2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)最新文献

The structures and the energy management strategies in FCHVs fchv的结构与能源管理策略

2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736281

XiaoPeng Lu, W. Jiang

引用次数: 1

Ethical issues for social robots and the trust-based approach 社交机器人的伦理问题和基于信任的方法

2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736246

Tora Koyama

引用次数: 5

High temperature full-field strain measurement based on digital image correlation during arc welding 基于数字图像相关的弧焊高温全场应变测量

2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736282

X. Zhou, H. B. Chen, J. Chen, S. B. Chen, Zhili Feng

引用次数: 1

A novel design of robotic air bridge training system 一种新型的机器人空桥训练系统设计

2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736258

Jie Chen, Yuan Fang, H. Lau

{"title":"A novel design of robotic air bridge training system","authors":"Jie Chen, Yuan Fang, H. Lau","doi":"10.1109/ARSO.2016.7736258","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736258","url":null,"abstract":"With the rapid development of virtual realities, it becomes possible nowadays for industrial practitioners to incorporate these technologies into their own applications. In air cargo industries, operating the air bridge system is of high importance, but due to the limited resources and potential damages to the aircrafts, training every operator in real world systems is difficult. To solve this problem, an air bridge simulator embedded into virtual reality systems will be a very good alternative. In this paper, a four degrees-of-freedom (DOF) robotic motion platform is designed to simulate the movement of an air bridge. The platform is driven by four pairs of motors and ball screws, and we also design a damping system for the proposed platform to avoid sudden shock. The proposed design of the structure has several advantages. Firstly, the structure itself is very simple. Secondly, due to its redundant DOF, many challenging requirements can be easily satisfied, such as singularity avoidance and energy minimization. Thirdly, as the load of the system is shared by many universal ball bull eye bearings, the required driving force of the platform is reduced drastically due to the low friction coefficient, which increases the agility of the system a lot. The inverse kinematic model (IK) of the proposed robotic air bridge simulator is also derived, and the derived IK is then used to drive the platform to perform a trajectory tracking task in simulation environment.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127343781","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

Design of a flexible polishing force control flange 柔性抛光力控制法兰的设计

2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736262

Ting Huang, Chuang Li, Zhenhua Wang, Lining Sun, Guodong Chen

引用次数: 9

Learning adaptive reaching skills with nonlinear dynamical systems directly from human demonstrations 直接从人类演示中学习非线性动力系统的自适应到达技巧

2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736287

Jie Chen, H. Lau

{"title":"Learning adaptive reaching skills with nonlinear dynamical systems directly from human demonstrations","authors":"Jie Chen, H. Lau","doi":"10.1109/ARSO.2016.7736287","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736287","url":null,"abstract":"In this work, we first discuss details about a novel motion planning approach for robot point to point reaching tasks called stable estimator of dynamical systems (SEDS). A human operator first demonstrates reaching movements several times, and Gaussian Mixture Model and Gaussian Mixture Regression are used to roughly encode human demonstrations through a first order ordinary differential equation. Then based on Lyapunov Stability Theorem, a constrained nonlinear optimization problem is formulated to iteratively refine the previously learned differential model and SEDS is derived. Since during human demonstrations, the velocity is usually quite low which heavily restricts the kinetic capability of the robot, and sometimes we expect the robot to move more fast, such as to catch flying objects and to avoid fast moving obstacles. Therefore, it is extremely significant to develop a method to control the velocity and duration of the robot movement. In this paper, we define a nonlinear function based on the distance between the robot and the target to adjust the velocity of the robot. Experiments have been conducted in simulation environments to verify three properties of the proposed method, namely global asymptotical stability, adaptation to spatial perturbations and velocity controllability.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121720579","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

Robot system for the sustainable mobility assurance in the assistance and care 机器人系统在辅助和护理方面的可持续移动保障

2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736252

S. Du, J. Schlattmann, S. Schulz, A. Seibel

引用次数: 1

Multisensory data fusion technique and its application to welding process monitoring 多传感器数据融合技术及其在焊接过程监测中的应用

2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736298

Zhifen Zhang, G. Wen, Shanben Chen

引用次数: 8

Research on welding penetration state recognition based on BP-Adaboost model for pulse GTAW welding dynamic process 基于BP-Adaboost模型的脉冲GTAW焊接动态过程焊透状态识别研究

2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736264

N. Lv, Y. L. Xu, G. Fang, X. W. Yu, S. B. Chen

引用次数: 4

Mixed logic dynamic model for the hybrid characteristics of the dual robotic welding process and system 双机器人焊接过程和系统混合特性的混合逻辑动态模型

2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736299

Hao Zhou, Yinshui He, Yuxi Chen, Di Wu, Huabin Chen, Shanben Chen

引用次数: 1