2022 19th International Conference on Ubiquitous Robots (UR)最新文献_第6页

System Design and Experimental Research of Cable-driven Hip Joint Power-assisted Exoskeleton 缆索驱动髋关节动力辅助外骨骼系统设计与实验研究

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826254

Peifeng Ma, Aibin Zhu, Yao Tu, Jiyuan Song, Diyang Dang, Yulin Zhang

{"title":"System Design and Experimental Research of Cable-driven Hip Joint Power-assisted Exoskeleton","authors":"Peifeng Ma, Aibin Zhu, Yao Tu, Jiyuan Song, Diyang Dang, Yulin Zhang","doi":"10.1109/ur55393.2022.9826254","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826254","url":null,"abstract":"There are many studies on the wearable exoskeleton to help patients with lower extremities walk now. However, the wearable exoskeleton has many problems, such as a complex system, heavy structure, and high rigidity. To solve these problems, a hip joint power-assisted exoskeleton system driven by cable is designed in this paper, and its auxiliary effect is evaluated. Based on the equipment in the laboratory, the walking experiments were carried out under three conditions: no exoskeleton, exoskeleton opening and closing, and the effects of different experimental conditions on human joint angle, carbon dioxide exhalation and sEMG were analyzed. The experiment shows that the maximum angle difference of hip and knee with and without exoskeleton is 3.2° and 6.1° respectively. The average carbon dioxide content in the exhaled gas decreased by 3.5%. The RMS values of the inferior gauze tail muscle and the quadriceps femoris muscle decreased by 51.40% and 42.55%, respectively. Comprehensive analysis shows that the relative motion deviation of human-robot is small, human muscle consumption is significantly reduced, and the exoskeleton plays a good auxiliary role in human walking.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128649801","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

Considerations of Mounting Method for Wearable Robot Arm 可穿戴机械臂安装方法的思考

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826261

Akimichi Kojima, D. Tran, Joo-Ho Lee

引用次数: 2

SPI(Spherical Point Indicator) : Point Feature Image Generation for Point-wise Classification and Dynamic Object Removal SPI(球面点指示器):用于点分类和动态目标去除的点特征图像生成

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826243

C. Bae, Yu-Cheol Lee, Wonpil Yu, Sejin Lee

{"title":"SPI(Spherical Point Indicator) : Point Feature Image Generation for Point-wise Classification and Dynamic Object Removal","authors":"C. Bae, Yu-Cheol Lee, Wonpil Yu, Sejin Lee","doi":"10.1109/ur55393.2022.9826243","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826243","url":null,"abstract":"3D point cloud map is generated by accumulating LiDAR sensor data scanned at various locations and times. During scanning, dynamic objects are scanned in different poses depending on location and time, which degrades the quality of the map and negatively affects the localization. In order to improve the quality of the 3D point cloud map and for long-term management, effective to create a 3D point cloud map using only static objects by removing objects including dynamic possibilities. In this paper, we propose a Spherical Point Indicator (SPI) that can classify each point and remove dynamic probability objects through a method of generating feature images from individual points of a three-dimensional point cloud in scan units collected from a LiDAR sensor. SPI generates a unique feature image of each point by using the distribution information and intensity information of neighboring points centered on each point. The generated images are used as inputs to the CNN network and classified. The SPI feature image generation is applicable to all 3D point clouds, and all the scanned points as a result of classification are individually classified according to categories. Our approach can classify all included 3D point clouds using only one scan, and only static objects can be detected by filtering the dynamic possibilities object categories from the classified results.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126808191","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

Safe Movement Planning with DMP and CBF for Lower Limb Rehabilitation Exoskeleton DMP和CBF用于下肢康复外骨骼的安全运动计划

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826262

Dong-Po Tan, Guangjing Cao, Yuepeng Zhang, Jiangcheng Chen, Ling-Long Li

{"title":"Safe Movement Planning with DMP and CBF for Lower Limb Rehabilitation Exoskeleton","authors":"Dong-Po Tan, Guangjing Cao, Yuepeng Zhang, Jiangcheng Chen, Ling-Long Li","doi":"10.1109/ur55393.2022.9826262","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826262","url":null,"abstract":"Lower limb rehabilitation exoskeleton robot plays an important role in the auxiliary movement of people with lower limb movement disorders. It’s reasonable movement planning is the guarantee of efficient assistance and safe movement of patients. The existing method for movement planning mostly adopts the fixed track, which can not meet the characteristics of each patient, and is lack of pertinence. To improve the flexibility and the safety of the exoskeleton movement, this paper proposes a movement planning method based on the combination of Dynamic movement primitives (DMP) and control barrier function(CBF). The positional relationship between the crutch support point and the patient's foot is considered. The DMP method is used to simulate the human walking trajectory, the coupling term is added to ensure that the trajectory meets the control requirements. The CBF method is used to dynamically optimize the movement trajectory to ensure that the distance between the patient's foot and the crutch support point and the movement trajectory of sit to stand are always within the safe area respectively. The simulation results show that this method can adjust the step size according to the position of the patient's supporting foot and crutch, and restrict the movement trajectory within the safety set.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129420369","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

Stereoscopic low-latency vision system via ethernet network for Humanoid Teleoperation 基于以太网的人形遥操作立体低延迟视觉系统

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826285

Jae-Wook Shin, June-Sung Ahn, Jaeheung Park

引用次数: 2

PaGO-LOAM: Robust Ground-Optimized LiDAR Odometry PaGO-LOAM:鲁棒地面优化激光雷达里程计

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-06-01 DOI: 10.48550/arXiv.2206.00266

Dong-Uk Seo, Hyungtae Lim, Seungjae Lee, H. Myung

{"title":"PaGO-LOAM: Robust Ground-Optimized LiDAR Odometry","authors":"Dong-Uk Seo, Hyungtae Lim, Seungjae Lee, H. Myung","doi":"10.48550/arXiv.2206.00266","DOIUrl":"https://doi.org/10.48550/arXiv.2206.00266","url":null,"abstract":"Numerous researchers have conducted studies to achieve fast and robust ground-optimized LiDAR odometry methods for terrestrial mobile platforms. In particular, ground-optimized LiDAR odometry usually employs ground segmentation as a preprocessing method. This is because most of the points in a 3D point cloud captured by a 3D LiDAR sensor on a terrestrial platform are from the ground. However, the effect of the performance of ground segmentation on LiDAR odometry is still not closely examined. In this paper, a robust ground-optimized LiDAR odometry framework is proposed to facilitate the study to check the effect of ground segmentation on LiDAR SLAM based on the state-of-the-art (SOTA) method.By using our proposed odometry framework, it is easy and straightforward to test whether ground segmentation algorithms help extract well-described features and thus improve SLAM performance. In addition, by leveraging the SOTA ground segmentation method called Patchwork, which shows robust ground segmentation even in complex and uneven urban environments with little performance perturbation, a novel ground-optimized LiDAR odometry is proposed, called PaGO- LOAM. The methods were tested using the KITTI odometry dataset. PaGO-LOAM shows robust and accurate performance compared with the baseline method. Our code is available at https://github.com/url-kaist/AlterGround-LeGO-LOAM","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126953151","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: 9

Robotic Irrigation Water Management: Estimating Soil Moisture Content by Feel and Appearance 机器人灌溉用水管理:通过感觉和外观估算土壤含水量

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-01-19 DOI: 10.1109/ur55393.2022.9826252

Marsela Polic, Marko Car, Jelena Tabak, M. Orsag

引用次数: 4

Iterative Supervised Learning for Regression with Constraints 约束回归的迭代监督学习

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-01-17 DOI: 10.1109/ur55393.2022.9826263

Tejaswi K. C., Taeyoung Lee

引用次数: 2