2018 15th International Conference on Ubiquitous Robots (UR)最新文献

The creation of SanTO: a robot with “divine” features 桑托的诞生:一个具有“神”特征的机器人

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-26 DOI: 10.1109/URAI.2018.8442207

G. Trovato, Cesar Lucho, A. Ramon, R. Ramirez, Laureano Rodriguez, F. Cuéllar

引用次数: 14

Pneumatic Sleeve-Assisted Stable sEMG Measurement for Microneedle Array Electrode 微针阵列电极气动套筒辅助稳定表面肌电信号测量

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-26 DOI: 10.1109/URAI.2018.8441867

Minjae Kim, Gangyong Gu, Woongyong Lee, W. Chung

引用次数: 1

Design of Low Cost Pneumatic Robot Arm Control System 低成本气动机器人手臂控制系统的设计

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441836

H. Ahn, Edwin Jin, G. Zhu, B. MacDonald

{"title":"Design of Low Cost Pneumatic Robot Arm Control System","authors":"H. Ahn, Edwin Jin, G. Zhu, B. MacDonald","doi":"10.1109/URAI.2018.8441836","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441836","url":null,"abstract":"This paper presents a new design of pneumatic robot arm system, which uses vision based control method. In our previous research, we designed a vision based light weight robot arm system, but it uses expensive, heavy, and noisy air compressor with valves, and expensive pneumatic regulators. With these limitations, it was difficult to deliver as well as deploy the system at home environment. To solve these problems, we design a low cost pneumatic robot arm system with small and inexpensive air pumps with valves. Also we eliminate pneumatic regulators, which give feedback on the current pressure, from the system, and control the system with real-time vision system that gives feedback on the current positions of robot arm. The proposed system consists of a soft plastic arm, air pumps with valves, two cameras, a control board and a PC. The two cameras are placed in a small baseline stereo setup to provide depth information to carry out the measurements in 3 dimensions. We put color labels on each joint for making it easy and robust to find the positions of each joint. From the experiment, we confirmed that the new low cost system can similarly perform to the previous expensive system.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116657605","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

Kinematic Analysis of Needle-like Overtube Supporting Robot 针状上管支撑机器人的运动学分析

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441780

Jeongdo Ahn, M. Hwang, D. Kwon

引用次数: 1

Application of Cosserat Rod Theory to Configuration Estimation of Coionoscope Cosserat杆理论在离子镜构型估计中的应用

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441805

H. Ryu, Long Kang, B. Yi

引用次数: 3

Control System Design of Remotely Operated Vehicle 遥控车辆控制系统设计

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441832

Guan Zhiguang, Zhang Dong, Ma Renlong, Jiang Ru, Lin Mingxing

引用次数: 1

Path Planning for Automation of Surgery Robot based on Probabilistic Roadmap and Reinforcement Learning 基于概率路线图和强化学习的手术机器人自动化路径规划

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441801

D. Baek, M. Hwang, Hansoul Kim, D. Kwon

{"title":"Path Planning for Automation of Surgery Robot based on Probabilistic Roadmap and Reinforcement Learning","authors":"D. Baek, M. Hwang, Hansoul Kim, D. Kwon","doi":"10.1109/URAI.2018.8441801","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441801","url":null,"abstract":"Laparoscopic robotic surgery is a new surgical method performed by inserting several surgical tools and a laparoscope through an umbilical incision [12]. Compared with conventional laparoscopic surgery minimizes patient pain with minimally invasive surgery and has many advantages in terms of beauty. However, medical doctor's fatigue due to repetitive operations such as tissue resection and suturing still remains a problem to be improved. To solve this problem, there are a lot of automation researches on surgical robots [1], [7]–[10]. Especially in cutting automaton, for high accuracy, optimal path planning is essential factor. Probabilistic Roadmap (PRM) is a popular method for path planning. It creates path from static environment to desired point without collision. However, this does not show great performance in a dynamic environment. Reinforcement Learning (RL) shows strong performance in an unspecified probabilistic environment and it is widely applied to robot motion learning because learning data is not needed before [4]. In this paper, we suggest a collision avoidance path planning for automation of surgery robot by using PRM and RL in dynamic situation. We found the collision avoidance path through PRM and RL, and used mapping algorithm of coordination system from pixel to world coordination and transformed the coordination system from cartesian space to joint space using inverse kinematics. Finally, we apply it to the APOLLON laparoscopic surgery robotic system developed by KAIST in V-rep simulator. As a result, we confirmed a possible of collision avoidance path planning for automation of resection task for surgery robot.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125797575","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: 26

Modal analysis of planetary gear train based on ANSYS Workbench 基于ANSYS Workbench的行星轮系模态分析

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441798

Li Guanjin, Liu Wenyi

引用次数: 2

LiDAR Intensity Calibration for Road Marking Extraction 道路标记提取的激光雷达强度标定

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441893

Jinyong Jeong, Ayoung Kim

{"title":"LiDAR Intensity Calibration for Road Marking Extraction","authors":"Jinyong Jeong, Ayoung Kim","doi":"10.1109/URAI.2018.8441893","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441893","url":null,"abstract":"The rising demand for precise three-dimensional (3D) maps is a result of the growth of autonomous vehicles into a major focus. These precise 3D maps are often created using Mobile Mapping System (MMS) instruments equipped with various sensors. Among these sensors, Light Detection and Ranging (LiDAR) is the most widely adopted sensor for the generation of 3D maps. This paper describes the intensity calibration process for 3D LiDAR sensors installed on MMS. A typical LiDAR sensor measures the distance to an object in addition to intensity, which is the magnitude of the reflection from the surface of an object. Physically, the value of intensity depends on three factors: reflectance, the distance from the surface, and the angle of incidence. Therefore, the intensity values of road markings with the same reflectance may result in different intensity values depending on distance and angle of incidence. The method proposed in this paper aims to correct the measured intensity value of objects to ensure the measurements of the same object reports the same intensity value. To solve this issue, the intensity characteristic of each sensor with regards to a reference surface was exploited and the reflectance of the surface was estimated. The calibration result was validated via road marking extraction with Otsu threshold method.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"57 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131923149","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: 8

A User-Intention Based Adaptive Manual Guidance with Force-Tracking Capabilities Applied to Walk-Through Programming for Industrial Robots 基于用户意图的力跟踪自适应手动导引在工业机器人遍历编程中的应用

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8442199

L. Roveda

{"title":"A User-Intention Based Adaptive Manual Guidance with Force-Tracking Capabilities Applied to Walk-Through Programming for Industrial Robots","authors":"L. Roveda","doi":"10.1109/URAI.2018.8442199","DOIUrl":"https://doi.org/10.1109/URAI.2018.8442199","url":null,"abstract":"The paper describes a manual guidance controller with force-tracking requirements to perform human-robot interaction tasks. The developed method allows to (i) manually perform the free-motion manipulator positioning along free-motion Cartesian task direction(s), while (ii) perform force-tracking along constrained Cartesian task direction(s). In (i) the set-point of the impedance control is set in real-time for manual guidance purposes defining a variable set-point deformation law for fine or large robot positioning. In (ii) the set-point of the impedance control is set in real-time for force-tracking purposes implementing an impedance force-tracking control law. A rule has been defined to activate/de-activate the force-tracking controller (i.e., to define constrained directions). The proposed control method has been applied to a walk-through programming application, to teach a force-tracking task (a polishing-like task) to an industrial manipulator (a UR10 manipulator has been used as test platform). The teaching phase highlights the achieved behaviors both along free-motion direction(s) and the force-tracking direction(s). The execution phase highlights the proper autonomous execution of the learned task by the robot.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114954511","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