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2008 IEEE International Conference on Robotics and Biomimetics最新文献

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Real-time foot attitude estimation for a humanoid robot based on inertial sensors and force sensor 基于惯性传感器和力传感器的仿人机器人足部实时姿态估计
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913031
Jianxi Li, Qiang Huang, Weimin Zhang, Zhangguo Yu, Kejie Li
{"title":"Real-time foot attitude estimation for a humanoid robot based on inertial sensors and force sensor","authors":"Jianxi Li, Qiang Huang, Weimin Zhang, Zhangguo Yu, Kejie Li","doi":"10.1109/ROBIO.2009.4913031","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913031","url":null,"abstract":"This paper proposes a real-time foot attitude estimation approach consists of a foot attitude acquisition and an auto-calibration method. First, overview of the foot attitude estimation system is presented, including a tri-axis MEMS accelerometer, three angular rate gyroscopes and a data acquisition and processing unit. Then, the arithmetic of data processing and attitude acquisition is introduced. FIR digital filter is proposed to reduce the influence of inherent noise of the sensors, and combination of acceleration and angular rate is adopted to calculate the foot attitude. Finally, a special auto-calibration method based on the force sensor equipped at the ankle of the humanoid robot is presented. The effectiveness of the foot attitude estimation system and the auto-calibration method is confirmed by experiments with our developed humanoid robot.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133071428","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
fMRI compatible haptic interface system fMRI兼容触觉接口系统
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913023
A. Hribar, M. Munih, B. Koritnik
{"title":"fMRI compatible haptic interface system","authors":"A. Hribar, M. Munih, B. Koritnik","doi":"10.1109/ROBIO.2009.4913023","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913023","url":null,"abstract":"In this paper an upgrade of a Phantom Premium 1.5 haptic device which enables haptic manipulation within a magnetic resonance imaging (MRI) environment is presented. A mechanical extension has been developed that allows Phantom to operate at a safe distance, away from a high-density magnetic field of an fMRI scanner. A study presented in this paper has confirmed electromagnetic compatibility of the extended haptic system with the MRI environment. Tests carried out in a laboratory have also showed that the use of the mechanical extension has no notable effect on haptic perception. The fMRI-compatible haptic platform will allow neuroscientists to studying human brain activation during controlled upper limb movement. This could lead to new discoveries in human motor control. Presented method with the mechanical extension could also be applied to other types of haptic devices.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133266811","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
Semi-supervised learning in a complex arm motor control task 半监督学习在复杂手臂运动控制任务中的应用
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913257
Daniel Burfoot, Y. Kuniyoshi
{"title":"Semi-supervised learning in a complex arm motor control task","authors":"Daniel Burfoot, Y. Kuniyoshi","doi":"10.1109/ROBIO.2009.4913257","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913257","url":null,"abstract":"In real world learning problems it is often the case that while the amount of labeled training data is limited, the amount of raw, unlabeled data available is vast. It is thus beneficial to develop ways of exploiting the large amount of unlabeled data to maximize the utility of each labeled sample. We examine this “semi-supervised” learning problem in the context of a flexible arm with complex dynamics. The goal of the learning process is to predict a reward value R, which evaluates the system's performance on a given task, from an input motor command M. We assume that the number of trials for which the reward is given is strictly limited. This makes it difficult to learn the function M → R, because of the complex dynamics of the arm. We also assume that there are a large number of unsupervised trials which give information about the trajectory I that results from a particular motor command M. Our method is to first learn a mapping from the motor command M to the trajectory I from the unsupervised samples, and then learn a mapping from I to the reward value R from the supervised samples. We show that the indirect learning process M → I → R achieves superior performance to the direct process M → R, under a wide variety of conditions.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114652115","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
An identification of system key attributes in structural reasoning for formal validation of industrial programming 工业规划形式化验证的结构推理中系统关键属性的识别
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913178
A. Lobov, J. Lastra
{"title":"An identification of system key attributes in structural reasoning for formal validation of industrial programming","authors":"A. Lobov, J. Lastra","doi":"10.1109/ROBIO.2009.4913178","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913178","url":null,"abstract":"Each non-chaotic system has a set of attributes or properties forming a ‘character’ of the system. Being a unique entity means to possess a unique (sub-)set of attributes. This paper shows how these attributes can be identified and applied in reasoning on system correctness. The field of application is a domain of factory automation, where the structural reasoning on system state spaces is used to assist in formal validation of the overall system behavior. The paper defines ‘structural reasoning’ and ‘key attributes’ that can serve as a base for understanding developed system.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115038770","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
Adaptive controller modularization using dwell time for a set of stabilizing controllers 自适应控制器模块化使用的一组稳定控制器的驻留时间
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913273
S. Chantranuwathana
{"title":"Adaptive controller modularization using dwell time for a set of stabilizing controllers","authors":"S. Chantranuwathana","doi":"10.1109/ROBIO.2009.4913273","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913273","url":null,"abstract":"This paper deals with a problem of controller adaptation for a system known to be in a certain set of linear time-invariant systems. It is assumed that there exists a set of linear stabilizing controllers. A method for calculating a minimum switching time between controllers commonly known as dwell time such that stability of the closed loop linear time-varying system is guaranteed is given in this paper. This method was adapted and simplified from known results in supervisory controls, switched systems, and slowly varying systems. Modularity is achieved because any on-line adaptation law that updates the controller using an interval longer than this minimum can be used. Examples are given to compare between the proposed method and the results from a theory of slowly varying system and to illustrate the applications of the proposed method to improve performance of a control system.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115058231","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
Dynamic deployment rule of transfer cranes in container terminal 集装箱码头转运起重机动态部署规律研究
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913294
H. Hino, J. Ota, T. Fujisawa, S. Hoshino, S. Maruyama
{"title":"Dynamic deployment rule of transfer cranes in container terminal","authors":"H. Hino, J. Ota, T. Fujisawa, S. Hoshino, S. Maruyama","doi":"10.1109/ROBIO.2009.4913294","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913294","url":null,"abstract":"In a container terminal, the workload distribution among storage blocks (container stacking areas) changes over time. Therefore, transfer cranes (TCs), which are mobile cranes for container handling in storage blocks, have to move among blocks appropriately according to the distribution, and, the efficiency of yard operations depends heavily on the productivity of TCs. In the proposed method, we calculate the distribution by looking ahead to determine the deployment of TCs dynamically. The simulation results show that the proposed method can improve the efficiency of yard operations.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121904077","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 contraction type soft actuator using poly vinyl chloride gel 一种采用聚氯乙烯凝胶的收缩型软致动器
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913093
Misaki Yamano, Naoki Ogawa, M. Hashimoto, M. Takasaki, T. Hirai
{"title":"A contraction type soft actuator using poly vinyl chloride gel","authors":"Misaki Yamano, Naoki Ogawa, M. Hashimoto, M. Takasaki, T. Hirai","doi":"10.1109/ROBIO.2009.4913093","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913093","url":null,"abstract":"A poly vinyl chloride (PVC) gel actuator shows great potential for use as an artificial muscle because of such positive characteristics as movement in the air, large deformation, and being light in weight. A bending type actuator using PVC gel was studied previously [4]–[6]. In order to construct an artificial muscle it is necessary to compose an actuator which has the characteristics of contraction type deformation. In this study we propose an electrode arrangement for the PVC gel actuator. Also, we investigate the characteristics of the proposed actuator experimentally and show the effectiveness of the actuator as an artificial muscle. The proposed actuator has a layered structure using mesh type electrodes. The experimental results showed that the contraction rate of the actuator was about 13%, the response rate was 1–3Hz, and the output force was 1–2kPa. The characteristics of the PVC gel actuator are shown to be very effective for constructing an artificial muscle.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122083533","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: 33
Path generation for ground target tracking of airplane-typed UAV 飞机型无人机地面目标跟踪路径生成
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913197
A. Ruangwiset
{"title":"Path generation for ground target tracking of airplane-typed UAV","authors":"A. Ruangwiset","doi":"10.1109/ROBIO.2009.4913197","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913197","url":null,"abstract":"Airplane-typed UAV can perform a ground target tracking effectively by its long endurance performance. In this study, the ground target tracking with constant relative distance of target to UAV is considered. The target positioning by using flight attitude, altitude and camera pan and tilt angle is described. And by considering a circle which the center is at the target position and the radius equals to desired relative distance of target to UAV, the heading path is generated in order to fly to the circumference of the circle. Simulations were performed with a target moving faster and slower than stall speed of UAV. In the case of target moving fast, the UAV can track the target well also direction and relative distance. In the case of target moving slow, even if the UAV cannot maintain the relative distance as desired, but the UAV can track the direction of the target.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125818797","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: 28
Nonlinear robust control method for active vibration isolation using a Stewart platform 基于Stewart平台的主动隔振非线性鲁棒控制方法
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913147
Tao Yang, Jia Ma, Z. Hou, Fengshui Jing, M. Tan
{"title":"Nonlinear robust control method for active vibration isolation using a Stewart platform","authors":"Tao Yang, Jia Ma, Z. Hou, Fengshui Jing, M. Tan","doi":"10.1109/ROBIO.2009.4913147","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913147","url":null,"abstract":"This paper focuses on developing a nonlinear robust controller to solve the active vibration isolation problem using a Stewart platform. The dynamics of the Stewart platform driven by voice coil actuators is derived by the Newton-Euler method. The influence factors of vibration isolation are taken into account, such as the nonlinear characteristics of the dynamic model, the parameter perturbation and the unmodeled dynamics, etc. The favorable feature of the proposed controller is that it is not necessary for the upper bound of the unmatched uncertainties to be known in advance. A tuning rule is designed to deal with the estimation problem of the uncertainties. The uniformly ultimately bounded (UUB) stability of the controller is demonstrated by applying the Lyapunov approach and a UUB lemma. The simulation results illustrate that the controller can effectively attenuate low frequency vibrations in all six degrees of freedom (DOFs) and the satisfactory vibration isolation performance can be achieved.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129788026","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: 9
Study on pneumatic wall climbing robot adhesion principle and suction control 气动爬壁机器人附着原理及吸力控制研究
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913277
Zhijian Jiang, Jun Yu Li, Xueshan Gao, Ningjun Fan, Boyu Wei
{"title":"Study on pneumatic wall climbing robot adhesion principle and suction control","authors":"Zhijian Jiang, Jun Yu Li, Xueshan Gao, Ningjun Fan, Boyu Wei","doi":"10.1109/ROBIO.2009.4913277","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913277","url":null,"abstract":"This paper presents a new taxonomy for wall climbing robots, among which 1-NP and NPT methods with continuous and rapid locomotion are studied emphatically. It analyses in depth operating principles of fluid machineries that the two methods use, and points out the two's difference in structure as well as merits and drawbacks in performance. Then it builds dynamic models for elements in 1-NP method's suction closed-loop control system, comes up with control algorithm, and shows simulation results and discussion. Finally conclusion is given and future direction is prospected.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129657249","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: 10
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