2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献_第5页

Robust Global Localization by Using Global Visual Features and Range Finders Data 基于全局视觉特征和测距仪数据的鲁棒全局定位

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8664899

Xuefeng Zhou, Zerong Su, Dan Huang, Hong Zhang, Taobo Cheng, Junjun Wu

{"title":"Robust Global Localization by Using Global Visual Features and Range Finders Data","authors":"Xuefeng Zhou, Zerong Su, Dan Huang, Hong Zhang, Taobo Cheng, Junjun Wu","doi":"10.1109/ROBIO.2018.8664899","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8664899","url":null,"abstract":"Global localization is a challenging problem of using sensor data to estimate the pose of a robot in an environment when the starting pose is unknowm. The conventional probabilistic algorithms called Monte Carlo Positioning (MCL) is one of the most popular methods to solve this problem. MCL algorithms use a set of weighted particles to approximate the distribution probability of where the robot is located and it requires a wandering motion to converge to a single, high likelihood pose during global localization. Sometimes this wandering motion is not allowed in actual industrial applications. This paper presents a framework which incorporates image-based localization module into a conventional MCL algorithm. The core module in our proposed approach is called Double Re-localization Decision Process (DRDP) by performing two selection of relocation decisions before and after the pose update process with two different sensor sources. A compact global descriptor is used for fast image association and a scan matching using vanilla ICP (Iterative Closest Point) of Point-to-line metric is applied to obtain further pose of the proposal candidate. Several experiments are designed to verify the effectiveness of the our approach in indoor environment.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"34 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":"132229812","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

Kinematic Modelling and Analysis of an Ess-board-like Robot 无板状机器人的运动学建模与分析

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8664835

Z. Zeng, Daye Chen, Zhang Tao, Y. Guan

引用次数: 5

Searching Behavior of a Simple Manipulator Only with Sense of Touch Generated by Probabilistic Flow Control 概率流控制生成的仅具有触觉的简单机械臂搜索行为

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665261

R. Ueda

引用次数: 0

Reach-to-Grasp Planning for a Synergy-Controlled Robotic Hand Based on Grasp Quality Prediction 基于抓取质量预测的协同控制机械手触手抓取规划

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665139

Zenghui Liu, Zhonghao Wu, Tianlai Dong, Xiangyang Zhu, Kai Xu

{"title":"Reach-to-Grasp Planning for a Synergy-Controlled Robotic Hand Based on Grasp Quality Prediction","authors":"Zenghui Liu, Zhonghao Wu, Tianlai Dong, Xiangyang Zhu, Kai Xu","doi":"10.1109/ROBIO.2018.8665139","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665139","url":null,"abstract":"Grasp analysis of multi-fingered robotic hands has been actively investigated via the use of postural synergies in the past a few years. During grasp planning, the variables for the hand's low-dimensional representation are often optimized together with the hand's position and orientation. The planning optimization terminates when a stable grasp is reached, usually after repetitive trials and resulting in relatively low planning efficiency. This paper proposes a gradient-based algorithm to plan reach-to-grasp task for a robotic hand. The key feature is to predict the grasp quality and adjust the hand's postural synergies, position and orientation in the hand's approaching phase, in order to arrive at a stable grasp with minimal trials. The measure, used for the grasp quality assessment, is modified from the Q distance. The Q distance is a differentiable measure that has been shown highly efficient in quantifying grasp quality. Derivations and formulations of this algorithm are elaborated. The planning for multi-fingered pinches of various objects is successfully realized. Inclusion of additional contact points on the palm would enable the proposed algorithm applicable for grasp planning, eventually leading to a unified framework for efficient reach-to-grasp planning in the near future.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"24 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":"134293153","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

Tightly-coupled Data Fusion of VINS and Odometer Based on Wheel Slip Estimation 基于轮滑估计的VINS与里程表紧密耦合数据融合

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665337

Zhiqiang Dang, Tianmiao Wang, F. Pang

引用次数: 13

Temporally Coded Exposure Camera for High-Speed Feedback of Microscopic 3D Information 用于显微三维信息高速反馈的时间编码曝光相机

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665276

Kazuki Yamato, Toshihiko Yamashita, Hiroyuki Chiba, H. Oku

引用次数: 0

Increasing Precision of the Raven-II Surgical Robot by Applying Cascade Control 应用级联控制提高Raven-II手术机器人的精度

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8664821

K. Schwaner, P. T. Jensen, T. Savarimuthu

{"title":"Increasing Precision of the Raven-II Surgical Robot by Applying Cascade Control","authors":"K. Schwaner, P. T. Jensen, T. Savarimuthu","doi":"10.1109/ROBIO.2018.8664821","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8664821","url":null,"abstract":"Automated execution of surgical procedures using a robot has the potential to facilitate training of novice surgeons and reduce workload. However, many current surgical robots are not built for autonomous task execution, but manual teleoperation, which means that they are often imprecise. This also applies to the Raven-II surgical robot. This paper explores a cascade control scheme applied to the Raven -II.This scheme is beneficial in the face of the significant dynamics of the robot. The hypothesis is that this alternative control scheme, compared to the previous method, will reduce the trajectory-following error and improve robot precision. To compare controller performances, an initial qualitative experiment is carried out with the three positioning joints of the robot, where individual joints are each commanded to move along smooth reference trajectories in joint-space. A more quantitative measure is found in a second experiment in which the control methods are compared by looking at their ability to follow the same predefined path between 500 randomly generated tool-space configurations. The cascade control scheme is shown to better achieve tight control, reduce trajectory-following error and improve robot precision even with less-than-optimally tuned gain parameters. The improvement is modest when compared to the error in the robot state estimate.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"114 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":"133014048","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

Control of Free-Floating Space Robots to Capture Targets Using Soft Q-Learning 基于软q学习的自由漂浮空间机器人捕获目标控制

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665049

Changzhi Yan, Qiyuan Zhang, Zhaoyang Liu, Xueqian Wang, Bin Liang

引用次数: 9

Prediction of EMG Signal on Missing Channel from Signal Captured from Other Related Channels via Deep Neural Network 基于深度神经网络的缺失通道肌电信号预测

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8664796

Ping-lu Wang, E. Tan, Yinli Jin, Li Li, Jun Wang

引用次数: 5

Cell Microinjection Device Suitable for Curved Needle Based on Triangular Flexible Mechanism 基于三角形柔性机构的弯曲针头细胞微注射装置

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665304

Su Yan, Haibo Huang, Liguo Chen, Xiwei Gao, Yaqing Li

引用次数: 0