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2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献

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Autonomous Navigation by Mobile Robots in Human Environments: A Survey 移动机器人在人类环境中的自主导航研究
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665075
Jiyu Cheng, Hu Cheng, M. Meng, Hong Zhang
{"title":"Autonomous Navigation by Mobile Robots in Human Environments: A Survey","authors":"Jiyu Cheng, Hu Cheng, M. Meng, Hong Zhang","doi":"10.1109/ROBIO.2018.8665075","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665075","url":null,"abstract":"With the service robots are well used in more and more indoor environments, autonomous navigation in such a human environment has been explored in recent decades. Different from the traditional navigation schemes, the new scenarios pose challenges about how to deal with the dynamic obstacles, especially the humans. To overcome the challenges, researchers need to consider: 1) the uncertainty of humans motion, 2) the interaction between human and robot, 3) the group information of the people. Also, the energy cost in the navigation process is of vital importance. In this case, the navigation requirements go far from the shortest path. In this paper, we reviewed the related works in the past decade, which can be roughly divided into four categories: reactive based, predictive based, model based and learning based. For each category, we analyzed some state of the arts, and listed the pros, cons and open problems. In the last of the paper, we summarized some evaluation metrics and corresponding methods.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115420274","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: 33
Biomimetic Design of a Chest Carrying Nursing-Care Robot for Transfer Task 用于搬运任务的带胸护理机器人仿生设计
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665046
Yuxin Liu, Guiliang Chen, Jinyue Liu, Shijie Guo, T. Mukai
{"title":"Biomimetic Design of a Chest Carrying Nursing-Care Robot for Transfer Task","authors":"Yuxin Liu, Guiliang Chen, Jinyue Liu, Shijie Guo, T. Mukai","doi":"10.1109/ROBIO.2018.8665046","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665046","url":null,"abstract":"Patient transfer, such as lifting and moving a bedridden patient from a bed to a wheelchair or a pedestal pan and back, is one of the most physically challenging tasks in nursing care. We have developed a prototype nursing-care assistant robot that can conduct patient transfer by imitating the motion when a person holds another person on his/her back. Based on the measurement of human motions including back-chest touching, leaning forward, holding up, moving and putting down, we analyzed the key factors that may influence the safety and comfort of the patient and designed a new type of robot. The robot consists of a chest holder which moves like a human back. In this paper, we state the details of motion design and related kinematic/dynamic analysis of the robot and demonstrate its effect on patient transfer. It is demonstrated that the robot developed can transfer a subject from a bed to a chair and back.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"130 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114648432","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 Uncalibrated Robotic Weld Tracking System 一种未经校准的机器人焊接跟踪系统
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665282
Jiangtao Yin, Zhang Tao, Y. Guan, Guanfeng Liu
{"title":"An Uncalibrated Robotic Weld Tracking System","authors":"Jiangtao Yin, Zhang Tao, Y. Guan, Guanfeng Liu","doi":"10.1109/ROBIO.2018.8665282","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665282","url":null,"abstract":"To adapt to the operational conditions with a large workpiece scale and changeable working locations in the field of ship welding, a novel uncalibrated robotic weld seam tracking system is proposed in this paper. Unlike a traditional seam tracking system requiring calibration and extraction of the weld seam feature, we directly utilize the luminance of all pixels in the weld seam image as a visual feature, without a robot hand-eye calibration, image processing, or any learning steps. The experiment results prove that our system is suitable for application to not only for a lap weld seam, but also for different types of weld seams without any changes to the algorithm, except for the corresponding desired image of the weld seams.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125211811","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
A New Underwater Robot for Crack Welding in Nuclear Power Plants 一种新型水下核电站裂纹焊接机器人
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665279
Yang Luo, Jianguo Tao, Q. Sun, Liping Deng, Z. Deng
{"title":"A New Underwater Robot for Crack Welding in Nuclear Power Plants","authors":"Yang Luo, Jianguo Tao, Q. Sun, Liping Deng, Z. Deng","doi":"10.1109/ROBIO.2018.8665279","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665279","url":null,"abstract":"In this paper, a new underwater robot for crack welding has been developed which can realize crack welding with high stability and accuracy on walls of the spent fuel pools (SFPs) in nuclear power plants. Multi-thrusters with vector distribution are ultilized to minimize interferences which make the underwater robot attach on the bottom of SFP steadily. Moreover, the underwater welding system is optimized to achieve high quality welding performance. Experimental results show that the underwater robot can achieve highly accurate crack welding. As a result, the underwater robot holds great practicality and utility in the application of underwater crack-welding in nuclear power plants and other underwater scenarios.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116667462","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
Design and Analysis of Continuous Rotating Multifunctional Mechanical Gripper 连续旋转多功能机械夹持器设计与分析
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665352
Menghui Pei, Kun Xu, Xilun Ding, Shuiqing Jiang, Xiangyu Gao
{"title":"Design and Analysis of Continuous Rotating Multifunctional Mechanical Gripper","authors":"Menghui Pei, Kun Xu, Xilun Ding, Shuiqing Jiang, Xiangyu Gao","doi":"10.1109/ROBIO.2018.8665352","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665352","url":null,"abstract":"This paper presents a novel multifunctional mechanical gripper which can rotate continuously. The mechanical design of the gripper is introduced and its operation modes are given. The gripper can screw hexagon socket head cap screws, press the button besides grip objects because of its special mechanical structure. The kinematics model of the gripper is built, process planning of screwing and grapping are provided. Screwing forces when the gripper operating different size screws are analyzed. These results will be significant for application of industrial automation assembly and field investigation.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"127 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117059882","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
Characteristic Model Based Position Control for Series Elastic Actuators 基于特性模型的串联弹性执行器位置控制
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665106
Zhihao Xu, Xuefeng Zhou, Shuai Li, Taobo Cheng, Dan Huang, Xiaojing Lv
{"title":"Characteristic Model Based Position Control for Series Elastic Actuators","authors":"Zhihao Xu, Xuefeng Zhou, Shuai Li, Taobo Cheng, Dan Huang, Xiaojing Lv","doi":"10.1109/ROBIO.2018.8665106","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665106","url":null,"abstract":"Serial elastic actuators is capable to handle flexible tasks owing to its compliance to environment, and thus have attracted much attention recently. Comparing to force control issues, position control of SEA seems much harder because the order of system is high and SEA would also suffer from parameter uncertainties and disturbances. Therefore, in this paper, we proposed a characteristic model based control strategy for motion control of SEA, which has a simple structure and easy to implement. The simplified model using characteristic modelling is second order, and then a discrete sliding mode controller is designed considering external disturbances. Unlike traditional simplified modelling method, by using characteristic method, the derived model does not lose dynamic feature of the system. Examples and numeral simulations are provided to validate the effectiveness of both the characteristic model and the control scheme.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121063942","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
Path Planning of Humanoid Arm Based on Deep Deterministic Policy Gradient 基于深度确定性策略梯度的人形手臂路径规划
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665248
Shuhuan Wen, Jianhua Chen, Shen Wang, Hong Zhang, Xueheng Hu
{"title":"Path Planning of Humanoid Arm Based on Deep Deterministic Policy Gradient","authors":"Shuhuan Wen, Jianhua Chen, Shen Wang, Hong Zhang, Xueheng Hu","doi":"10.1109/ROBIO.2018.8665248","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665248","url":null,"abstract":"The robot arm with multiple degrees of freedom and working in a 3D space needs to avoid obstacles during the grasping process by its end effector. Path planning to avoid obstacles is very important for accomplishing a grasping task. This paper proposes a new obstacle avoidance algorithm, based on an existing deep reinforcement learning framework called deep deterministic policy gradient (DDPG). Specifically, we propose to use DDPG to plan the trajectory of a robot arm to realize obstacle avoidance. The rewards are designed to overcome the difficulty in convergence of multiple rewards, especially when the rewards are antagonistic with respect to each other. Obstacle avoidance of the robot arm using DDPG is achieved by self-learning, and the convergence problem caused by the high dimension state input and multiple return values is solved. The simulation model of an arm of the Nao robot is built based on the MuJoCo simulation environment. The simulation demonstrates that the proposed algorithm successfully allows the robot arm to avoid obstacles.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"139 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121309378","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: 19
CI-SHOT: A Statistical Method for Binary Feature Descriptor on 3D Point Clouds CI-SHOT:三维点云上二元特征描述子的统计方法
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665084
Liang Du, Huasong Min, Yunhan Lin
{"title":"CI-SHOT: A Statistical Method for Binary Feature Descriptor on 3D Point Clouds","authors":"Liang Du, Huasong Min, Yunhan Lin","doi":"10.1109/ROBIO.2018.8665084","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665084","url":null,"abstract":"3D feature descriptors play an important role in the field of computer vision because it is a pre-requisite for many 3D vision applications. Although many such descriptors exist so far, most of them represent in the form of floating vector, which leads to several problems such as computational complexity and costly memory footprint in the feature matching process. The algorithm proposed in this paper contains two variable parameters, simplified unit μ and the number of coding bits N. For different original descriptors, using the method proposed in this paper, different simplified descriptors can be generated by changing these two parameters. The Chebyshev Inequality mathematical model is then used to convert the floating vector into a binary code to obtain a simpler and more efficient feature descriptor CI-SHOT (Chebyshev Inequality Signature of Histogram of Orientations). Finally, we compare CI-SHOT and SHOT with another binary simplified descriptor B-SHOT. The experimental results on the dataset show that CI-SHOT has obvious advantages in keypoint detection and matching performance.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125148642","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 Analysis of a 3-DOF Planar Flexure-based Parallel Mechanism with Large Motion Range 大运动范围三自由度平面柔性并联机构的设计与分析
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665353
Bao Yang, Chi Zhang, Hongtao Yu, Xiaolu Huang, Guilin Yang, Si-lu Chen
{"title":"Design and Analysis of a 3-DOF Planar Flexure-based Parallel Mechanism with Large Motion Range","authors":"Bao Yang, Chi Zhang, Hongtao Yu, Xiaolu Huang, Guilin Yang, Si-lu Chen","doi":"10.1109/ROBIO.2018.8665353","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665353","url":null,"abstract":"This paper presents a novel 3-degree-of-freedom (DOF) planar compliant Parallel Mechanism (PCPM). This PCPM is constituted of three identical beam-based flexible chains which are PPR kinematic chains with two mutually perpendicular prismatic (P) joints and one revolute (R) joint. Blade-flexures elements are utilized with its characteristic of distributed compliance to realize a large and linear $mathbf{XY}boldsymbol{theta}_{mathbf{z}}$ travel motion about ±3mm×±3mm×±3°. Based on the compliant parallel 4-bar mechanism, two kinds of optimized guiding mechanisms with high cross-axis stiffness and one precise rotary pivot are proposed. Matrix method is implemented to establish the quantitative compliance models of each joint and then for the whole compliant mechanism by coordinate transformation. Finite element analysis is carried out to validate both the static and dynamic performance of the 3-DOF stage. The results suggest the proposed PCPM can realize a large motion, deliver small cross-axis effects and possess a high bandwidth over 45Hz.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125946653","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 Text Detection and Recognition System Based on an End-to-End Trainable Framework from UAV Imagery 基于端到端可训练框架的无人机图像文本检测与识别系统
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665259
Qingtian Wu, Yimin Zhou, Guoyuan Liang
{"title":"A Text Detection and Recognition System Based on an End-to-End Trainable Framework from UAV Imagery","authors":"Qingtian Wu, Yimin Zhou, Guoyuan Liang","doi":"10.1109/ROBIO.2018.8665259","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665259","url":null,"abstract":"In this paper, we present a DAV-based system for text (mainly English and Chinese) detection and recognition. With the combination of unmanned aerial vehicle and scene text recognition, the system can realize text detection and recognition in long-range air-plane images, providing an underlay for unmanned navigation and fast text information understanding. Robust text detection and accurate text recognition can be achieved by two contributions. First, a scalable engine is proposed to synthesize text images by overlaying English or Chinese text into existing images in a natural way. Second, an framework which is trainable and end-to-end by combining Convolutional Neural Network and Recurrent Neural Network is adapted to recognize the variable-length text with a high accuracy. Field experiments are performed with different videos shot in various backgrounds and outdoors to show that the proposed system can detect and recognise text information in UAV imagery robustly and effectively.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126704430","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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