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

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URARAKA IV: Multi-Legged Robot with Suckers to Climb a Wall-Autonomous climbing and recovery from miss-adsorption- URARAKA IV:带吸盘爬墙的多腿机器人——自动爬墙和从缺失吸附中恢复
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665094
Makoto Okino, K. Nagayama, Kazuyuki Ito, T. Oomichi, S. Ashizawa, F. Matsuno
{"title":"URARAKA IV: Multi-Legged Robot with Suckers to Climb a Wall-Autonomous climbing and recovery from miss-adsorption-","authors":"Makoto Okino, K. Nagayama, Kazuyuki Ito, T. Oomichi, S. Ashizawa, F. Matsuno","doi":"10.1109/ROBIO.2018.8665094","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665094","url":null,"abstract":"In our previous works, we focused on a robot that climbs an unknown vertical wall by using suckers, and we developed an autonomous multi-legged robot by utilizing the passivity of its body. In this paper we enhance the autonomy of the previous robot by adding the procedure of an autonomous re-adsorption. Also experiments to climb a curved wall and a rough surface were also conducted, and the effectiveness of the developed robot was demonstrated.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"69 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":"117155853","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
Trajectory Tracking for Leader-Follower Vehicle System with Velocity Constraints 具有速度约束的Leader-Follower车辆系统的轨迹跟踪
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665096
Senyi Liu, Yutong Xie, Lianxin Zhang, Xiangyu Lei, Xiao Yu, Zhenglong Sun, Huihuan Qian
{"title":"Trajectory Tracking for Leader-Follower Vehicle System with Velocity Constraints","authors":"Senyi Liu, Yutong Xie, Lianxin Zhang, Xiangyu Lei, Xiao Yu, Zhenglong Sun, Huihuan Qian","doi":"10.1109/ROBIO.2018.8665096","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665096","url":null,"abstract":"Leader-follower system could expand the load capacity in transport tasks. While few related literatures pay attention to the physical limitation and limit the maximum output velocity of designed controller. This paper expands a trajectory tracking controller with velocity constraints to leader-follower system. Leader and follower are both subjected to linear velocity constraint and angular velocity constraint due to the physical limitation. Selected trajectory tracking controller is applied in leader-follower system. Meanwhile, noises in reference trajectory of follower are released by Kalman filter. Then, a physical experiment platform with Turtlebots is established to verify this control scheme. Finally, experiment results of several examples proved the practicability of proposed control system. The velocity commands of this control system would not exceed the limitation of physical limitation.","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":"123974118","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
Lower Limb Exoskeleton Control via Linear Quadratic Regulator and Disturbance Observer 基于线性二次型调节器和干扰观测器的下肢外骨骼控制
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665159
D. Castro, Chun-Hao Zhong, F. Braghin, W. Liao
{"title":"Lower Limb Exoskeleton Control via Linear Quadratic Regulator and Disturbance Observer","authors":"D. Castro, Chun-Hao Zhong, F. Braghin, W. Liao","doi":"10.1109/ROBIO.2018.8665159","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665159","url":null,"abstract":"Achieving a more human-like trajectory of lower limb exoskeleton for locomotion assistance requires accurate trajectory tracking control. However, this task has challenges due to the nonlinearities and disturbances acting on the system, which is interacting with the wearer and the surroundings. In order to improve the control performance, a Linear Quadratic Regulator with integral action (LQRi) and Unknown Input Observer (UIO) to compensate for disturbances are introduced. The chosen control strategy is model-based, therefore an accurate model of the exoskeleton is derived. Experiments are conducted, and the testing results compared with the previous Proportional Derivative (PD) controller show a performance improvement throughout the gait cycle, which proves the proposed control to be effective and easily implementable for lower limb exoskeleton control.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"27 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":"125969512","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
Anti-Jamming Path Planning for Unmanned Aerial Vehicles with Imperfect Jammer Information 干扰信息不完全的无人机抗干扰路径规划
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665238
Biqi Duan, Dong Yin, Yirui Cong, Han Zhou, Xiaojia Xiang, Lincheng Shen
{"title":"Anti-Jamming Path Planning for Unmanned Aerial Vehicles with Imperfect Jammer Information","authors":"Biqi Duan, Dong Yin, Yirui Cong, Han Zhou, Xiaojia Xiang, Lincheng Shen","doi":"10.1109/ROBIO.2018.8665238","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665238","url":null,"abstract":"In this paper, we consider an anti-jamming problem for one unmanned aerial vehicle (UAV) reaching a given destination with maintaining the communication quality, where the ground-to-air communication link is spatially affected by an adversarial jammer. Note that the jammer's position and transmit power are initially unknown. To solve this problem, we propose a jammer detection-localization-evasion framework. Firstly, we employ a jammer detection method combining the Received Signal Strength (RSS) with Packet Error Rate (PER). After the jammer is detected, our designed RSS based jammer localization algorithm is presented, which can estimate the jammer position and jamming signal power simultaneously. However, localization noises often exist in practical scenarios, and therefore the estimated jammer information is usually with uncertainties. To overcome these uncertainties, we propose a robust path planning method of successful jammer evasion. More specifically, the proposed method can guarantee the worst-case performance so that the communication quality can be always better than a certain level under all possible uncertainties. Finally, a UAV communication jammed model is built on Network Simulator (NS3) and corroborates the effectiveness of our proposed method.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"31 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":"125035868","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: 17
Identifying the Reality Gap Between Abstract and Realistic Models Using Evolved Agents and Simulated Kilobots 利用进化agent和模拟Kilobots识别抽象和现实模型之间的现实差距
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665178
Jane Holland, Ciaran Gallagher, J. Griffith, C. O'Riordan
{"title":"Identifying the Reality Gap Between Abstract and Realistic Models Using Evolved Agents and Simulated Kilobots","authors":"Jane Holland, Ciaran Gallagher, J. Griffith, C. O'Riordan","doi":"10.1109/ROBIO.2018.8665178","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665178","url":null,"abstract":"A common challenge in evolutionary swarm robotics is the transfer of simulated results into real-world applications. This difficulty can arise in a variety of real-world settings and problems such as sensory differences in robots and changes in the environment. We identify this reality gap at a simulation level by comparing the evolved behaviours of simulated Kilobots in two different models with different levels of abstraction. Our aim is to identify the reality gap that occurs at simulation level by increasing the task difficulty and noting differences in outcomes. Insights gained in this process may help rule out any further causes of reality gap when moving to experiments with physical robots.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"10 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":"129796168","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
Fuzzy Sliding Mode Control of a Continuum Manipulator 连续统机械臂的模糊滑模控制
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665111
Yan Yu, Qian Shi, H. Lam
{"title":"Fuzzy Sliding Mode Control of a Continuum Manipulator","authors":"Yan Yu, Qian Shi, H. Lam","doi":"10.1109/ROBIO.2018.8665111","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665111","url":null,"abstract":"This paper presents a study of a sliding mode control algorithm combined with fuzzy logic to control a continuum manipulator with bending and contractile capability. The dynamic model of the continuum manipulator is developed by Euler-Lagrangian equation of motion. The system kinetic energy and potential energy are calculated as the integration of the energies in each slice perpendicular to the backbone. The fuzzy sliding mode control is proposed based on sliding mode control method to realize the tracking control on bending and contractile of the continuum manipulator. By applying the feedback gains varying to the manipulator configuration, the fuzzy sliding mode control can attenuate the chattering problem without losing robustness. The simulation results show that the proposed fuzzy sliding mode controller effectively tackles the chattering problem and gives a good system performance in tracking control results.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"22 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":"127185066","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
Assembly Control Parameter Learning for Complex Robotic Assembly Processes 复杂机器人装配过程的装配控制参数学习
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665309
Qi Hong, Heping Chen, Biao Zhang, T. Fuhlbrigge
{"title":"Assembly Control Parameter Learning for Complex Robotic Assembly Processes","authors":"Qi Hong, Heping Chen, Biao Zhang, T. Fuhlbrigge","doi":"10.1109/ROBIO.2018.8665309","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665309","url":null,"abstract":"Recently robotic technology has been advanced rapidly. There are many robotic applications in manufacturing environments to replace human workers. However there are many unsolved problems in robotic automation. One issue is how to optimize a robotic manufacturing process. To face this challenge, this paper proposes a robot learning method to optimize process control parameters. The system performance including cycle and First Time Through rate can be optimized. Experimental platforms have been developed and experimental results demonstrate the proposed control parameter learning method is very effective compared to other existing methods. Hence the proposed method will make industrial robots more intelligent to meet the modern manufacturing demands in Industry 4.0.","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":"130028417","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
2D Object Localization Based Point Pair Feature for Pose Estimation 基于点对特征的二维目标定位姿态估计
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665097
Diyi Liu, S. Arai, Zhuang Feng, Jiaqi Miao, Yajun Xu, J. Kinugawa, K. Kosuge
{"title":"2D Object Localization Based Point Pair Feature for Pose Estimation","authors":"Diyi Liu, S. Arai, Zhuang Feng, Jiaqi Miao, Yajun Xu, J. Kinugawa, K. Kosuge","doi":"10.1109/ROBIO.2018.8665097","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665097","url":null,"abstract":"To automate the bin picking task with robots, pose estimation is the key challenge which identifies and locates objects, thus the robot can pick and manipulate the object in an accurate and reliable way. This paper proposes a novel solution which combines a machine learning based 2D object localization and a non-machine learning based 3D pose estimation method to estimate the pose of randomly piled up industrial parts. Given an image of a scene, the target part is localized in 2D first and its result is then used to crop the point cloud of the target part. Using the cropped point cloud and Boundary-to-Boundary-using-Directional-Tangent-Line (B2B-DTL) point pair feature, a novel descriptor, the proposed method could estimate the pose of industrial parts whose point clouds lack key details, for example, the point cloud of ridges of a part. Our algorithm is evaluated against real scenes and its experimental results show that the proposed method is sufficiently accurate and its online computation time is short, which makes it could be used in the real factory 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":"130056853","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: 16
A Double-jaw Hand that Mimics A Mouth of the Moray Eel 模仿海鳗嘴的双颚手
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665315
Joshua C. Triyonoputro, Weiwei Wan, Kantapon Akanesuvan, K. Harada
{"title":"A Double-jaw Hand that Mimics A Mouth of the Moray Eel","authors":"Joshua C. Triyonoputro, Weiwei Wan, Kantapon Akanesuvan, K. Harada","doi":"10.1109/ROBIO.2018.8665315","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665315","url":null,"abstract":"In this paper, we develop a gripper by mimicking the pharyngeal jaw of a moray eel to perform assembly tasks. A moray eel has two sets of jaws called the oral jaw (the main jaw) and the pharyngeal jaw (the smaller jaw). The pharyngeal jaw is mobile, which means it is able to go forward or backward relative to the oral jaw. By likening each jaw as a two-finger parallel gripper, we develop a bio-inspired robotic hand with similar structure, which we call a double jaw hand. The two parallel grippers in the double jaw hand are connected by a prismatic joint on a common approaching vector. Similar to moray eels, the double jaw hand is able to hold objects using the outer gripper and hand over them to the inner gripper (inspired by how a moray eel captures and swallows objects). Also, it is able to assemble and disassemble industrial parts (inspired by how a moray eel cuts its prey). Several experiments are performed to demonstrate the design and the abilities.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"32 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":"132379855","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
Geometry and Material Optimization of a Soft Pneumatic Gripper for Handling Deformable Object 可变形物体柔性气动夹持器的几何结构与材料优化
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665234
Zhongkui Wang, S. Hirai
{"title":"Geometry and Material Optimization of a Soft Pneumatic Gripper for Handling Deformable Object","authors":"Zhongkui Wang, S. Hirai","doi":"10.1109/ROBIO.2018.8665234","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665234","url":null,"abstract":"Handling deformable object by a soft robotic gripper presents a challenging task due to the complex interaction between the gripper and the object. This paper focuses on investigating optimal design of a soft pneumatic gripper for handling deformable object. Two geometrical parameters of the soft finger were investigated and minimizing the deformation of the grasping target was considered as the objective. Finite element (FE) simulation was iterated until the optimal parameters were found. The optimized geometry of the soft finger was then used to investigate the optimal material property following the same process. Soft fingers with different designs and different materials were fabricated and experimentally tested to validate the optimization results. Finally, results suggested that optimal design could reduce the deformation on the target and softer material is more preferable and energy efficient for handling deformable objects.","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":"132037974","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: 12
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