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Robots in Human Life最新文献

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Simulations and experiments of high-speed stealth walking based on a realistic control approach 基于现实控制方法的高速隐身行走仿真与实验
Robots in Human Life Pub Date : 2020-08-24 DOI: 10.13180/clawar.2020.24-26.08.41
{"title":"Simulations and experiments of high-speed stealth walking based on a realistic control approach","authors":"","doi":"10.13180/clawar.2020.24-26.08.41","DOIUrl":"https://doi.org/10.13180/clawar.2020.24-26.08.41","url":null,"abstract":"","PeriodicalId":314060,"journal":{"name":"Robots in Human Life","volume":"22 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114020042","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
Robotic assistance to counter improvised CBE (Chemical, Biological, Explosive) threats 应对临时CBE(化学、生物、爆炸)威胁的机器人援助
Robots in Human Life Pub Date : 2020-08-24 DOI: 10.13180/clawar.2020.24-26.08.p03
{"title":"Robotic assistance to counter improvised CBE (Chemical, Biological, Explosive) threats","authors":"","doi":"10.13180/clawar.2020.24-26.08.p03","DOIUrl":"https://doi.org/10.13180/clawar.2020.24-26.08.p03","url":null,"abstract":"","PeriodicalId":314060,"journal":{"name":"Robots in Human Life","volume":"315 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115833851","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
SIRCAUR: Safe inspection of reinforced concrete structures by autonomous robot 自主机器人对钢筋混凝土结构进行安全检测
Robots in Human Life Pub Date : 2020-08-24 DOI: 10.13180/CLAWAR.2020.24-26.08.ID#
GG Garrido, M. Dissanayake, T. Sattar, A. Plastropoulos, M. Hashim
{"title":"SIRCAUR: Safe inspection of reinforced concrete structures by autonomous robot","authors":"GG Garrido, M. Dissanayake, T. Sattar, A. Plastropoulos, M. Hashim","doi":"10.13180/CLAWAR.2020.24-26.08.ID#","DOIUrl":"https://doi.org/10.13180/CLAWAR.2020.24-26.08.ID#","url":null,"abstract":"Designing climbing robots for industrial applications, has been proven to be an egg and chicken problem. \u0000The more the payload the more adhesion force needed. In order to move a robot upwards with such a force, \u0000motors with bigger torque are required and thus, increasing the payload. Similarly, increasing the adhesion \u0000force is likely to increase the payload. This paper presents an improved climbing robot specifically designed \u0000to climb on structures with 30~35mm of reinforced concrete (R/C) cover, while deploying a precision noncontact \u0000GPR sensor for the detection of rebar corrosion and related defects. Furthermore, it carries a system \u0000for visual inspection and detection of concrete cover deterioration. It works autonomously under UWB \u0000controlled trajectories, adjustable by GPR sensor feedback for avoidance of rebar-poor regions. The \u0000inspection NDT data is transmitted wirelessly to a ground-based CPU for processing and monitoring.","PeriodicalId":314060,"journal":{"name":"Robots in Human Life","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115421794","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
Antagonistic drive mechanism to increase impulsive force inspired by exoskeleton spring system of mantis shrimp 螳螂虾外骨骼弹簧系统激发冲力增加的拮抗驱动机制
Robots in Human Life Pub Date : 2020-08-24 DOI: 10.13180/clawar.2020.24-26.08.63
Shunichi Kurumaya, F. Ito
{"title":"Antagonistic drive mechanism to increase impulsive force inspired by exoskeleton spring system of mantis shrimp","authors":"Shunichi Kurumaya, F. Ito","doi":"10.13180/clawar.2020.24-26.08.63","DOIUrl":"https://doi.org/10.13180/clawar.2020.24-26.08.63","url":null,"abstract":"In this paper, a mechanism for generating an impulsive force by using the distortion of an exoskeleton is described. Pneumatic artificial muscles not only have a high power to weight ratio, but also have a high affinity with the human body due to their use of air pressure. However, pneumatic artificial muscles have a slow stretch response rate due to their viscous properties. Therefore, earthworm type mobile robots and wearable assistive devices using artificial muscles move slowly and have difficulty assisting human movements. We focus on the mechanism of force generation using the distortion of the exoskeleton, similar to what is seen in the punching of a mantis or the jumping of a grasshopper, as a countermeasure against the delay in the response rate of the artificial muscle. In this study, we propose a new mechanism to generate a shooting force by incorporating an element similar to an exoskeleton spring into the antagonistic drive mechanism of an artificial muscle. We designed and developed a prototype then operated it and measured the impulsive force. It was found that the developed mechanism showed similar joint movements through muscle contraction to those of mantis shrimp and grasshoppers. Furthermore, it was shown that the time constant for the maximum strike force was 6.6 N and 63.2 % of the maximum impulsive force was 0.183 s.","PeriodicalId":314060,"journal":{"name":"Robots in Human Life","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130778375","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
A four-legged climbing robot on a fragile cylinder 在一个易碎的圆柱体上的四足爬行机器人
Robots in Human Life Pub Date : 2020-08-24 DOI: 10.13180/clawar.2020.24-26.08.15
{"title":"A four-legged climbing robot on a fragile cylinder","authors":"","doi":"10.13180/clawar.2020.24-26.08.15","DOIUrl":"https://doi.org/10.13180/clawar.2020.24-26.08.15","url":null,"abstract":"","PeriodicalId":314060,"journal":{"name":"Robots in Human Life","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134001667","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
Trimod modular formation assembly using "MARS" modular robotic devices Trimod模块化地层装配采用“MARS”模块化机器人设备
Robots in Human Life Pub Date : 2020-08-24 DOI: 10.13180/clawar.2020.24-26.08.28
{"title":"Trimod modular formation assembly using \"MARS\" modular robotic devices","authors":"","doi":"10.13180/clawar.2020.24-26.08.28","DOIUrl":"https://doi.org/10.13180/clawar.2020.24-26.08.28","url":null,"abstract":"","PeriodicalId":314060,"journal":{"name":"Robots in Human Life","volume":"32 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121195378","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
Standing assistance which realizes voluntary movements of the patient within a safety motion tolerance 站立辅助，在安全的运动容忍度范围内实现患者的自主运动
Robots in Human Life Pub Date : 2020-08-24 DOI: 10.13180/clawar.2020.24-26.08.65
{"title":"Standing assistance which realizes voluntary movements of the patient within a safety motion tolerance","authors":"","doi":"10.13180/clawar.2020.24-26.08.65","DOIUrl":"https://doi.org/10.13180/clawar.2020.24-26.08.65","url":null,"abstract":"","PeriodicalId":314060,"journal":{"name":"Robots in Human Life","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121120915","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
Fixing device aerodynamics of the wall climbing robot 爬壁机器人的空气动力学固定装置
Robots in Human Life Pub Date : 2020-08-24 DOI: 10.13180/clawar.2020.24-26.08.33
{"title":"Fixing device aerodynamics of the wall climbing robot","authors":"","doi":"10.13180/clawar.2020.24-26.08.33","DOIUrl":"https://doi.org/10.13180/clawar.2020.24-26.08.33","url":null,"abstract":"","PeriodicalId":314060,"journal":{"name":"Robots in Human Life","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114837754","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
The experimental investigation of the sensitivity in the exoskeleton control loop 外骨骼控制回路灵敏度的实验研究
Robots in Human Life Pub Date : 2020-08-24 DOI: 10.13180/clawar.2020.24-26.08.55
{"title":"The experimental investigation of the sensitivity in the exoskeleton control loop","authors":"","doi":"10.13180/clawar.2020.24-26.08.55","DOIUrl":"https://doi.org/10.13180/clawar.2020.24-26.08.55","url":null,"abstract":"","PeriodicalId":314060,"journal":{"name":"Robots in Human Life","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122099608","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 compact laser shearography system integrated with robotic climber for on-site inspection of wind turbine blades 一种紧凑的激光剪切成像系统，集成了用于风力涡轮机叶片现场检查的机器人攀爬器
Robots in Human Life Pub Date : 2020-08-24 DOI: 10.13180/clawar.2020.24-26.08.43
Z. Li, M. Tokhi, Z. Zhao, J. Gao, H. Zheng
{"title":"A compact laser shearography system integrated with robotic climber for on-site inspection of wind turbine blades","authors":"Z. Li, M. Tokhi, Z. Zhao, J. Gao, H. Zheng","doi":"10.13180/clawar.2020.24-26.08.43","DOIUrl":"https://doi.org/10.13180/clawar.2020.24-26.08.43","url":null,"abstract":"Shearography is an optical technique in the field of non-destructive evaluation (NDE) of various materials, with the main advantages of non-contact and relatively large area of coverage in a single inspection. It has been widely acknowledged as an effective technique particularly for NDE of composite materials to detect subsurface defects such as delamination, disbond, cracks and impact damages. However, the use of shearography to inspect wind turbine blades (WTB) on site a wind tower is not proven, because a WTB is in constant vibration due to wind even when it is parked on a tower at low-speed wind. To address the problem, we aim to attach the shearography sit onto the WTB during inspection when the WTB is parked, the relatively motion between the shearography and the WTB is minimized within the tolerance of the shearography system. The ultimate goal is to develop a robot assisted shearography system able to inspect the WTBs on-site through remote control by operators on the ground (for onshore wind turbines) or on a vessel (for off-shore wind turbines), so that there is no need to send humans to the wind tower via a rope to do the inspections. This paper reports part of our research work surrounding the new shearography that is designed for integration with a robotic climber for on-site WTB inspection. It includes the principle of shearography, comparison of shearography with other NDE technologies, robotic application, experiments validation for fringe patterns, and description of post processing algorithms.","PeriodicalId":314060,"journal":{"name":"Robots in Human Life","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126253024","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
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