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

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Non-vector space visual servoing for multiple pin-in-hole assembly by robot 机器人多销孔装配的非向量空间视觉伺服
2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736270
Chicheng Liu, Jing Xu, Jianguo Zhao, Heping Chen, N. Xi, Ken Chen
{"title":"Non-vector space visual servoing for multiple pin-in-hole assembly by robot","authors":"Chicheng Liu, Jing Xu, Jianguo Zhao, Heping Chen, N. Xi, Ken Chen","doi":"10.1109/ARSO.2016.7736270","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736270","url":null,"abstract":"This paper aims to develop a robotic large-scale multiple pin-in-hole assembly system. A non-vector space visual servoing network control method, including image error definition and interaction matrix construction, is proposed to achieve stable alignment of two pairs of holes. A visual servoing network is developed to obtain an optimal alignment of multiple pairs of holes. An experimental robotic system was developed to verify the proposed method for large-scale multiple pin-in-hole assembly. The experimental results demonstrate that the proposed method can realize stable and accurate assembly and has a positive impact on large-scale multiple pin-in-hole assembly.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"34 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":"131915891","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: 7
A compliant robotic assembly system based on multiple sensors 基于多传感器的柔性机器人装配系统
2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736259
Kaixiang Hu, Q. Cao, Haoruo Zhang
{"title":"A compliant robotic assembly system based on multiple sensors","authors":"Kaixiang Hu, Q. Cao, Haoruo Zhang","doi":"10.1109/ARSO.2016.7736259","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736259","url":null,"abstract":"Compliance assembly is based on compliance control for a specific robot to take the initiative to accomplish assembly task using recognition and perception information through a variety of sensors. With more and more sensors the assembly robot can better suit for any kind of assembly operation. This paper developed a compliance control integration system as well as a human-computer interaction interface based on visual and force sensor. Then an experimental platform was set up to carry out a basic compliant assembly task-Cylindrical peg-in-hole assembly. As a result active compliance assembly can reduce a variety of assembly error using self-perception and control. What's more, it can take the initiative to control the assembly as well as reduce damage of the components caused by passive compliant device.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"20 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":"130525729","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
The selection of arc spectral line of interest based on improved K-medoids algorithm 基于改进k -媒质算法的兴趣弧谱线选择
2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736265
Yiming Huang, Di Wu, Yinshui He, N. Lv, Shanben Chen
{"title":"The selection of arc spectral line of interest based on improved K-medoids algorithm","authors":"Yiming Huang, Di Wu, Yinshui He, N. Lv, Shanben Chen","doi":"10.1109/ARSO.2016.7736265","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736265","url":null,"abstract":"In order to eliminate the effect of wavelength error value and spectral line broadening on the definition of arc plasma spectrum, K-medoids algorithm is used to cluster different kinds of spectral lines and determine the spectral line of interest(SLOI). An improved K-medoids algorithm based on minimum spanning tree is proposed to solve the problem that K-medoids algorithm can not ascertain the number of classification. Moreover, spectral distance(SD) is proposed as the criterion to cluster in terms of the characteristic of spectral data. By marking the known spectral lines, cluster testing is made to validate the validity of the algorithm. The experiment results show that improved K-medoids algorithm can cluster effectively and determine the SLOI.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"108 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":"114833900","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: 5
Development of a novel robotic omni-directional hospital bed mover for patient transfer 一种新型全向医院病床移动机器人的研制
2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736253
Zhao Guo, Haoyong Yu
{"title":"Development of a novel robotic omni-directional hospital bed mover for patient transfer","authors":"Zhao Guo, Haoyong Yu","doi":"10.1109/ARSO.2016.7736253","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736253","url":null,"abstract":"Hospitals face many problems such as the lack of manpower and high incidence of work-related injuries, which eventually affects the efficiency of patient transfer. To tackle this issue, this paper introduces a novel omni-directional bed mover (OmniBed) for patient transfer in hospital environment. This OmniBed, which consists of an optimized omni-directional mobility unit, an intuitive and user-friendly human machine interface and control system, can be added on to existing hospital bed, transforming it into a power-assisted system that can be easily operated by one person. Performance evaluation of the OmniBed has been taken in comparison with a conventional HOSPIMEK Powered Bed, which has a joystick control and a fifth powered wheel providing power assistance only in the forward direction. A total of 14 subjects were recruited to complete the experimental trials within a controlled lab environment. It is concluded that the OmniBed is able to halve the required manpower to push hospital beds with reduced back muscle activities, which strongly suggest health benefits in reducing lower back injuries in healthcare workers.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"10 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":"125572844","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 long-reach robot with propulsion through water-jet 一种新型喷水推进的远程机器人
2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736291
J. A. Rico, S. Hirose, Hiroya Yamada, G. Endo, K. Suzumori
{"title":"A novel long-reach robot with propulsion through water-jet","authors":"J. A. Rico, S. Hirose, Hiroya Yamada, G. Endo, K. Suzumori","doi":"10.1109/ARSO.2016.7736291","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736291","url":null,"abstract":"Long-reach robots offer good performance developing tasks in areas where the access is difficult or dangerous. Due to their multiple degrees of freedom, they are able to adapt easily to different environments. These robots base their locomotion to two different elements: tendon cables or fluid pressure elements. Normally these robots are divided in sections and each section has its independent degrees of freedom. Therefore, if the length of the robot increases, the number of sections increases as well. This also means an increment in the diameter for each section and a more complex control for the whole system. In this paper we introduce the concept of a novel water-jet long-reach robot, which allows increasing the length of the robot without affect its number of elements, control complexity and diameter. Due to its characteristics, it is possible to use this robot in different environments, confined or opened spaces. We test the performance of the first prototype in different scenarios in order to validate our concept.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"309 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120986321","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: 5
Transferring autonomous reaching and targeting behaviors for cable-driven robots in minimally invasive surgery 微创手术中缆索驱动机器人的自主到达和目标行为转移
2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736260
Jie Chen, H. Lau
{"title":"Transferring autonomous reaching and targeting behaviors for cable-driven robots in minimally invasive surgery","authors":"Jie Chen, H. Lau","doi":"10.1109/ARSO.2016.7736260","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736260","url":null,"abstract":"Cable-driven mechanisms have been widely used as compliant actuators in surgical robots over last decades due to their superior performance of dexterous operation in confined workspace. And minimally invasive surgery (MIS) is one of the most important applications of such systems. In MIS, point to point reaching and targeting behavior is the most fundamental movement primitive, typical examples include leading the robot tool to the target lesions. Currently, the motion control of such surgical robots in MIS are realized by clinical staff with haptic devices. However, due to the totally different configurations of the robot and the haptic device, and the friction loss, viscoelasticity, hysteresis and nonstationary behaviors inherently in the cable-driven mechanisms, the teleoperation procedure is difficult and uncomfortable, and may cause severe fatigues of the surgeons. In this work, a novel motion control approach, learning from demonstration (LfD), is used to transfer autonomous reaching and targeting skills from human experts to a cable-driven surgical robot. A modulated first order dynamical systems model is used to encode human demonstrations and generate executable paths for the robot. Experiments have been performed on a seven degrees-of-freedom KUKA LBR robot and a three degrees-of-freedom tendon-driven serpentine manipulator (TSM) to validate the proposed methods.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"1 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":"129222295","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
Inverse kinematics learning for redundant robot manipulators with blending of support vector regression machines 基于支持向量回归机的冗余机器人逆运动学学习
2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736293
Jie Chen, H. Lau
{"title":"Inverse kinematics learning for redundant robot manipulators with blending of support vector regression machines","authors":"Jie Chen, H. Lau","doi":"10.1109/ARSO.2016.7736293","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736293","url":null,"abstract":"Redundant robot manipulator is a kind of robot arm having more degrees-of-freedom (DOF) than required for a given task. Due to the extra DOF, it can be used to accomplish many complicated tasks, such as dexterous manipulation, obstacle avoidance, singularity avoidance, collision free, etc. However, modeling the inverse kinematics of such kind of robot manipulator remains challenging due to its property of null space motion. In this paper, support vector regression (SVR) is implemented to solve the inverse kinematics problem of redundant robotic manipulators. To further improve the prediction accuracy of SVR, a special machine learning technique called blending is used in this work. The proposed approach is verified in MATLAB with a seven DOF Mitsubishi PA-10 robot and the simulation results have proved its high accuracy and effectiveness.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"1 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":"129823318","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: 6
An improved approach for model-based detection and pose estimation of texture-less objects 一种改进的基于模型的无纹理目标检测与姿态估计方法
2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736292
Haoruo Zhang, Yang Cao, Xiaoxiao Zhu, M. Fujie, Q. Cao
{"title":"An improved approach for model-based detection and pose estimation of texture-less objects","authors":"Haoruo Zhang, Yang Cao, Xiaoxiao Zhu, M. Fujie, Q. Cao","doi":"10.1109/ARSO.2016.7736292","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736292","url":null,"abstract":"Detection and pose estimation of texture-less objects still faces several challenges such as foreground occlusions, background clutter, multi-instance objects, large scale and pose changes to name but a few. In this paper, we present an improved approach for model based detection and pose estimation of texture-less objects, LINEMOD [4], in order to improve the robustness of pose estimation with partial foreground occlusions. For template creation, we modify Gradient Response Maps and propose Gradient Orientation Maps, where Non-Maximum Suppression and Dual Threshold Algorithm are applied. And we adopt image pyramid searching method for fast template matching. Next, the approximate object pose associated with each detected template is used as a starting point for fine pose estimation with Iterative Closest Point algorithm. Thirdly, we improve the accuracy of fine pose estimation by using point cloud filter. Experimental results show that our approach is more robust to estimate the pose of texture-less objects with partial foreground occlusions.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"70 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":"130212939","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
Human-aware motion planning based on search and sampling approach 基于搜索和采样方法的人感知运动规划
2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736286
R. Luo, Charly Huang
{"title":"Human-aware motion planning based on search and sampling approach","authors":"R. Luo, Charly Huang","doi":"10.1109/ARSO.2016.7736286","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736286","url":null,"abstract":"With the improvement on various technical aspects of robotics, autonomous robotics gradually immerges into our daily life and the chance of human-robot interaction rises especially in dynamic environments. To carry out different tasks and in many cases collaborating with human, effective motion planning must be devised. Besides of yielding real-time and cost effective trajectories, the social aware motion planning approach must also respect social norms in terms of avoidance of personal space. We have therefore propose an alternative and novel human-aware navigation integrating dynamic social costmap together with an anytime dynamic RRT* planner to achieve viable social aware motion planning. The experiments on several environments verify the practicality of such autonomous social aware navigation strategy.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"1 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":"130521957","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: 6
Design and simulation of mobile and hopping robot 移动跳跃机器人的设计与仿真
2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736294
Zefeng Ma
{"title":"Design and simulation of mobile and hopping robot","authors":"Zefeng Ma","doi":"10.1109/ARSO.2016.7736294","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736294","url":null,"abstract":"In order to adapt to the complex unstructured environment, a novel mobile and hopping robot is introduced in this paper based on the combination of wheel structure and hopping structure. The robot could choose its motion mode according to the detected landforms, which increases energy utilization efficiency and the ability of adaptation, as well as extending its motion range. The structure of the robot, which includes the mobile mechanism, taking-off pose adjustment mechanism, hopping mechanism and main frame, is designed. Then the movement performance of the robot is analyzed and the simulation is conducted to prove the correctness and effectiveness of the structure design of the robot and the theoretical analysis. The research results show that this robot can adapt to complex terrain, and it can be used in planetary exploration and battlefield reconnaissance in the future.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"53 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":"116249759","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
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