2019 12th International Workshop on Robot Motion and Control (RoMoCo)最新文献

Accuracy comparison of navigation local planners on ROS-based mobile robot 基于ros的移动机器人导航局部规划精度比较

2019 12th International Workshop on Robot Motion and Control (RoMoCo) Pub Date : 2019-07-08 DOI: 10.1109/RoMoCo.2019.8787346

B. Cybulski, Agnieszka Węgierska, G. Granosik

引用次数: 21

Adjustability for Grasping Force of Patients with Autism by iWakka: A Pilot Study iWakka对自闭症患者抓握力可调性的初步研究

2019 12th International Workshop on Robot Motion and Control (RoMoCo) Pub Date : 2019-07-08 DOI: 10.1109/RoMoCo.2019.8787382

Masakazu Nomura, Natalia Kucharek, Igor Zubrycki, G. Granosik, Y. Morita

{"title":"Adjustability for Grasping Force of Patients with Autism by iWakka: A Pilot Study","authors":"Masakazu Nomura, Natalia Kucharek, Igor Zubrycki, G. Granosik, Y. Morita","doi":"10.1109/RoMoCo.2019.8787382","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787382","url":null,"abstract":"Herein, we present a pilot study on the adjustability for grasping force (AGF) of patients with autism. The AGF is the ability to grasp an object with an appropriate force. In our previous study, we developed a training and testing device for the AGF and a system to use it, called iWakka. Impairments in motor functioning, which until recently have been rarely a primary focus in autism spectrum disorder research, may be associated with key social communication deficits. Patients with autism are also suggested to exhibit a longer yaw displacement, indicating a larger head turning, than those without autism. A pilot study was conducted to explore the applicability of the above-mentioned device to autistic patients; eight participants with autism were involved in this study. Three participants could not use iWakka without assistance. The AGF of the four participants who could use iWakka by themselves was improved after training. Moreover, we noticed a reduction in the yaw head displacement of three participants. Because the head pose is an important indicator of the focus of attention of a person, this result suggested that their focus of attention was also improved. Therapists were interviewed for their opinions. Some activities of the participants changed after training with iWakka (e.g., they could sit and focus for longer than before). It was suggested that iWakka has the potential to improve the AGF and other abilities of patients with autism.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121188195","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

Design and Evaluation of a Factorization-Based Grasp Myoelectric Control Founded on Synergies 基于协同效应的因子分解抓取肌电控制设计与评价

2019 12th International Workshop on Robot Motion and Control (RoMoCo) Pub Date : 2019-07-08 DOI: 10.1109/RoMoCo.2019.8787387

R. Meattini, Daniele De Gregorio, G. Palli, C. Melchiorri

{"title":"Design and Evaluation of a Factorization-Based Grasp Myoelectric Control Founded on Synergies","authors":"R. Meattini, Daniele De Gregorio, G. Palli, C. Melchiorri","doi":"10.1109/RoMoCo.2019.8787387","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787387","url":null,"abstract":"In this article we present a factorization-based myoelectric proportional control that uses surface skin electromyographic (sEMG) measurements to estimate the hand closure level of a user for telemanipulation purposes. The sEMG-based proportional control design is presented and the results of an experimental session are reported. In particular, involving one healthy subject, four different factorization algorithms are tested (Factor Analysis, Fast Independent Component Analysis, Non-negative Matrix Factorization and Principal Component Analysis) and quantitative evaluated along four different daily session using four different error metrics (Root-Mean-Square Error, Normalized Root-Mean-Square Error, cross-correlation coefficient and Dynamic Time Warping measurement). The metrics are computed comparing the sEMG-based estimation of the hand closure level with a ground-truth signal obtained through a motion tracking system. The results report for better performances of the Non-negative Matrix Factorization algorithm, that can be used for controlling robotic hands in a real telemanipulation scenario. Therefore, the proposed myoelectric proportional control was finally tested in a simple validation grasping scenario using a real robotic hand, reporting for user's simplicity and intuitiveness in regulating the grasp closure in accordance with different objects.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"8 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131579645","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

Predicting Vehicle Control Errors in Emergency Swerving Maneuvers 紧急转向机动车辆控制误差预测

2019 12th International Workshop on Robot Motion and Control (RoMoCo) Pub Date : 2019-07-08 DOI: 10.1109/RoMoCo.2019.8787383

Michal Schmidt, Daniel Töpfer, S. Schmidt

引用次数: 2

VFO controller for set-point visual servoing of unicycle-like mobile robots equipped with a camera of an uncertain depth scale factor 带不确定深度尺度因子摄像机的单轮移动机器人定点视觉伺服的VFO控制器

2019 12th International Workshop on Robot Motion and Control (RoMoCo) Pub Date : 2019-07-08 DOI: 10.1109/RoMoCo.2019.8787351

M. Michałek, Runhua Wang, Xuebo Zhang

引用次数: 1

Adaptive Controller with Output Feedback for Dielectric Electro-Active Polymer Actuator 介质电活性聚合物作动器的输出反馈自适应控制器

2019 12th International Workshop on Robot Motion and Control (RoMoCo) Pub Date : 2019-07-08 DOI: 10.1109/RoMoCo.2019.8787365

Jakub Bernat, J. Kołota

引用次数: 4

Kinematic Simulator of e-Knee Robo that Reproduces Human Knee-Joint Movement 模拟人体膝关节运动的e-Knee机器人运动学模拟器

2019 12th International Workshop on Robot Motion and Control (RoMoCo) Pub Date : 2019-07-08 DOI: 10.1109/RoMoCo.2019.8787349

Goro Hatano, K. Kozlowski, P. Sauer, Y. Morita

引用次数: 2

Step climbing method for crawler type rescue robot using reinforcement learning with Proximal Policy Optimization 基于近端策略优化强化学习的履带式救援机器人阶梯攀爬方法

2019 12th International Workshop on Robot Motion and Control (RoMoCo) Pub Date : 2019-07-08 DOI: 10.1109/RoMoCo.2019.8787360

Mifu Totani, N. Sato, Y. Morita

引用次数: 10

Comparative study of muscles effort during gait phases for multi-muscle humanoids 多肌肉类人机器人步态阶段肌肉力的比较研究

2019 12th International Workshop on Robot Motion and Control (RoMoCo) Pub Date : 2019-07-08 DOI: 10.1109/RoMoCo.2019.8787348

T. Zielińska, Jikun Wang, W. Ge, Linwei Lyu

{"title":"Comparative study of muscles effort during gait phases for multi-muscle humanoids","authors":"T. Zielińska, Jikun Wang, W. Ge, Linwei Lyu","doi":"10.1109/RoMoCo.2019.8787348","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787348","url":null,"abstract":"The comparative study of the muscles effort is presented. The normal gait with bare foot is studied. The effort of the main groups of human leg muscles is investigated using the muscular model of the human body and the Opensim simulator. The data are processed by the classifying artificial neural networks. The classification results are matching the gait phases. In the next stage the recorded and preprocessed EMG data are applied to the classifying artificial neural network. In this case the strong coincidence between the gait phases and the obtained classes was observed as well. The joint trajectories were also analyzed. The general aim of this study is to provide the information and tool supporting the development of multi-muscle humanoids. The information about muscle effort is needed when selecting the artificial muscles for the humanoid legs. A muscle type actuators generates force depends on the activation, therefore for robotic prosthesis with EMG control the study of EMG signals is relevant. Moreover it was proved that the classifying artificial neural network makes a good tool for recognizing the gait phases.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121129400","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

Task harmonisation for a single-task robot controller 单任务机器人控制器的任务协调

2019 12th International Workshop on Robot Motion and Control (RoMoCo) Pub Date : 2019-07-01 DOI: 10.1109/RoMoCo.2019.8787385

W. Dudek, M. Węgierek, Jarosław Karwowski, W. Szynkiewicz, Tomasz Winiarski

引用次数: 10