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

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Controlling Posture of Jumping Articulated Robot for Stable Landing 跳跃式关节机器人稳定着陆的姿态控制
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441882
Hotae Lee
{"title":"Controlling Posture of Jumping Articulated Robot for Stable Landing","authors":"Hotae Lee","doi":"10.1109/URAI.2018.8441882","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441882","url":null,"abstract":"We propose a new control framework of a jumping articulated robot for a stable landing. We derive dynamics of a hybrid system which consists of a flight phase and a stance phase by connecting them through an inelastic impact model of Formalsky. We assume a flight phase is a nonholonomic Chaplygin system and a stance phase is a fully-actuated system. Based on this dynamics, we propose new time-varying control with considerations for features of jumping such as joint angle limit, short duration of flight. It can make a robot get the desired angle within a specific range at the moment of landing. In addition, we find an optimal control to return a robot to an upright pose based on gain tuning. Simulations using a 4-link robot are also performed to show this visually. The motion from new control framework performs in the limit of joints other and requires less torque than conventional controls without a given trajectory.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"50 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":"130651590","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
Wirelessly Powered Coil-Type Robot with 2D Translational and 1D Rotational Self-Actuation Ability 具有二维平移和一维旋转自驱动能力的无线供电线圈式机器人
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441762
J. Lee, Jung-Ik Ha
{"title":"Wirelessly Powered Coil-Type Robot with 2D Translational and 1D Rotational Self-Actuation Ability","authors":"J. Lee, Jung-Ik Ha","doi":"10.1109/URAI.2018.8441762","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441762","url":null,"abstract":"In this paper, a new type of system in which a mover can actuate itself and regulate its DC-link voltage with wirelessly transferred power is proposed. The system is composed of two orthogonal stators and a mover which also has two orthogonal coils wound on it. The stators synthesize steady magnetic field in the control area by controlling three currents of different frequencies. Each stator controls one AC current, and one of the stators controls a DC current together. Using the property that a magnetized object receives force and torque in a magnetic field, the mover actuates itself by modifying its magnetic moment in the steady magnetic field generated by stators. The DC field is used for alignment of the mover, two AC fields are used for controlling the translational movement of the mover, and one of the AC fields is also utilized for supplying the power consumed on the mover. The proposed actuation system and control method are verified with a simulation.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"122 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132483243","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
Small Cluster Underwater Robot design with Variable Pitch Propeller 变螺距螺旋桨小集群水下机器人设计
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8442202
Aibin Zhu, Jiyuan Song, Y. Li, Mengke Wu, Xiaodong Zhang
{"title":"Small Cluster Underwater Robot design with Variable Pitch Propeller","authors":"Aibin Zhu, Jiyuan Song, Y. Li, Mengke Wu, Xiaodong Zhang","doi":"10.1109/URAI.2018.8442202","DOIUrl":"https://doi.org/10.1109/URAI.2018.8442202","url":null,"abstract":"Most underwater robots use multiple sets of thrusters with motors and propellers to drive them independently that makes them bulky, inflexible and complex. In this paper, the propeller is innovatively designed that it can change the pitch that can be applied to underwater robots. The compact design, propeller response speed and high movement flexibility are the biggest advantage of this robot over current conventional designs. The movement of robot is controlled by three propellers and their rotations are driven by a common motor and each propeller is equipped with a servo to control the pitch. Transmission structure designed is symmetrical and compact that creates dynamic balance of the strong structure in itself. The retractable float completes the data transfer between the robot and the ground control also informs space assisted position of the robot when it is underwater and the float is outside of water. In addition, the robot also includes a matching electronic drive and remote control box. Basic movement requirements can be achieved through the independent and coordinated control of the three actuators of the robot. The actual underwater test of the robot verifies the flexibility and horizontal stability of the robot designed. The characteristics of carrying sensors in underwater robots to move more flexibly and effectiveness of the proposed control method is also verified in the actual water test.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"28 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":"132066891","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
Environment-Dependent Modulation of Human Ankle Stiffness and its Implication for the Design of Lower Extremity Robots 环境对人体踝关节刚度的调节及其对下肢机器人设计的启示
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8442204
Varun Nalam, Hyunglae Lee
{"title":"Environment-Dependent Modulation of Human Ankle Stiffness and its Implication for the Design of Lower Extremity Robots","authors":"Varun Nalam, Hyunglae Lee","doi":"10.1109/URAI.2018.8442204","DOIUrl":"https://doi.org/10.1109/URAI.2018.8442204","url":null,"abstract":"Understanding how human ankle mechanics are modulated during interaction with a wide range of environments is essential to develop reliable and robust lower extremity robots such as prosthetics and exoskeletons that mimic the behavior of the human ankle. This paper investigates the effect of mechanical environment on the modulation of human ankle stiffness and its underlying mechanisms. A novel multi-axis robotic platform, capable of actuating the ankle in both dorsiflexion-plantarflexion (DP) and inversion-eversion (IE), was used to quantify ankle stiffness in 2 degrees-of-freedom, while human subjects maintain upright posture in a range of stiffness-defined haptic environments. Ankle stiffness in DP increased with increasing compliance of haptic environment, but it was significantly lower than the stiffness measured in a rigid mechanical environment. On the other hand, ankle stiffness in IE was relatively constant in both compliant and rigid environments. Analysis of muscle activation and center of pressure of the ground reaction force provided an explanation for the underlying mechanisms of these observations. Notably, the analysis confirmed that modulation of ankle stiffness cannot be solely explained by activation of superficial ankle muscles. Implications for the design and control of lower extremity robots mimicking human ankle impedance are discussed.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"83 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":"126294220","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: 11
Robot Joint Module with a Reactive-type Joint Torque Sensor 带有反应型关节扭矩传感器的机器人关节模块
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441781
Hui-Chang Park, Jae-Kyung Min, Won-Bum Lee, Jae-Bok Song
{"title":"Robot Joint Module with a Reactive-type Joint Torque Sensor","authors":"Hui-Chang Park, Jae-Kyung Min, Won-Bum Lee, Jae-Bok Song","doi":"10.1109/URAI.2018.8441781","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441781","url":null,"abstract":"Robot safety is very important when human worker and robots are working side by side in the shard space. In the early stage, force control and collision detection of the robot were performed by attaching a six-axis force/torque sensor to the robot end. However, this method was costly due to the expensive sensor and could not detect a collision occurring in the robot body. An alternative is to use a joint module equipped with a joint torque sensor (JTS) that can measure the exact torque transmitted to the link. However, the current JTS is affected by the vibration of the harmonic drive, so there is a limitation in accurate torque measurement. Furthermore, there is a problem that the stiffness of JTS is low enough to degrade the performance of the robot. The proposed joint module minimizes the error due to the torque ripple by adopting the reactive type JTS for which the location of JTS is separated from the harmonic drive and by having a ring structure which results in high stiffness and compact structure. Various experiments verified that the proposed joint module and JTS show very good performance.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"22 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":"126600880","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
Push Grasping with Humanoid Hands 用人形手推抓握
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441829
Eadom Dessalene, C. Korpela, D. Lofaro
{"title":"Push Grasping with Humanoid Hands","authors":"Eadom Dessalene, C. Korpela, D. Lofaro","doi":"10.1109/URAI.2018.8441829","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441829","url":null,"abstract":"This paper contributes to the work of push-grasping by producing data-driven models on the effects of the chosen angle of approach for anthropomorphic hands. An overview of previous work on robotic grasping is first presented. Thousands of trials of push grasping experiments are then compared between rigid angled funnel configurations coupled with a Baxter Electric Gripper end effector and the anthropomorphic, 16 DOF Allegro Hand end effector, each at different approach angles of approach. Geometrical capture regions for each set of trials are gathered. Push grasping is then applied to the realm of ground vehicles by coupling a mobile manipulator robot with the Allegro Hand, gathering the capture region as the body of the mobile manipulator rotates in place.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"6 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":"133434899","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
Tele-Operated Bilateral Control of Hydraulic Servo System using Estimated Reaction Force of End Effector by SMCSPO 基于端部反力估计的SMCSPO液压伺服系统远程控制
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441787
K. D. Kallu, S. Abbasi, M. A. Yaqub, Min-Cheol Lee
{"title":"Tele-Operated Bilateral Control of Hydraulic Servo System using Estimated Reaction Force of End Effector by SMCSPO","authors":"K. D. Kallu, S. Abbasi, M. A. Yaqub, Min-Cheol Lee","doi":"10.1109/URAI.2018.8441787","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441787","url":null,"abstract":"In this research, the reaction force estimation method based on sliding mode control with sliding perturbation observer (SMCSPO) is proposed for a tele-operated bilateral control of hydraulic servo system having master-slave manipulators. The hydraulic servo system is a key system used in the dismantling nuclear power plant. The reaction force at the end effector of slave is estimated by sliding perturbation observer (SPO) without using any sensor. A tele-operated bilateral control strategy in hydraulic servo system is used for the position and force tracking between the master and slave. Sliding mode control (SMC) is further used for the position tracking control of a slave. The proposed method is verified through the experiment results which shows that the slave device can follows the trajectory of the master device using the proposed tele-operated bilateral control and reaction force estimation method.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"16 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":"123084819","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
Haptic Interface with Linear Magnetorheological (MR) Brakes for Drone Control 用于无人机控制的线性磁流变(MR)制动器触觉接口
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441784
Ozgenur Kavas, H. Gurocak
{"title":"Haptic Interface with Linear Magnetorheological (MR) Brakes for Drone Control","authors":"Ozgenur Kavas, H. Gurocak","doi":"10.1109/URAI.2018.8441784","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441784","url":null,"abstract":"A new haptic interface with magnetorheological (MR) brakes was developed to provide force feedback to the remote operator of a drone for indoor flight. Small linear MR-brakes with high force-to-volume ratio were designed. Experiments were conducted to assess the performance of the brakes. Straight line flight towards a wall was used as a flight experiment to assess how well the user could control the drone with and without haptic feedback. The drone was equipped with a proximity sensor. As it approached the wall, the brakes locked the joysticks and the system brought the drone to a hover. Results showed that the interface helped improve the user's ability to control the drone.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"77 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":"121650908","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
Robust trajectory tracking of Master-Slave surgery robot system based on PD with Integral Sliding Mode Control 基于PD积分滑模控制的主从手术机器人系统鲁棒轨迹跟踪
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441891
Hansoul Kim, M. Hwang, D. Baek, Dong-Soo Kworr
{"title":"Robust trajectory tracking of Master-Slave surgery robot system based on PD with Integral Sliding Mode Control","authors":"Hansoul Kim, M. Hwang, D. Baek, Dong-Soo Kworr","doi":"10.1109/URAI.2018.8441891","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441891","url":null,"abstract":"Precise and robust position tracking control of surgical robots is essential to perform efficient surgery. Even though a variety of control algorithm has been developed for robust trajectory tracking, but most of them are dependent on the exact modeling of the system to guarantee their accuracy and robustness. Unlike the industry manipulator, surgical robot has inevitable uncertainties from surgical environment such as trocar and wire-cable friction. In this paper, we propose a model-free controller that combines simplicity of PD control and robustness of sliding mode control. The PD-ISMC (Integral Sliding Mode Control) is designed by adding the integral part of the error to sliding surface of the previously proposed PD-SMC and the robust trajectory tracking performance was verified by using the actual surgeon's surgical motion data and implementing master-slave system.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"43 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":"122395262","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 Method for Determining Centers of Rotation of Human Joints 一种确定人体关节旋转中心的新方法
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441869
L. Yan, D. Yang, Philip Datseris, X. Mo, J. Xu
{"title":"A Novel Method for Determining Centers of Rotation of Human Joints","authors":"L. Yan, D. Yang, Philip Datseris, X. Mo, J. Xu","doi":"10.1109/URAI.2018.8441869","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441869","url":null,"abstract":"Adjustment is necessary for wearable devices such as rehabilitation anthropomorphic leg devices and exoskeletons. However, this is normally done by trial and error and requires a significant amount of expertize. A novel methodology is developed to locate centers of rotation of human joints. The developed methodology is applicable to human joints with fixed centers of rotation, but it is also applicable to knee joints where an equivalent center of rotation can be identified for a given range of motion. The proposed novel methodology involves a device consisting of two slides and procedures of position measurements during flexion/extension which yield the position of a human joint in a Sagittal plane. The third coordinate can be obtained by repeating the procedure in a lateral plane. A theoretical proof is presented based on complex numbers, the proposed system is modeled using Solid Works and results are promising.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"7 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":"130763246","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
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