2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献_第4页

On Safe Robot Navigation Among Humans as Dynamic Obstacles in Unknown Indoor Environments 未知室内环境下作为动态障碍物的机器人安全导航研究

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8664901

Alireza Hekmati, K. Gupta

{"title":"On Safe Robot Navigation Among Humans as Dynamic Obstacles in Unknown Indoor Environments","authors":"Alireza Hekmati, K. Gupta","doi":"10.1109/ROBIO.2018.8664901","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8664901","url":null,"abstract":"In this paper, we rigorously test two conjectures in mobile robot navigation among dynamic obstacles in unknown environments: i) a planner for static obstacles, if executed at a fast update rate (i.e., fast replanning), might be quite effective in dealing with dynamic obstacles, and ii) existing implemented planners have been effective in humans environments (with humans being dynamic obstacles) primarily because humans themselves avoid the robot and if this were not the case, robot will run into collisions with humans much more frequently. The core planning approach used is a Global path planner combined with a local Dynamic Window planner with repeated re-planning (GDW). We compare two planners within this framework: i) all obstacles are treated as static (GDW-S) and ii) predicted trajectories of dynamic obstacles are used to avoid future collisions within a given planning horizon time (GDW-D). The effect of humans avoiding robot (and other humans) is simulated via a simple local potential field based approach. We indicate such environments by a suffix +R (repulsion) for the corresponding planner. Hence there are four categories that we tested: GDW-S, GDW-D, GDW-S+R and GDW-D+R in different environments of varying complexity. The performance metrics used were the percentage of successful runs without collisions and total number of collisions. The results indicate that i) GDW-D planner outperforms GDW-S planner, i.e., conjecture 1 is false, and ii) humans avoiding robots does result in more successful runs, i.e., conjecture ii) is true. Furthermore, we've implemented both GDW-S and GDW-D planners on a real system and report experimental results for single obstacle case.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"35 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":"121265170","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

Autonomous Underwater Pipeline Tracking Control Based on Visual Images 基于视觉图像的水下管道自主跟踪控制

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8664853

Zexing Zhou, Hai-long Shen, Hai Huang, Hao Zhou, Zhaoliang Wan, Zhuo Wang, Yang Xu

引用次数: 4

Design and Validation of Multi-Layer Brakes for a Lockable Stand for a Surgical Robotic SystemBehaviors 手术机器人可锁支架多层制动器的设计与验证

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665158

Tianlai Dong, Yuyang Chen, Lingyun Zeng, Zenghui Liu, Kai Xu

{"title":"Design and Validation of Multi-Layer Brakes for a Lockable Stand for a Surgical Robotic SystemBehaviors","authors":"Tianlai Dong, Yuyang Chen, Lingyun Zeng, Zenghui Liu, Kai Xu","doi":"10.1109/ROBIO.2018.8665158","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665158","url":null,"abstract":"MPL (multi-port laparoscopy) has mostly replaced traditional open surgery due to several advantages, such as less postoperative complications and faster recovery. However, manual manipulation of the laparoscopic surgical tools can be challenging and exhausting. Numerous robotic systems were hence developed to assist surgeons. A majority of the existing developments followed a similar approach that a manipulator maneuvers a stick-like surgical tool for intra-abdominal surgical tasks. The surgical tool is usually equipped with a wrist for distal dexterity, while the manipulator is required to realize RCM (Remote Center of Motion) movements in order to prevent the surgical tool from tearing a patient's abdominal wall. However, a continuum surgical manipulator with 6 DoFs (Degrees of Freedom) can provide sufficient mobility for intra-abdominal movements. Therefore, only a lockable stand that holds such a continuum surgical manipulator, instead of an RCM mechanism, is needed during a procedure. Compact and reliable joint brakes with high locking torques and rapid actuation are needed for such a lockable stand. Inspired by the layered jamming principle, this paper presents the design, construction and verification of multi-layer brakes for the lockable stand. The experimental validation of the multi-layer brakes is elaborated to demonstrate the functionality and the effectiveness of the proposed idea.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"67 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":"114871120","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

Automatic programming system for grinding robot of CHSR rail CHSR钢轨磨削机器人自动编程系统

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665341

Jialong Li, Taibei Yuan, Wenqiang Wu, Houyao Zhu, Chunliang Zhang, Jialiang Xie

引用次数: 3

A Novel Global Localization Method Using 3D Laser Range Data in Large-Scale and Sparse Environments 一种基于三维激光距离数据的大尺度稀疏环境全局定位方法

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8664836

Ming Zhao, Jingchuan Wang, Weidong Chen, Hesheng Wang

{"title":"A Novel Global Localization Method Using 3D Laser Range Data in Large-Scale and Sparse Environments","authors":"Ming Zhao, Jingchuan Wang, Weidong Chen, Hesheng Wang","doi":"10.1109/ROBIO.2018.8664836","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8664836","url":null,"abstract":"In large-scale and sparse environments, such as farmlands, orchards, mines and electrical substations, global localization based on particle filter framework without any prior knowledge still remains a challenging problem. Some issues such as speeding up the convergence of particles and improving the convergence accuracy in similar scenes need to be addressed. This paper proposes a novel global localization method, which treats the global localization problem as place recognition and pose estimation problem. Specifically, we firstly utilize the random forests algorithm to train a classifier to predict whether two 3D LiDAR observations are from the same place. Then, the classifier is used to match the current observation with the prior map to estimate the possible initial pose of the robot. Finally, a multiple hypotheses particle filter algorithm is proposed to achieve final localization. Experimental scenes are selected in the indoor parking lot with high dynamic characteristics and two electrical substations with the characteristics of sparse and large-scale. The experimental results show that the proposed algorithm has faster convergence speed and higher accuracy.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"4 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":"127736668","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 of a CloudROS enabled Mobile Robot 基于CloudROS的移动机器人的设计

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665101

Qian Gao, Hongtai Cheng

{"title":"Design of a CloudROS enabled Mobile Robot","authors":"Qian Gao, Hongtai Cheng","doi":"10.1109/ROBIO.2018.8665101","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665101","url":null,"abstract":"Mobile robot cannot work well when dealing with computation-intensive tasks because of its limited onboard computing and storage resources. The cloud robotics technology is able to solve this issue by expanding and offloading the robot's computations and data to the cloud. Most of the cloud robotics frameworks are compatible with ROS to fully utilize its rich packages and tool-sets. However, because of the interfacing and network structure problem, integrating cloud service to existing robot system usually requires much human effort. CloudROS is a cloud robotics framework which completely based on ROS and can be seamlessly integrated to ROS networks. All cloud services are provided as ROS nodes which can join the local robot's ROS network. The non-ROS protocols are masked by ROS service interface. In this paper, a mobile robot is designed to verify the effectiveness of the CloudROS architecture. The robot uses Raspberry Pi 3 as the main controller and microphone, stereo cameras to sense the world. The image processing, mapping building and navigation, human-robot interaction, data storing and remote monitoring functions are all realized through the cloud services. The experiments verify the effectiveness of the CloudROS framework and potentials of such a low-cost mobile robot.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"47 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":"126398048","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

Electronic Control Concept for Surgical Manipulators Generated Using an Automated Design Process 使用自动化设计过程生成的手术机械臂的电子控制概念

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665121

Y. Krieger, B. Walter, Jonas H. Pfeiffer, Thomas Thalhofer, A. Meining, T. Lüth

{"title":"Electronic Control Concept for Surgical Manipulators Generated Using an Automated Design Process","authors":"Y. Krieger, B. Walter, Jonas H. Pfeiffer, Thomas Thalhofer, A. Meining, T. Lüth","doi":"10.1109/ROBIO.2018.8665121","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665121","url":null,"abstract":"Since minimally invasive surgery is characterized by a high benefit for the patient, new instruments and techniques are needed to support the surgeon in the demanding surgical procedures. With our 3D-printed Single Port Overtube manipulator system (SPOT) that is designed for the use with standard endoscopic instruments, we develop a customizable disposable manipulator system for minimally invasive surgery. For the individualized system we want to provide a purely mechanical control concept as well as an electronic control concept for the actuation of monolithic manipulator arms. While the mechanical control concept had already been evaluated in an earlier work with positive and promising results, an electronic control concept that can be adapted to individual manipulator structures has not yet been implemented. In this paper we present the electrical control concept that is integrated into the automated design process for the manipulator systems. We describe the concept with its adaptable components and show a first evaluation of the functionality of the system.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"354 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":"125636500","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 Simple Rule for Quadrupedal Gait Transition Proposed by a Simulated Muscle-driven Quadruped Model with Two-level CPGs 基于两级CPGs的模拟肌肉驱动四足动物模型提出了四足动物步态转换的简单规则

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8664855

Yasushi Habu, Yuuta Yamada, S. Fukui, Y. Fukuoka

{"title":"A Simple Rule for Quadrupedal Gait Transition Proposed by a Simulated Muscle-driven Quadruped Model with Two-level CPGs","authors":"Yasushi Habu, Yuuta Yamada, S. Fukui, Y. Fukuoka","doi":"10.1109/ROBIO.2018.8664855","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8664855","url":null,"abstract":"This study aims to figure out the principles of gait generation and transition in quadrupeds by using a simulated quadruped model. We design a neuromorphic controller to drive the realistic muscle-driven legs of a cat model. Each leg has three joints driven by six muscle models, including two-joint muscles. We apply a two-level central pattern generator (CPG) to control each leg, which synergistically drives different sets of the muscles in each of the four phases (i.e., stance, lift-off, swing, and touch-down) and which can reproduce catlike leg trajectories. Consequently, we enable the simulated cat model to safely locomote in three-dimensional space. Although the CPGs inherently generate a trot pattern as a default gait, because of mutual inhibitory connections between the lateral neighboring CPGs, the gait autonomously transitions from walking to trotting to galloping, according to the speed. Note that the walking and galloping are not preprogrammed. This is caused by leg loading feedback to the CPGs, which was installed to maintain balance. Therefore, we hypothesize that each gait is generated by the differences in posture that arise at different speeds, and that there is a relationship between gait and posture control.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"15 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":"127907020","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: 8

A Gaussian Mixture Models based Multi-RRTs method for high-dimensional path planning 基于高斯混合模型的多rrts高维路径规划方法

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665048

Xin Zhao, Huan Zhao, Shaohua Wan, H. Ding

引用次数: 2

The Improvement of Dropout Strategy Based on Two Evolutionary Algorithms 基于两种进化算法的退出策略改进

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665324

Tianhao Chen, Wenchuan Jia, Yi Sun

引用次数: 0