2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献_第2页

Balance control of a novel power transmission line inspection robot 一种新型输电线路巡检机器人的平衡控制

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7419047

Weijie Wang, Tao He, Hesheng Wang, Weidong Chen

引用次数: 7

Motion removal from moving platforms: An RGB-D data-based motion detection, tracking and segmentation approach 移动平台的运动移除:基于RGB-D数据的运动检测、跟踪和分割方法

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418963

Yuxiang Sun, Ming Liu, M. Meng

引用次数: 7

Non-horizontal ricochetal brachiation motion planning and control for two-link Bio-primate robot 双连杆仿生灵长类机器人非水平跳弹臂运动规划与控制

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7407033

D. Wan, Hongtai Cheng, Guangfei Ji, Shuai Wang

{"title":"Non-horizontal ricochetal brachiation motion planning and control for two-link Bio-primate robot","authors":"D. Wan, Hongtai Cheng, Guangfei Ji, Shuai Wang","doi":"10.1109/ROBIO.2015.7407033","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7407033","url":null,"abstract":"Ricochetal Brachiation is a sophisticated locomotion for Bio-primate robot. It requires precise cooperation of three different types of locomotion. The tight coupling of locomotion and underactuated characteristics is the main difficulties for realizing ricochetal brachiation. Moreover, for the non-horizontal ricochetal brachiation, which refers brachiating among supporting bars with different heights, another difficulty orients from the asymmetric property of the flight trajectory. To solve the locomotion coupling problem, by building and analyzing the segmented dynamic and kinematic models and considering the constraint and switching condition, this paper proposes a flexible, comprehensive and adaptive ricochetal brachiation motion planning algorithm to obtain the pre-flying posture and post-flying posture. Also, the horizontal and vertical differences between adjacent supporting bars are modeled and included, which makes the algorithm applicable for general configurations. To eliminate the difficulty brought by under-actuated characteristics, virtual constraint based trajectory planning and tracking control method is adopted to ensure that the system can arrive in the pre-flying posture accurately. Finally, a ricochetal brachiation simulation model is built and the results show the effectiveness of the proposed trajectory planning and control strategy.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125386908","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: 14

Singularity analysis of robotic manipulators with velocity-constraints for minimally invasive surgery 具有速度约束的微创手术机械臂奇异性分析

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418969

Cong Dung Pham, P. From

{"title":"Singularity analysis of robotic manipulators with velocity-constraints for minimally invasive surgery","authors":"Cong Dung Pham, P. From","doi":"10.1109/ROBIO.2015.7418969","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418969","url":null,"abstract":"This paper presents a novel framework for analyzing the mobility of constrained serial manipulators. We focus on the type of constraints that arise in minimally invasive surgery, where a long shaft is inserted into the human body through a incision point, or trocar. The trocar constraint will in this case change the mobility of the manipulator and the location and nature of the singularities. For minimally invasive surgery both the mobility and the singularities of the system need to be known to obtain safe and reliable operation. Velocity constraints on the chain will in general complicate the mobility analysis of the manipulator as conventional methods such as manipulability and other methods that require the manipulator Jacobian cannot be applied because these methods do not take the constraints into account. The main contribution of the paper is to find the end-effector velocity by adding the velocity at the constraint and the velocity of the joints after the constraint (often called the wrist) and observing that these velocities need to span the whole end-effector velocity space. We then use this new representation of the end-effector velocity to find the mobility of the constrained manipulators. The framework can be used both to determine the optimal manipulator geometry in the presence of chain constraints and, once the manipulator geometry is chosen, to control the robot such that the mobility is maintained high and singularities avoided. The first property of the presented framework can for example be used to find the optimal geometry of the wrist of a surgical robot subjects to incision point constraints, and the latter can be used to control the robot so that singularities are avoided. The singularities typically take a very different form than for the unconstrained case.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126617930","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

Design of a new flexure-based XYZ parallel nanopositioning stage 一种新的基于柔性的XYZ平行纳米定位平台的设计

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7419060

Xiaozhi Zhang, Qingsong Xu

引用次数: 15

Servomotor modelling and control for safe robots 安全机器人伺服电机建模与控制

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418938

J. Song, N. Xi, Fang Xu, Kai Jia, Fengshan Zou

{"title":"Servomotor modelling and control for safe robots","authors":"J. Song, N. Xi, Fang Xu, Kai Jia, Fengshan Zou","doi":"10.1109/ROBIO.2015.7418938","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418938","url":null,"abstract":"This paper presents a method of modelling and control of servomotor for safe robots. Safety has indeed come to represent one of the major themes in robotics research for those applications that bring robots in contact with humans. Beyond this is the classical research topic of impedance control which has recently found new interest after the progress in the improved control and sensing principles. There exist a few different strategies for robot impedance control, where different amounts of sensor information are used. Among them, a kind of sensorless force control, torque observer method based on motor model, current and position information has many advantages and is widely researched. This paper discusses the permanent magnet synchronous motor (PMSM) modelling and control for the sensorless force control of safe robots. DSP controller for performing the vector and current control functions for a PMSM is implemented, and field oriented control is used to convert the PMSM into equivalent separately excited dc machines which have highly desirable control characteristics. Also, the nonlinear equations of the PMSM, PID controller equations and a real time model of the inverter switches are used in the simulation. At last, key theoretical results are verified by loading experiments.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122328355","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

Simulating and displaying of puck motion in virtual air hockey based on projective interface 基于投影接口的虚拟空中曲棍球冰球运动仿真与显示

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418787

Chuankai Dai, T. Matsumaru

引用次数: 0

Preliminary results on multi-pocket pneumatic elastomer actuators for human-robot interface in hand rehabilitation 用于手部康复人机界面的多口袋气动弹性体执行器的初步研究

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7419737

T. Tarvainen, Wenwei Yu

{"title":"Preliminary results on multi-pocket pneumatic elastomer actuators for human-robot interface in hand rehabilitation","authors":"T. Tarvainen, Wenwei Yu","doi":"10.1109/ROBIO.2015.7419737","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419737","url":null,"abstract":"Soft fluidic actuators have been used recently for developing wearable soft robotics for hand rehabilitation and power-assist. However, these actuators have mostly been made as single-pocket structures that are controlled by a single input for each digit. The next natural step would be to develop multi-pocket structures that could be controlled by multiple inputs to gain better control over the coupled digits' response. The purpose of this study is to explore the fabrication of this kind of soft multi-pocketed pneumatic elastomer actuators. For this paper, a comparison was made between two 2-pocket prototypes, one with internal and the other with external pressure input tubing. Otherwise they were fabricated in the same manner. The goal was to see whether an embedded pressure input tubing would affect the actuator's force output or motion trajectory. The fabrication process, and the force and trajectory measurements are described in detail. The prototypes had similar responses, which seemed not to be affected by the tubing. This showed that the described method could be used for making practical soft actuators with embedded input tubing that does not interfere with their response. However, further tests need to be done to confirm that the results apply to structures with three or more pockets.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122748718","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: 14

Visual shock absorber based on plastic deformation control 基于塑性变形控制的视觉减震器

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418843

M. Koike, Kenichi Murakami, T. Senoo, M. Ishikawa

引用次数: 2

Prioritized motion-force control of multi-constraints for industrial manipulators 工业机械臂多约束的运动力优先控制

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418894

Caixia Cai, N. Somani, Markus Rickert, A. Knoll

引用次数: 7