma Xi, Zixing Cai","doi":"10.1109/ROBIO.2005.246396","DOIUrl":"https://doi.org/10.1109/ROBIO.2005.246396","url":null,"abstract":"Immune computation is burgeoning bioinformatics technique inspired from the natural immune system and can solve the information security problems such as antivirus and fault detection. And the immune model is a crucial problem of the artificial immune system. In this paper, an immune model was proposed for the application of a mobile robot simulator, which was infected by some worms, such the love worm and the happy-time worm. The immune model was comprised of three tiers, including the inherent immune tier, the adaptive immune tier and the parallel computing tier. This immune model was built on the theories of the natural immune system and had many excellent features, such as adaptability, immunity, memory, learning, and robustness. And the application example of the immune model in the mobile robot simulator showed, the artificial immune system can detect, recognize, learn and eliminate computer viruses, and can detect and repair faults such as software bugs, and so the immune computation is an excellent approach for antivirus security. Moreover, the application fields and prospect of the immune computation would be rich and successful in the near future","PeriodicalId":280451,"journal":{"name":"2005 IEEE International Conference on Robotics and Biomimetics - ROBIO","volume":"6 7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126296869","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
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