2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献

The function of the spine and its morphological effect in quadruped robot locomotion 四足机器人运动中脊柱的功能及其形态学影响

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-14 DOI: 10.1109/ROBIO.2012.6490945

Qian Zhao, H. Sumioka, Xiaoxiang Yu, K. Nakajima, Zhimin Wang, R. Pfeifer

{"title":"The function of the spine and its morphological effect in quadruped robot locomotion","authors":"Qian Zhao, H. Sumioka, Xiaoxiang Yu, K. Nakajima, Zhimin Wang, R. Pfeifer","doi":"10.1109/ROBIO.2012.6490945","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6490945","url":null,"abstract":"In quadruped animals, spinal movements contribute to locomotion in terms of controlling body posture, providing the foundation to generate leg movement, and integrating limb and trunk actions. Inspired by this biological findings, we develop two quadruped models featuring different numbers of spinal joints to demonstrate the spine-driven locomotion behaviors. To gain a deep understanding of how the locomotion is achieved by axial driven propulsion and how the spinal morphology affects locomotion, we exclusively employ actuated spinal joint(s) to the model with a minimalistic control strategy. We choose three individuals from these two models and analyze their behaviors in terms of gait properties, i.e., angle of attack, ground clearance, and movement of the center of mass. The results show that employing the spinal morphology with two joints can greatly enhance the stability and speed of locomotion. Among several advantageous properties of the two spinal joint model we identify the following. First, it allows the robot to adjust the movement of the center of mass to stabilize itself. Second, by providing more freedom to bend the spine, the robot can pull the rear legs forward, thus increasing the stride length. Finally, locomotion with this model exhibits two flight phases and greater flight proportion during each stride, similar to what it is observed from running cheetahs, which make significant difference in the speed and the gait.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115248876","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

Landmark-Tree map: A biologically inspired topological map for long-distance robot navigation 地标树地图:一个受生物学启发的远距离机器人导航拓扑地图

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-11 DOI: 10.1109/ROBIO.2012.6490955

Marcus Augustine, F. Ortmeier, Elmar Mair, Darius Burschka, A. Stelzer, M. Suppa

引用次数: 21

Bond graph modeling of an over-actuated intelligent autonomous vehicle with decoupled steering wheel 方向盘解耦的过度驱动智能自动驾驶汽车键合图建模

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-11 DOI: 10.1109/ROBIO.2012.6491036

T. K. Bera, A. Samantaray, R. Merzouki, B. O. Bouamama

引用次数: 0

TACTIP — Tactile fingertip device, challenges in reduction of size to ready for robot hand integration 触觉指尖装置，挑战在于缩小尺寸，为机器人手集成做好准备

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-11 DOI: 10.1109/ROBIO.2012.6490960

B. Winstone, Gareth Griffiths, C. Melhuish, A. Pipe, J. Rossiter

{"title":"TACTIP — Tactile fingertip device, challenges in reduction of size to ready for robot hand integration","authors":"B. Winstone, Gareth Griffiths, C. Melhuish, A. Pipe, J. Rossiter","doi":"10.1109/ROBIO.2012.6490960","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6490960","url":null,"abstract":"Previous work on the TACTIP project has demonstrated a prototype tactile fingertip device, at a little over twice the diameter(40mm) of a human fingertip (16–20mm). Unlike most other developed MEMS sensors, the TACTIP device is appropriate for all tasks for which humans use their fingertips; examples include object manipulation, contact sensing, pressure sensing and shear force detection. This is achieved whilst maintaining a very high level of robustness. Further work with this concept has reduced the size of the device to that closely matching the range of a human fingertip (20mm). Previous development of the TACTIP device has in isolation, proven the potential for these applications, but not provided a benchmark specification of its technical performance. This paper presents benchmarking results from testing pressure and shear force readings using both versions of the TACTIP designs with comparisons that highlight the compromises encountered when reducing the physical build size of the device. The results show that a reduced size device offers greater sensitivity under lower forces, but cannot be subjected to the greater forces that the larger device can.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130739059","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: 37

An improved incremental online training algorithm for reducing the influence of muscle fatigue in sEMG based HMI 一种改进的基于表面肌电信号的HMI中减少肌肉疲劳影响的增量在线训练算法

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-11 DOI: 10.1109/ROBIO.2012.6491046

Yi Zhang, Xinli Xu, Yuan Luo, Huosheng Hu, Huiyu Zhou

引用次数: 2

A fully-autonomous hovercraft inspired by bees: Wall following and speed control in straight and tapered corridors 灵感来自蜜蜂的全自动气垫船:在直的和锥形的走廊上跟随墙壁和速度控制

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-11 DOI: 10.1109/ROBIO.2012.6491150

F. L. Roubieu, J. Serres, N. Franceschini, F. Ruffier, S. Viollet

{"title":"A fully-autonomous hovercraft inspired by bees: Wall following and speed control in straight and tapered corridors","authors":"F. L. Roubieu, J. Serres, N. Franceschini, F. Ruffier, S. Viollet","doi":"10.1109/ROBIO.2012.6491150","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491150","url":null,"abstract":"The small autonomous vehicles of the future will have to navigate close to obstacles in highly unpredictable environments. Risky tasks of this kind may require novel sensors and control methods that differ from conventional approaches. Recent ethological findings have shown that complex navigation tasks such as obstacle avoidance and speed control are performed by flying insects on the basis of optic flow (OF) cues, although insects' compound eyes have a very poor spatial resolution. The present paper deals with the implementation of an optic flow-based autopilot on a fully autonomous hovercraft. Tests were performed on this small (878-gram) innovative robotic platform in straight and tapered corridors lined with natural panoramas. A bilateral OF regulator controls the robot's forward speed (up to 0.8m/s), while a unilateral OF regulator controls the robot's clearance from the two walls. A micro-gyrometer and a tiny magnetic compass ensure that the hovercraft travels forward in the corridor without yawing. The lateral OFs are measured by two minimalist eyes mounted sideways opposite to each other. For the first time, the hovercraft was found to be capable of adjusting both its forward speed and its clearance from the walls, in both straight and tapered corridors, without requiring any distance or speed measurements, that is, without any need for on-board rangefinders or tachometers.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129704044","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: 25

Kinematic analysis and optimal design of a 3D compliant probe 三维柔性探头的运动学分析与优化设计

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491129

Zhang Xuchong, Chen Zhong, Zhang Xianmin

引用次数: 3

Self-stabilizing function of two dimensional human lower limb musculoskeletal system 二维人体下肢肌肉骨骼系统的自稳定功能

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6490998

Handdeut Chang, Y. Sugimoto, K. Osuka, Y. Sankai

引用次数: 4

Forward obstacle detection system by stereo vision 基于立体视觉的前方障碍物检测系统

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491236

Hiroaki Iwata, K. Saneyoshi

引用次数: 5

Stress relief robotic system based on diffused illumination multi-touch technology 基于漫射照明多点触控技术的应力释放机器人系统

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6490975

X. Tian, Xinyu Wu, Jianquan Sun, Ping Jiang, Ruiqing Fu

引用次数: 0