2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)最新文献

Design of the Self-adaptive Robot Finger Triggered by Light Pression with Cooperative Assistant

2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2021-07-03 DOI: 10.1109/ICARM52023.2021.9536192

He Zhao, Wenzeng Zhang, Weiguo Li

引用次数: 0

Musculoskeletal Robot with Motor Driven Artificial Muscle 带有马达驱动的人造肌肉的肌肉骨骼机器人

2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2021-07-03 DOI: 10.1109/ICARM52023.2021.9536050

Jianbo Yuan, Yaxiong Wu, Boxing Wang, Hong Qiao

{"title":"Musculoskeletal Robot with Motor Driven Artificial Muscle","authors":"Jianbo Yuan, Yaxiong Wu, Boxing Wang, Hong Qiao","doi":"10.1109/ICARM52023.2021.9536050","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536050","url":null,"abstract":"Compared with the conventional articulated robotic arm, human arm has an irreplaceable advantage in manipulation due to its better robustness and flexibility. However, many mechanisms of the musculoskeletal system have not been fully verified, such as robustness, compliance, dexterity, and so on. In this work, we build a musculoskeletal robot of two muscles and a single joint based on the new artificial muscle module of motor drive and cord traction. Subsequently, a muscle control method is proposed with feedforward friction compensation for model errors. Various experiments are carried out to evaluate the basic performance of the proposed musculoskeletal robot and the controller. The friction experiments show that the average error of actual muscle force be of 5% after friction compensation. The trajectory tracking experiment is carried out, proving that the average error of muscle force and joint angle are less than 3N and 3°, respectively. This work provides a hardware basis for future verification of the advantages of the musculoskeletal system. It will promote the development of manufacturing and daily service of anthropomimetic robotics in the near future.","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125909838","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

Mechanism Design of an Extraterrestrial Regolith-boring Robot 地外风化层钻孔机器人机构设计

2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2021-07-03 DOI: 10.1109/ICARM52023.2021.9536139

Yinliang Zhang, Hongyu Wei, Tao Zhang, Haifei Zhu, Y. Guan, Xilun Ding, X. Hou

引用次数: 1

Deep Learning Based Video Super-Resolution and its Application in Video Conferences 基于深度学习的视频超分辨率及其在视频会议中的应用

2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2021-07-03 DOI: 10.1109/ICARM52023.2021.9536106

Yinyan Lin, Chaoyang Zou, Yingjie Feng, Mingwei Liang

{"title":"Deep Learning Based Video Super-Resolution and its Application in Video Conferences","authors":"Yinyan Lin, Chaoyang Zou, Yingjie Feng, Mingwei Liang","doi":"10.1109/ICARM52023.2021.9536106","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536106","url":null,"abstract":"As a remote communication method, remote video scene is widely used in some occasions such as telecommuting, telelearning, and teleconsultation. However, the remote video scene requires a large network bandwidth for image information transmission, resulting in the insufficient real-time performance. In this paper, applying the super-resolution image restoration method to a remote video scene only requires 1/16 of the original network bandwidth, but a good visual effect of image reconstruction can be obtained. The Enhanced Information Multi-Distillation Block (EIMDB) and the Pixel-Level Information Distillation Block (PIDB) are proposed, which can improve the super-resolution effect of the image with a small amount of calculation. Finally, a novel real-time remote video communication super-resolution network (RVCSRN) is proposed which achieves a good balance between speed and restoration effect, and can effectively improve the visual effect of the remote video scene. In addition, since the pictures processed in the remote video scene are different from those processed by the general super-resolution method, these pictures have a compression loss, so a remote video scene dataset (RVSet) is created to obtain a better super-resolution effect.","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126828232","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

Iterative Learning Control of Impedance Parameters for a Soft Exosuit 柔性外露服阻抗参数的迭代学习控制

2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2021-07-03 DOI: 10.1109/ICARM52023.2021.9536162

Xiang Li, Qinjian Li, H. Xia, Ying Feng, Zhijun Li

引用次数: 1

Title Page 标题页

2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2021-07-03 DOI: 10.1109/ICARM52023.2021.9536144

引用次数: 0

Research on the Time-varying Dynamic Characteristics of Compound Motion Curve Face Gear Pair* 复合运动曲线面齿轮副时变动态特性研究*

2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2021-07-03 DOI: 10.1109/ICARM52023.2021.9536156

Yongquan Yu, Chao Lin, Chunjiang He, Yanan Hu

引用次数: 0

Optimization Method of Impedance Control Parameters of Quadruped Robot Based on Dynamic Consistency * 基于动态一致性的四足机器人阻抗控制参数优化方法

2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2021-07-03 DOI: 10.1109/ICARM52023.2021.9536188

Cong Zhang, Jing Wang, Qing Wei

{"title":"Optimization Method of Impedance Control Parameters of Quadruped Robot Based on Dynamic Consistency *","authors":"Cong Zhang, Jing Wang, Qing Wei","doi":"10.1109/ICARM52023.2021.9536188","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536188","url":null,"abstract":"Legged robots have become a research hotspot in recent years due to their flexible characteristics, especially the movement ability in complex environments. Impedance control has a unique effect in solving robot compliance and is one of the main methods to solve this problems. Although there are many discussions on the selection of impedance control parameters, most research are focused on single leg platforms. This paper starts by analysing the role of single leg in quadruped robot platform, and proposes an impedance parameter optimization method based on the overall dynamic consistency of quadruped robot. Through the proposed method, we realized the automatic adjustment of the robot’s expected foot force and impedance controller parameters based on the load. By introducing the strategy of ceiling control, the robot can return to a stable state of motion as soon as possible while taking into account flexibility, which effectively reduces the fluctuation of the robot in motion. We verify the effectiveness of this method on both single-leg platform and quadruped robot platform through experiments.","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121337557","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

Triple-step Nonlinear Controller with MLFNN for a Lower Limb Rehabilitation Robot 基于MLFNN的下肢康复机器人三阶非线性控制器

2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2021-07-03 DOI: 10.1109/ICARM52023.2021.9536208

Huanfeng Peng, Jie Zhou, Ting Xu, Jinwu Gao, R. Song

引用次数: 1

Motion Planning of 7-DOF Manipulator Based on Quintic B-Spline Curve 基于五次b样条曲线的七自由度机械臂运动规划

2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2021-07-03 DOI: 10.1109/ICARM52023.2021.9536089

Zhaoxing Chen, Xiangrong Xu, Wenbin Zha, A. Rodic, P. Petrovic

{"title":"Motion Planning of 7-DOF Manipulator Based on Quintic B-Spline Curve","authors":"Zhaoxing Chen, Xiangrong Xu, Wenbin Zha, A. Rodic, P. Petrovic","doi":"10.1109/ICARM52023.2021.9536089","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536089","url":null,"abstract":"In order to improve the working efficiency and stability of the robot, a motion planning strategy of multi joint serial manipulator is proposed in this paper. In face of different time demands, two alternative motion planning methods is offered for robot selection to plan according to the established requirements. In one case, when the robot can make timely response to the environment, an effective motion planning method can be selected. Firstly, the improved RRT algorithm is used to quickly plan the robot path, and then the quintic quasi uniform B-spline function is used to fit the trajectory. According to this, the robot can respond quickly and timely. On the other hand, when the robot has enough time for motion planning, we can consider how to improve the quality of robot motion planning. The robot can use another method for motion planning. At this time, we also need to plan the robot path first, then use the quintic non-uniform B-spline curve fitting, and finally use the improved particle swarm optimization algorithm to optimize the trajectory of the robot. The robot can have a stable and efficient trajectory in the working environment. By using the motion planning method proposed in this paper, the robot can adapt to most of the work requirements and objectives.","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"102 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124159272","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