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2008 IEEE International Conference on Robotics and Biomimetics最新文献

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Human motion in cooperative tasks: Moving object case study 合作任务中的人类运动:移动对象案例研究
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913224
S. Miossec, A. Kheddar
{"title":"Human motion in cooperative tasks: Moving object case study","authors":"S. Miossec, A. Kheddar","doi":"10.1109/ROBIO.2009.4913224","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913224","url":null,"abstract":"This paper describes results obtained in a preliminary investigation of a cooperative task consisting, for a pair of human operators, in moving a handle-shaped object between two predefined locations on a table. Seated, the operators use only upper body with single hand and arms in achieving this task. In a first step, each subject realized the task in a standalone mode. In a second step, pairs of subjects realized a similar task in a cooperative way. We used standalone results as a reference model to be compared with results obtained from cooperative experiments. Obtained results revealed that it is difficult to fit the minimum jerk model as a task motion characterization in both standalone and cooperative modes. However, we found an invariant velocity shape both for standalone and cooperation situations that can be used as a basic model for a robotic implementation. We noticed that the shape of the parabolic trajectory is always higher in cooperative tasks, although the weight of the object used in cooperative mode is exactly twice the one used in a standalone mode.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"19 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":"127130119","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: 50
The study and improvement of memory management based on SOS 基于SOS的内存管理的研究与改进
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913315
Fuqing Wu, M.Q.-H. Meng, Lingfei Wu, Zhuancheng Zhang, Xijun Chen
{"title":"The study and improvement of memory management based on SOS","authors":"Fuqing Wu, M.Q.-H. Meng, Lingfei Wu, Zhuancheng Zhang, Xijun Chen","doi":"10.1109/ROBIO.2009.4913315","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913315","url":null,"abstract":"the memory management of the embedded operating system has its unique traits. And so SOS operating system should have its own suitable methods for the memory management because of its small memory and resource constraint. This paper analyses the memory management of SOS operating system, and proposes a new data structure with the combination of memory management methods about μ C / OSII, then deeply probes into the memory allocation and recovery mechanisms, which provides an effective solution for memory management of SOS operating system.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"02 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":"130054883","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
Design and testing of assistive knee brace with magnetorheological actuator 带磁流变作动器的辅助护膝的设计与试验
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913055
Jinzhou Chen, W. Liao
{"title":"Design and testing of assistive knee brace with magnetorheological actuator","authors":"Jinzhou Chen, W. Liao","doi":"10.1109/ROBIO.2009.4913055","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913055","url":null,"abstract":"Magnetorheological (MR) fluid is a smart fluid that its rheological behavior can be controlled by magnetic field. Rotary devices using MR fluids have the benefits of high torque, good controllability, and low power requirement. Recently, we developed a new MR actuator to be applied to an assistive knee brace. It was demonstrated that the MR actuator can provide sufficient torque for normal human activities. In this research, we develop an assistive knee brace that utilizing this MR actuator together with a DC motor. When active torque is desired, the DC motor works and the MR actuator functions as a clutch to transfer the torque generated by the motor to the leg; when passive torque is desired, the DC motor is turned off and the MR actuator functions as a brake to provide controllable passive torque. Potentiometer and strain gauges are used to detect the position and force information of the knee brace. The knee brace can provide active or passive assistive torque based on the working condition of the knee brace. A testing structure is developed for testing the knee brace. The motion of the knee brace in the testing structure is analysed. Preliminary experiments are carried out and the results show that this knee brace can provide proper assisting torque as expected.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"8 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":"128907229","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: 13
Development of big danger disposal manipulator - Proposal and mechatronic system design - 大危险处置机械手的研制-方案及机电系统设计
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913208
Jianjun Yuan, Weijun Zhang, J. Tao
{"title":"Development of big danger disposal manipulator - Proposal and mechatronic system design -","authors":"Jianjun Yuan, Weijun Zhang, J. Tao","doi":"10.1109/ROBIO.2009.4913208","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913208","url":null,"abstract":"This paper describes the basic proposal and mechatronic system design of a novel developed big danger disposal manipulator, named as “BIG HAND” in the later chapters. It is developed mainly for rescue and public security purpose, and is supposed to have real application in public sites such as airports, stations, and so on, while being carried by some powerful mobile equipment. Among dozens of similar purpose manipulators having been developed, the one published here has following characteristics in mechatronic system, which seldom has been implemented integratedly before: redundant in DOF (Degree Of Freedom) — 7 including 1 in gripper; big in size - with maximum 4.4m in length; big in payload ability — 32kg in its horizontal full extension posture; multi-sensor integrated system. We discuss the necessity of building such a “BIG” and redundant manipulator; analyze its design difficulty and realization in mechanism, also report the basic experiments in this paper.","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":"130718924","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
The planning of dense storage input/output based on a minimum time algorithm 基于最小时间算法的密集存储输入/输出规划
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913345
JiYuan Zang, Chao Yun, Zhiqiang Zhang, Aiming Li
{"title":"The planning of dense storage input/output based on a minimum time algorithm","authors":"JiYuan Zang, Chao Yun, Zhiqiang Zhang, Aiming Li","doi":"10.1109/ROBIO.2009.4913345","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913345","url":null,"abstract":"Based on a minimum time algorithm the planning of in and out of dense storage with complicated storage objects and numerous storage positions was studied. By studying Iron automated pharmacy system, the full planning of in and out of dense storage was given, including initial storage position planning, and the order planning of drug in and out of storage with the minimum time constraint. The model was built, and it was proved that this planning satisfied the requirements of the practical engineering. Especially, the planning has been considered suitable for the study of pharmacy automation storage.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"10 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":"132855999","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
Improving position estimation on RFID tag floor localization using RFID reader transmission power control 利用RFID读写器发射功率控制改进RFID标签地板定位的位置估计
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913260
Youngsu Park, Jewon Lee, Sang Woo Kim
{"title":"Improving position estimation on RFID tag floor localization using RFID reader transmission power control","authors":"Youngsu Park, Jewon Lee, Sang Woo Kim","doi":"10.1109/ROBIO.2009.4913260","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913260","url":null,"abstract":"Localization of indoor mobile robot is one of main issues on service robot area. Various sensor systems like odometry, INS, ultra sonic, laser lange finder (LRF), RF range systems such as UWB and chirp spread-spectrum (CSS), and vision have been applied to solve localization problem. RFID system can be a solution due to the low cost and scalability. A RFID system used to localize mobile robot in distributed tags on the floor is called RFID Tag floor localization system. RFID tag floor localization system generally uses fixed tag recognition range or probability model. In this paper, RFID reader transmission power control is introduced to change the tag recognition range to get more information about distances of tags. Using RFID power control, the performance of a position estimation was improved in simulation. The experimental results also showed improvement.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"36 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":"132995422","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: 35
Analysis of two vibrating suction methods 两种振动吸振方法的分析
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913190
Kun Wang, Wei Wang, Dazhai Li, G. Zong, Houxiang Zhang, Jianwei Zhang, Zhicheng Deng
{"title":"Analysis of two vibrating suction methods","authors":"Kun Wang, Wei Wang, Dazhai Li, G. Zong, Houxiang Zhang, Jianwei Zhang, Zhicheng Deng","doi":"10.1109/ROBIO.2009.4913190","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913190","url":null,"abstract":"In this paper, a novel vibrating method based on the principle of vibrating suction method is presented, which is called pulse vibrating method. To discuss this method in depth and evaluate its performance, simplified mathematical model based on some assumptions for both the previous sin vibrating method and the pulse vibrating method are built, and a new experimental platform is developed as well to verify the validity of the mathematical models. The experiments indicate that the experiments meet the mathematical model with only small deviation caused by some unknown factors. The experimental results also show that the pulse vibrating method is much better than the sin vibrating method for higher negative air pressure and less power consumption. At the end of this paper, conclusion is given and future work is proposed to further analyze the principle of the vibrating suction method.","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":"129261203","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
Development of walking support system based on dynamic simulation 基于动态仿真的步行支撑系统研制
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4912993
A. Omer, H. Kondo, Hun-ok Lim, A. Takanishi
{"title":"Development of walking support system based on dynamic simulation","authors":"A. Omer, H. Kondo, Hun-ok Lim, A. Takanishi","doi":"10.1109/ROBIO.2009.4912993","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4912993","url":null,"abstract":"The humanoid bipedal robot WABIAN-2R was developed to be used as human motion simulator. It is able to perform similar human-like walking motion. Moreover, the robot is able to perform walking motions with a walking support device. This walking device was moving passively helping the robot to move easily. However, to go further with this development, we have to test the robot using the walking device with different conditions such as activating its wheel motors. Conducting this experiment is expected to be highly risky and costly. Therefore, we had developed a dynamic simulator in order to test the performance of the robot using the walking support device before conducting it in real simulation.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"69 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":"125468481","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: 20
Eccentricity estimator for wide-angle fovea sensor by FMI descriptor approach 基于FMI描述子方法的广角中央凹传感器偏心估计
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913201
S. Shimizu, J. Burdick
{"title":"Eccentricity estimator for wide-angle fovea sensor by FMI descriptor approach","authors":"S. Shimizu, J. Burdick","doi":"10.1109/ROBIO.2009.4913201","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913201","url":null,"abstract":"This paper proposes a method for estimating eccentricity that corresponds to an incident angle to a fovea sensor. The proposed method applies Fourier-Mellin Invariant descriptor for estimating rotation, scale, and translation, by taking both geometrical distortion and non-uniform resolution of a space-variant image by the fovea sensor into account. The following 2 points are focused in this paper. One is to use multi-resolution images computed by Discrete Wavelet Transform for reducing noise caused by foveation properly. Another is to use a variable window function (although the window function is generally used for reducing DFT leakage caused by both ends of a signal.) for changing an effective field of view (FOV) in order not to sacrifice high accuracy. The simulation compares the root mean square (RMS) of the foveation noise between uniform and non-uniform resolutions, when a resolution level and a FOV level are changed, respectively. Experimental results show that the proposed method is consistent with the wide-angle space-variant image by the fovea sensor, i.e., it does not sacrifice high accuracy in the central FOV.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"150 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":"123266948","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 simplified dynamics modeling of a spherical underwater vehicle 球形水下航行器的简化动力学建模
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913161
Xichuan Lin, Shuxiang Guo, Yanling Hao, Xiufen Ye, Chenguang Qiu, Juan Du
{"title":"A simplified dynamics modeling of a spherical underwater vehicle","authors":"Xichuan Lin, Shuxiang Guo, Yanling Hao, Xiufen Ye, Chenguang Qiu, Juan Du","doi":"10.1109/ROBIO.2009.4913161","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913161","url":null,"abstract":"This paper proposes a spherical underwater vehicle which is propelled by water-jetted motors. It has many characteristics such as small size, light weight, flexibility of motion and noiselessness. In this paper, the dynamics model of the vehicle is analysed according to its design; and the vehicle's dynamics model is developed. The dynamics model of propellers for the vehicle is also analysed for modeling. For the sake of simplification, only two hydrodynamic damping forces are taken into account when dealing with this spherical underwater vehicle. Dynamics modeling is simplified according to the architecture and kinematic characteristics of this spherical underwater vehicle.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"170 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":"126554691","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: 17
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