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

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Research on Compliance Control for the single Joint of a Hydraulic Legged Robot 液压足式机器人单关节柔度控制研究
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665298
Xu Li, Jia He, Haibo Feng, Haitao Zhou, Yili Fu
{"title":"Research on Compliance Control for the single Joint of a Hydraulic Legged Robot","authors":"Xu Li, Jia He, Haibo Feng, Haitao Zhou, Yili Fu","doi":"10.1109/ROBIO.2018.8665298","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665298","url":null,"abstract":"Compliance controller for the single joint of a hydraulic legged robot is presented in this paper. This method combines the active compliance controller of the impedance controller based on force control with the passive compliance of the Series Elastic Actuator (SEA) to achieve a compliant control function for a wide range of variable impedances and rapid response to load changes. The performance of this controller was assessed on a single joint hydraulic legged robot which has already been modelled. An experiment platform with double hydraulic drive units was designed for testing the force tracking performance of the hydraulic drive units. The experimental results have shown that the control method is reasonable and the system has a good performance of impact resistance and active compliance.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"379 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":"116577372","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
U-Shaped Densely Connected Convolutional Networks for Automatic 3D Cardiovascular MR Segmentation u形密集连接卷积网络用于心血管MR自动三维分割
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8664897
Chongyang Ran, Ping Liu, Yinling Qian, Yucheng He, Qiong Wang
{"title":"U-Shaped Densely Connected Convolutional Networks for Automatic 3D Cardiovascular MR Segmentation","authors":"Chongyang Ran, Ping Liu, Yinling Qian, Yucheng He, Qiong Wang","doi":"10.1109/ROBIO.2018.8664897","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8664897","url":null,"abstract":"Amounts of experiments have verified the U-Net and DenseNet have strong power in visual object recognition, such as classification, regression, localization and so on. We here present an ingenious U-shaped densely connected convolutional networks that absorb the main advantages of U-Net and DenseNet. As a consequence, our proposed network has four outstanding advantages. First, this is a U-shaped framework on the whole, which allows the network to propagate context information to high resolution layers, and also a fully convolutional network, hence alleviate the network training. Second, it avoids learning redundant feature maps by adding DenseBlock before most convolutions in the network, thus the fewer parameters are needed to get a better outcome. Third, it achieves stable performance and excellent output even with different initial configuration and parameters. Fourth, the network obtains impressive performance with small cardiovascular MR dataset, which is of crucial importance for medical image processing. We evaluate our proposed architecture on the HVSMR2016 dataset, and achieve accurate cardiovascular MR segmentaion results, indicating the effectiveness of the proposed network in cardiovascular MR segmentaion.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"39 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":"122432196","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
Gait Planning with Dynamic Movement Primitives for Lower Limb Exoskeleton Walking Up Stairs 基于动态运动原语的下肢外骨骼上楼步态规划
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8664881
Wenhao Ma, Hong Cheng, Rui Huang, Qiming Chen
{"title":"Gait Planning with Dynamic Movement Primitives for Lower Limb Exoskeleton Walking Up Stairs","authors":"Wenhao Ma, Hong Cheng, Rui Huang, Qiming Chen","doi":"10.1109/ROBIO.2018.8664881","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8664881","url":null,"abstract":"With the capability to enable lower limb paralysis people to stand up and walk again, lower limb exoskeleton has become more and more popular over the world. However, most of the exoskeleton use the pre-defined or pre-planned movement gait which lack of flexibility and adaptability, thus limit the use of exoskeleton in outdoor environments. In this paper, we present a gait planning method with dynamic movement primitives to enable the lower limb exoskeleton walk up stairs smoothly. This approach can adjust the exoskeleton gait trajectory online for walking up stairs by detecting the position of the stair edge at each step. Compared to the previous methods, our method gives the lower limb exoskeleton the following advantages: more natural gait, better dynamic effects and higher autonomy, which may broaden the use of lower limb exoskeleton. Experiment results validate the presented gait planning method.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"9 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":"122541364","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
A Light-Weight Wheel-Based Cable Inspection Climbing Robot: From Simulation to Reality 一种轻型轮式电缆检测攀爬机器人:从仿真到现实
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665062
M. Zheng, Mingdai Yang, Xiaoqiang Yuan, Ning Ding
{"title":"A Light-Weight Wheel-Based Cable Inspection Climbing Robot: From Simulation to Reality","authors":"M. Zheng, Mingdai Yang, Xiaoqiang Yuan, Ning Ding","doi":"10.1109/ROBIO.2018.8665062","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665062","url":null,"abstract":"A new light-weight wheel-based cable inspection climbing robot (WCR) is proposed in this paper, which targets on climbing and inspecting cable surface of suspension bridges. Meanwhile, a virtual prototype designed with a simulation software V-REP is used to guide and test the design of the physical prototype. WCR's body is a ring consists of three similar modules. Each module includes an arc hoop connected to a damper by a spring. Every damper contains two wheels for the free movement of WCR on cables. Compared to heavy and complex climbing robots carrying various inspection equipment, WCR weighs only 849 grams and can move on cables with a theoretical maximum speed of 0.2 m/s under remote control with three cameras on three modules to obtain images of the whole cable's surface. In addition, its simple structure with easy assembly promotes mass production and widespread application. Lab experimental results show that the physical prototype designed based on the virtual prototype can move freely on different slant cables.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"23 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":"122817306","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
External Force Estimation of Impedance-Type Driven Mechanism for Surgical Robot with Kalman Filter 基于卡尔曼滤波的阻抗型手术机器人驱动机构的外力估计
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8664753
Hongbing Li, Kundong Wang, Zheng Li, K. Kawashima, E. Magid
{"title":"External Force Estimation of Impedance-Type Driven Mechanism for Surgical Robot with Kalman Filter","authors":"Hongbing Li, Kundong Wang, Zheng Li, K. Kawashima, E. Magid","doi":"10.1109/ROBIO.2018.8664753","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8664753","url":null,"abstract":"Haptic feedback has been proved the importance in the surgical robot system, however, such function is missing in current commercially available minimally invasive surgical robot system. To address this issue, many surgical forceps have been designed and developed to provide the sense of contact forces to the surgeon during surgical manipulation. However, to data, there are no commercially available surgical forceps with haptic perception because of the disadvantages of such physical-sensing devices. No matter what sensing algorithm it utilized, there are always physical constraints related to the force sensors. This study presents concepts and application of a Kalman filter for the control of robot handle force during contact with the external environment. The external contact force in the system was estimated by parameter estimation techniques to the robot actuators. The method is described and its effectiveness is shown for a one degree-of-freedom robot.","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":"116824567","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
Biped Robot Vertical Jumping with Control Constraints 控制约束下两足机器人垂直跳跃
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665223
Aditya Sripada, Janardhan Vistapalli, R. P. Kumar
{"title":"Biped Robot Vertical Jumping with Control Constraints","authors":"Aditya Sripada, Janardhan Vistapalli, R. P. Kumar","doi":"10.1109/ROBIO.2018.8665223","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665223","url":null,"abstract":"This paper proposes a multibody dynamics approach to achieve vertical jumping motion in biped robots. Joint trajectories were generated using control constraints that depend on the vertical distance traveled by the Center of Mass (CoM) of the biped. For the stance phase, constraints are introduced on the vertical motion of CoM and on the Zero Moment Point (ZMP). ZMP was considered to be at the ankle and the ankle torque was made zero, so that foot angular momentum could be ignored. Constraints in the flight phase are considered such that the CoM moves in a vertical direction. Dynamic analysis of the biped was performed for stance and flight phases and joint angles and velocities were computed. Thus acquired angles and velocities were supplied to a 3DOFsingie leg robot, which jumped vertically to a height of 4cm.","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":"117043613","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
An Evaluation Method of Wearing Comfort for Exoskeleton RobotsBehaviors 外骨骼机器人行为穿着舒适性评价方法研究
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8664783
Weida Li, Haojie Zhang, Juan Li, Qihuan Zhu
{"title":"An Evaluation Method of Wearing Comfort for Exoskeleton RobotsBehaviors","authors":"Weida Li, Haojie Zhang, Juan Li, Qihuan Zhu","doi":"10.1109/ROBIO.2018.8664783","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8664783","url":null,"abstract":"Human-machine interface (HMI) is the link between Exoskeleton and wearer, and the study of wearing comfort of HMI is of great significance for Exoskeleton robots. On the basis of the analysis of HMI mechanism model, this paper proposes an evaluating method of wearing comfort. By measuring the force of HMI mechanism and combining the wearer's subjective feeling, wearing comfort model is built. Finally, the rationality of wearing comfort model is verified by experimental research.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"1 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":"117266038","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
A Pneumatically-Actuated Variable-Stiffness Robot Arm Using Parallel Flexures 一种并联柔性气动变刚度机械臂
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665208
V. Venkiteswaran, Ruiqin Hu, H. Su
{"title":"A Pneumatically-Actuated Variable-Stiffness Robot Arm Using Parallel Flexures","authors":"V. Venkiteswaran, Ruiqin Hu, H. Su","doi":"10.1109/ROBIO.2018.8665208","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665208","url":null,"abstract":"A novel design is presented for a variable-stiffness robotic arm from conceptual design to experimental validation, utilizing a fast-acting pneumatic rodless cylinder with minimal footprint. Unlike other systems previously developed that rely on variation of compliance in kinematic joints, the proposed design enables the manipulator arm itself to undergo stiffness change by controlling the effective length of two parallel sheet flexures. The behavior is modeled using traditional beam bending equations. The concept is validated using finite element analysis and experiments. Quick and accurate stiffness change is demonstrated using static and dynamic calibration of the system. The overall change in stiffness for static applications is about lO-fold, and it can be achieved in about 0.6 seconds. The ability of the controller to track stiffness profiles over time is also demonstrated through experiments. We envision that the presented variable-stiffness robotic arm can be cascaded for accommodating three axes of impacts, for building multi-linked collaborative manipulators.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"33 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":"129588330","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
Shape Detection and Reconstruction of Soft Robotic Arm Based on Fiber Bragg Grating Sensor Array 基于光纤布拉格光栅传感器阵列的软机械臂形状检测与重构
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665266
Zhiyuan Zhang, Xueqian Wang, S. Wang, Deshan Meng, Bin Liang
{"title":"Shape Detection and Reconstruction of Soft Robotic Arm Based on Fiber Bragg Grating Sensor Array","authors":"Zhiyuan Zhang, Xueqian Wang, S. Wang, Deshan Meng, Bin Liang","doi":"10.1109/ROBIO.2018.8665266","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665266","url":null,"abstract":"For the problem of shape detection and reconstruction of soft robotic arm with extensive degrees of freedom, in this paper, a distributed Fiber Bragg Grating (FBG) sensor array is designed and the shape reconstruction algorithm based on curvature information and the Frenet frame is simplified. The considered soft robotic arm consists of two extension pneumatic muscles (EPMs) in series. Firstly, the distributed FBG sensor array is built. Secondly, the curvature information of each grating point is collected and a continuous curvature curve is obtained by using the interpolation algorithm. Thirdly, the two-dimensional shape curves are reconstructed for the two EPMs according to the simplified shape reconstruction algorithm. Finally, the shape curves of the two EPMs are integrated into the three-dimensional shape curve of the soft robotic arm. Experimental results show that the maximum position error between the end of the reconstructed soft robotic arm and the end of the soft robotic arm is 0.008 $m$, and the percentage error relative to the overall length of the soft robotic arm is 2.58%.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"44 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":"128313035","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
Preliminary Design and Performance Test of Tendon-Driven Origami-Inspired Soft Peristaltic Robot 肌腱驱动折纸型软蠕动机器人初步设计与性能测试
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8664842
Hritwick Banerjee, N. Pusalkar, Hongliang Ren
{"title":"Preliminary Design and Performance Test of Tendon-Driven Origami-Inspired Soft Peristaltic Robot","authors":"Hritwick Banerjee, N. Pusalkar, Hongliang Ren","doi":"10.1109/ROBIO.2018.8664842","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8664842","url":null,"abstract":"Origami-based flexible, compliant and bio-inspired robots are believed to permit a range of medical applications with unpredictable environments. Here in this article, we experimentally demonstrate a novel origami inspired mobile robot structure which reconstructs its shape in the pivotal direction and launches peristaltic motion. To be able to sustain shear stress and counteract buckling, while accommodating the whole Origami robot in some stochastic confined environment, mobile robot sufficiently needed structural rigidity. To meet this requirement, Daler - Rowney canford paper of 150 gsm paper was chosen for carving fold lines. The Yoshimura origami pattern was manifested as the main body of the mobile robot to generate active deformation. In order to prevent buckling of springs during compression and expansion, special supporting structures made up of cardboard having alternate mountain and valley folds and coated in photopolymer resin. Finally, we were able to achieve a peristaltic motion of an average speed of 0.056 ern/sec, while we envision in future to incorporate the same construct for more potential biomedical and industrial application areas.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"239 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":"128569043","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: 10
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