2021 6th International Conference on Robotics and Automation Engineering (ICRAE)最新文献_第3页

Simulation of Improved Bipedal Running Based on Swing Leg Control and Whole-body Dynamics 基于摆动腿控制和全身动力学的改进双足跑步仿真

2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657829

Yuanzhen Bi, Junyao Gao, Yizhou Lu, Jingwei Cao, Weilong Zuo, Tingting Mu

{"title":"Simulation of Improved Bipedal Running Based on Swing Leg Control and Whole-body Dynamics","authors":"Yuanzhen Bi, Junyao Gao, Yizhou Lu, Jingwei Cao, Weilong Zuo, Tingting Mu","doi":"10.1109/ICRAE53653.2021.9657829","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657829","url":null,"abstract":"The realization of running motion can greatly improve the athletic performance of the legged mobile robot. The biologically inspired deadbeat (BID) controller realizes robust bipedal running, allows versatile running patterns and is realtime capable. However, the lack of precise position adjustment strategy of swing leg leads to large center of mass (CoM) tracking error and slow convergence to steady state when perturbed. This paper proposed a simple event-based controller of swing leg position on the basis of the BID controller, using feedback of the system state at the lift off moment. And a linear quadratic regulator (LQR) is used to adjust the feedback gains. The controllers are then embeded into a whole-body control framework, which unifies the task space objectives and the physical constraints of dynamics, contact, ZMP and friction. Meanwhile, the physical limitations of the real robot such as joint torque amplitude and foot size are guaranteed. The proposed control framework was implemented on a torque-controlled bipedal robot and realize steady running in a simulated environment. And the swing leg control is proved under push recovery which decreases the CoM tracking error from 0.076m to 0.045m and recovery time from 2.34s to 1.22s.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"10 10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127281229","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 Novel Adaptive Robust Control Algorithm for Quadrotor UAV 一种新的四旋翼无人机自适应鲁棒控制算法

2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657806

Junhao Li, Shuhan Mou, Dehua Zhang

引用次数: 1

Kinematics and Inverse Dynamic Analysis of a 6 Channel Half-axle Test Rig 6通道半轴试验台运动学与逆动力学分析

2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657823

Fu Yi-Meng, Zhou Xiao-jun, Yang Xue-Feng, Xiao Peng

引用次数: 1

Implementation and Performance Analysis of Vascular Interventional Robotic Surgical Maneuvers 血管介入机器人手术操作的实现与性能分析

2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657763

Zhengrong Lai, Yifa Li, Weimin Wang, Wenke Duan, Wenjing Du, O. Omisore, T. Akinyemi

{"title":"Implementation and Performance Analysis of Vascular Interventional Robotic Surgical Maneuvers","authors":"Zhengrong Lai, Yifa Li, Weimin Wang, Wenke Duan, Wenjing Du, O. Omisore, T. Akinyemi","doi":"10.1109/ICRAE53653.2021.9657763","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657763","url":null,"abstract":"Minimally invasive vascular interventional surgery has become one of the main clinical modalities for the treatment of cardiovascular diseases due to its advantages of small intraoperative incisions, precise localization of lesions, and rapid postoperative healing. Based on the drawbacks of low operational precision and excessive radiation exposure of physicians in current vascular interventional procedures, this paper proposes a master-slave teleoperated vascular interventional surgery robotic system to assist physicians in human-machine collaborative interventional procedures. Particularly, the implementation of the system's surgical actions of push-pull and twist guidewire is presented, including hardware construction and driver development. Further, experiments are conducted to test and analyze the performance of the robotic control system. The experimental results verify that the robotic system has good master-slave following and high system positioning accuracy. Finally, the feasibility and reliability of the robotic system for delivering guidewires to perform interventional procedures were verified by robot-vascular model experiments.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129909865","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

Acoustic Manipulation Simulations of Single Target Particle Based on the Local Optimal Controller 基于局部最优控制器的单目标粒子声操纵仿真

2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657772

Xiaodong Jiao, Jin Tao, Hao Sun, Qinglin Sun

{"title":"Acoustic Manipulation Simulations of Single Target Particle Based on the Local Optimal Controller","authors":"Xiaodong Jiao, Jin Tao, Hao Sun, Qinglin Sun","doi":"10.1109/ICRAE53653.2021.9657772","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657772","url":null,"abstract":"Acoustic micro-nano manipulation is a kind of micro target manipulation method favored by researchers in recent years. Acoustic manipulation has the advantages of noncontact manipulation, non-singleness of manipulation objects, diversity of manipulation environment and simple and easy assembly of experimental device. Acoustic manipulation has important application prospects in biomedical engineering, precision manufacturing, robotics and acoustic metamaterials. Acoustic manipulation mainly uses the physical characteristics of sound waves to manipulate the movement of micro and nano targets, mainly including acoustic radiation force, acoustic micro eddy current, acoustic flow and Chladni effect. This paper mainly uses the experimental data based on Chladni effect to accurately simulate the linear motion of a single target, the circular trajectory of a single target and the complex trajectories of a single target by designing the local optimal selection controller. Accurate manipulation simulations provide the effective reference and verification for actual manipulation tasks, which has important engineering significance.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129346326","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 Dynamic Adaptive Search Algorithm for CoSpace Rescue Robot CoSpace救援机器人的动态自适应搜索算法

2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657826

Liang Chengbo, Wang Xiaoming, Huang Zixi, Pan Guangyao, Han Xinyu, Lin Yaguang

引用次数: 0

A Design Window Search Using Nonlinear Dynamic Simulation for Polymer Micro-machined Transmission in Insect-inspired Flapping wing Nano Air Vehicles 基于非线性动力学仿真的昆虫扑翼纳米飞行器聚合物微机械传动设计窗口搜索

2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657802

Rashmikant, D. Ishihara

引用次数: 1

Fault Detection of DCS Central Control Hardware Devices Based on RTE-PCA 基于RTE-PCA的DCS中控硬件设备故障检测

2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657770

Qing-hui Sun

引用次数: 0

How will Autonomous Robots be Viewed? The Influence of Robot Autonomy on Human Psychological Perception 人们将如何看待自主机器人?机器人自主性对人类心理感知的影响

2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657786

Yao Liu, Shilong Liao

{"title":"How will Autonomous Robots be Viewed? The Influence of Robot Autonomy on Human Psychological Perception","authors":"Yao Liu, Shilong Liao","doi":"10.1109/ICRAE53653.2021.9657786","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657786","url":null,"abstract":"Automatic machines have been controversial ever since their appearance, but the introduction of autonomous robots into the workplace seems to be inevitable. This article aims to explore how humans perceive autonomous robots. In this study, we examine the effects of robot autonomy on perceived behavioral control, perceived intelligence, behavioral desire, user intention, and eeriness. Participants watched a video of robots performing various tasks – these robots were presented as either autonomous and capable of disregarding human commands or non-autonomous and only capable of following human commands. Participants who watched the videos of so-called autonomous robots generally rated humans as having weaker control over their perceived behavior, behavioral desire, and user intention than those who watched videos of non-autonomous robots. On the other hand, exposure to an autonomous robot elicited a stronger sense of perceived intelligence and eeriness about the robot than those who watched videos of non-autonomous robots. Our research results provide help for the development of autonomous robots and provide new ideas for the relationship between robot autonomy and human perception.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115780462","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

Fault Prediction of Distribution Terminal Equipment Based on Entropy Weight Vague Matter-element under the Digital Twin Framework 数字孪生框架下基于熵权模糊物元的配电终端设备故障预测

2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657779

Zhao Zijian, Liu Jiaxin, Guo Tie, W. Guanyu, Wei Defu, Wang Shiqing

引用次数: 1