2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献_第8页

Polyps auto-detection in Wireless Capsule Endoscopy images using improved method based on image segmentation 基于图像分割改进的无线胶囊内镜图像息肉自动检测方法

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7419005

Yiqun Jia

引用次数: 6

A practical EMG-driven musculoskeletal model for dynamic torque estimation of knee joint 一个实用的肌电驱动的膝关节动态扭矩估计肌肉骨骼模型

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418908

Long Peng, Z. Hou, Liang Peng, Weiqun Wang

{"title":"A practical EMG-driven musculoskeletal model for dynamic torque estimation of knee joint","authors":"Long Peng, Z. Hou, Liang Peng, Weiqun Wang","doi":"10.1109/ROBIO.2015.7418908","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418908","url":null,"abstract":"Multichannel electromyography (EMG) signals have been used as human-machine interface (HMI) to control robot systems and prostheses in recent years. EMG-based torque estimation is a widely research method to obtain motion intent. However, the existing torque models usually have the disadvantage of complexity for modeling or time consuming for model tuning. This paper presents a practical EMG-driven musculoskeletal model for the knee joint, which can estimate muscle force and active torque from EMG signals. The EMG-driven model consists of a muscle tendon model and a proposed musculoskeletal model. The muscle tendon model is used to calculate muscle force for each muscle group first. Then the forces are input to the musculoskeletal model to estimate the active joint torque. The dual population genetic algorithm (DPGA) is applied to optimize the model parameters. This tuning process takes only a few minutes and can reduce risk of fallen into local minimum. The ability to accurately predict the active torque of knee joint with relatively low root-mean-square error (RMSE) demonstrates the proposed EMG-driven model has potential applications towards the development of HMI.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"88 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":"125002294","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: 5

Foot trajectory planning of frog swimming based on propulsion mechanism 基于推进机制的青蛙游泳足部轨迹规划

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418890

Zhang Wei, Liu Gang-feng, Fan Jizhuang, C. Hegao

{"title":"Foot trajectory planning of frog swimming based on propulsion mechanism","authors":"Zhang Wei, Liu Gang-feng, Fan Jizhuang, C. Hegao","doi":"10.1109/ROBIO.2015.7418890","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418890","url":null,"abstract":"To provide reasonable reference trajectories for frog inspired robot, the bionic trajectory generation was studied in this paper. Though joint trajectories vary with different motion modes, joint speeds are too fast and tuned with the musculoskeletal system. However, mechanical structures of bionic robot are simplified and diver abilities limit the speed, so the method to generate joint trajectories which not only reflect the characteristics of real frog swimming but also are within the limitation of drivers were proposed in this paper. Firstly, swimming mechanism of frog was briefly introduced to analyze motion patterns of hind limbs and webbed feet. Secondly, trajectory (relative to body) planning was divided into hind limb planning and webbed foot planning. Hind limb trajectory planning was conducted via end track planning and acceleration planning, while acceleration planning was operated for webbed foot planning. Then, trajectories could be operated from fast to slow by adjusting duration time of the planned trajectories. Finally, the trajectories were used as input of hydrodynamic simulation to validate the trajectory planning method.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"56 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":"116546823","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

Multi-relation octomap based Heuristic ICP for air/surface robots cooperation 基于多关系八元图的启发式ICP空中/地面机器人合作

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418987

Peng Yin, Yuqing He, F. Gu, Jianda Han

引用次数: 1

A modular amphibious snake-like robot: Design, modeling and simulation 一种模块化两栖蛇形机器人:设计、建模与仿真

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7419054

Bingsong Yang, L. Han, Guangming Li, Wenfu Xu, Bingshan Hu

{"title":"A modular amphibious snake-like robot: Design, modeling and simulation","authors":"Bingsong Yang, L. Han, Guangming Li, Wenfu Xu, Bingshan Hu","doi":"10.1109/ROBIO.2015.7419054","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419054","url":null,"abstract":"Snake-like robots are a class of hyper-redundant bionic robots. They have small cross-section and many degrees of freedom (DOFs), making them ideally suited to travel on confined spaces such as underwater caves, sunken vessels, collapsed buildings, and so on. Especially, an amphibious snake-like robot can move both on ground and underwater. In this paper, we proposed a kind of amphibious snake robot with modularized joints, controllers, and structures. It can perform tasks such as maritime accident rescue, amphibious environment detection, emergency response and life rescue, meeting the requirement on many fields. This robot is composed by 10 modularized joints with new structure. Each joint has 2 DOFs (pitch and yaw), which make the robot locomote in three-dimensional agilely. All the revolute joints are arranged in the configuration of Pitch-Yaw-Pitch-Yaw (abbreviated as PYPY structure). With this configuration, the robot has very dexterous movement ability. Then, we derived the analytical kinematics equations, based on which we planned the typical gait for it. At last, the dynamic model including the ground and aquatic environment was created by using Webots. The simulation study on typical cases was performed and the simulation results verified the mechanical design, kinematics and gait planning of the robotic system.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"25 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":"128034456","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

Analysis of the machining stability in milling thin-walled plate 铣削薄壁板加工稳定性分析

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7419023

Sheng Qu, Ji-bin Zhao, Tian-Duo WAng

引用次数: 2

G-ICP SLAM: An odometry-free 3D mapping system with robust 6DoF pose estimation G-ICP SLAM:一个无里程计的3D地图系统，具有鲁棒的6DoF姿态估计

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418763

Ryo Kuramachi, Akihito Ohsato, Y. Sasaki, H. Mizoguchi

引用次数: 27

A new survey adjustment method for laser tracker relocation 一种新的激光跟踪仪定位测量平差方法

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7419695

An Wan, Jing Xu, Zonghua Zhang, Ken Chen

引用次数: 1

Motion planning for catching a light-weight ball with high-speed visual feedback 用高速视觉反馈捕捉轻球的运动规划

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418790

Kenichi Murakami, Y. Yamakawa, T. Senoo, M. Ishikawa

引用次数: 6

Design method of non-circular pulleys for pneumatic-driven musculoskeletal robots that generate specific direction force by one-shot valve operations 气动肌肉骨骼机器人的非圆滑轮设计方法，通过一次阀门操作产生特定方向力

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418826

Yuya Tsuneoka, I. Mizuuchi

引用次数: 2