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

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Virtual therapist: A Phantom robot-based haptic system for personalized post-surgery finger rehabilitation 虚拟治疗师:用于个性化手术后手指康复的基于Phantom机器人的触觉系统
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491206
Zhe Xu, R. Fiebrink, Y. Matsuoka
{"title":"Virtual therapist: A Phantom robot-based haptic system for personalized post-surgery finger rehabilitation","authors":"Zhe Xu, R. Fiebrink, Y. Matsuoka","doi":"10.1109/ROBIO.2012.6491206","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491206","url":null,"abstract":"Finger rehabilitation is crucial to a patient's full recovery following finger surgery. In order to avoid contact-induced infection while simultaneously improving patient motivation and reducing barriers to therapist customization of the rehabilitation system, we design the Virtual Therapist: a Phantom robot-based haptic system with a user-friendly software interface. An anatomically correct finger model is derived and implemented for calculating the four joint angles of a patient's index finger so that only the fingertip needs to be coupled with the Phantom robot for data collection purposes. A demonstration-based user interface allows the therapist to personalize a rehabilitation plan for the patient. We qualitatively validate the efficacy of our proof-of-concept system through observing the performance of three human adults. In less than eight minutes, all three subjects could correctly and proficiently use the system in the role of either patient or therapist.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"195 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115487804","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: 4
Design and kinematics simulation for bionic crank-slider mechanism of jumping robot 跳跃机器人仿生曲柄滑块机构设计与运动学仿真
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491065
Zhao Kai, Yin Junmao, Chen Diansheng, Wang Tianmiao
{"title":"Design and kinematics simulation for bionic crank-slider mechanism of jumping robot","authors":"Zhao Kai, Yin Junmao, Chen Diansheng, Wang Tianmiao","doi":"10.1109/ROBIO.2012.6491065","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491065","url":null,"abstract":"Jumping locomotion is an ideal means of overcoming obstacles and traversing rough terrain. By taking inspirations from the locust, this paper presents the development and analysis of a novel crank-slider jumping mechanism. Firstly, the locust morphology is described and the posture of hindlimbs at take-off phase is analyzed. Base on that, a crank-slider mechanism is proposed to mimic the locust hindlimb. The mechanical analysis shows that the ground reaction force is similar to that of the locust during take-off stage, which reduce the possibility of premature lift-off and lays the foundation for developing the small jumping robot. Then, the designed robot employs elastic elements in the crank-slider mechanism, which is triggered by the segment-gear system. At last, its jumping performance is verified by kinematic modeling.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124872982","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
Combining stereo vision and fuzzy image based visual servoing for autonomous object grasping using a 6-DOF manipulator 结合立体视觉和模糊图像的六自由度机械手自主抓取目标视觉伺服
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491213
L. Hanh, Chyi-Yeu Lin
{"title":"Combining stereo vision and fuzzy image based visual servoing for autonomous object grasping using a 6-DOF manipulator","authors":"L. Hanh, Chyi-Yeu Lin","doi":"10.1109/ROBIO.2012.6491213","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491213","url":null,"abstract":"This research presents a new grasping method in which a 6-DOF industrial robot can autonomously grasp a stationary, randomly positioned rectangular object using a combination of stereo vision and image-based visual servoing with a fuzzy controller (IBVSFC). First, openCV software and a color filter algorithm are used to extract the specific color features of the object. Then, the 3D coordinates of the object to be grasped are derived by the stereo vision algorithm, and the coordinates are used to guide the robotic arm to the approximate location of the object using inverse kinematics. Finally, IBVSFC precisely adjusts the pose of the end-effector to coincide with that of the object to make a successful grasp. The accuracy and robustness of the system and the algorithm were tested and proven to be effective in real scenarios involving a 6-DOF industrial robot. Although the application of this research is limited in grasping a simple cubic object, the same methodology can be easily applied to objects with other geometric shapes.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123521195","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
Geometric modelling of multisection bionic manipulator: Experimental validation on RobotinoXT 多节仿生机械臂几何建模:RobotinoXT的实验验证
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491263
C. Escande, R. Merzouki, P. Pathak, V. Coelen
{"title":"Geometric modelling of multisection bionic manipulator: Experimental validation on RobotinoXT","authors":"C. Escande, R. Merzouki, P. Pathak, V. Coelen","doi":"10.1109/ROBIO.2012.6491263","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491263","url":null,"abstract":"This paper deals firstly with experimental validation of the forward geometric models of a bionic manipulator, developed for the case of multi-section. This bionic manipulator is the main component of the mobile-manipulator robot called RobotinoXT. The choice of RobotinoXT is due to the industrial based research on mobile-bionic manipulator robot. The model is used for the overall accurate control of the position and the orientation of the end of the gripper relative to the mobile platform. Secondly, the paper describes methodology of the calculation of the inverse geometric model applied to one bending section.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121885190","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: 22
Integrated rotary compliant joint and its impedance-based controller for single-joint pressing massage robot 单关节按压按摩机器人集成旋转柔顺关节及其阻抗控制器
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491255
Yuancan Huang, Chongjian Ran, Jian Li, Guodong Li
{"title":"Integrated rotary compliant joint and its impedance-based controller for single-joint pressing massage robot","authors":"Yuancan Huang, Chongjian Ran, Jian Li, Guodong Li","doi":"10.1109/ROBIO.2012.6491255","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491255","url":null,"abstract":"For the purpose of developing a lightweight massage robotic arm ensuring safe human-robot contact, reduction of large force caused by shocks, and accurate and stable force following, a compact, integrated rotary compliant joint is designed, and a simple single-joint pressing massage robot is constructed in order to verify the compliant joint's performance. Then, the impedance-based controller with joint torque control is presented, which is robust to unstructured environment during human-robot interaction, and is used to accomplish pressing massage by the single-joint robot. Experimental results show that the developed integrated rotary compliant joint is efficient to fulfill its function during robot pressing massage and is eligible for the construction of service robots in which safe human-robot interaction is necessary.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122727187","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
Robot aided object segmentation based on kinect without prior knowledge 基于kinect的无先验知识机器人辅助目标分割
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491226
Wenzheng Chi, M. Meng, Xijun Chen
{"title":"Robot aided object segmentation based on kinect without prior knowledge","authors":"Wenzheng Chi, M. Meng, Xijun Chen","doi":"10.1109/ROBIO.2012.6491226","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491226","url":null,"abstract":"As a significant step in artificial intelligence, robot aided object segmentation has drawn increasing attention in past decades. In this paper, a new object segmentation method is proposed based on 3-D information and robot manipulation. We use the Kinect to get the depth information of the object directly as well as the detected contours of it, with which both the primary object segmentation and the 3-D localization of the object can be formed. The usage of Kinect will not only simplify the segmentation process but also improve the performance. Next, the robot arm WAM (Whole Arm Manipulator) with a larger payload is chosen as the manipulator to make further judgment, making it possible to deal with a heavier object. After the manipulation, object segmentation can be accomplished according to the different occasions. Experiments are conducted to prove the effectiveness of this approach.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123978438","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
Path planning algorithm for space manipulator with a minimum energy demand 空间机械臂能量需求最小的路径规划算法
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491189
Wingkwong Chung, Yangsheng Xu
{"title":"Path planning algorithm for space manipulator with a minimum energy demand","authors":"Wingkwong Chung, Yangsheng Xu","doi":"10.1109/ROBIO.2012.6491189","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491189","url":null,"abstract":"This paper presents a methodology to plan a global path for the gaits of space manipulators with a minimum total energy demand. Different from conventional approaches, we propose the consideration of the motions composition for a manipulator to plan a path. For the path planning problem, it is first modeled as a Traveling Salesman Problem (TSP) and the optimization goal is to search a path with a minimum energy demand. After that, the individual energy demand of different gaits of a space manipulator is estimated and analyzed. To solve the optimization problem, conventional genetic algorithm (GA) is utilized. To enhance the performance of GA, we design and develop a novel genetic operator, called Planar-NN. It aims to search a solution path with more motion primitives which contribute a lower energy demand. To evaluate the performance of the proposed algorithm, numerous simulations are performed. Results show that it can search a path with the lowest total energy demand.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125511477","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: 4
Recognition of motion of human upper limb using sEMG in real time: Towards bilateral rehabilitation 基于表面肌电信号的上肢运动实时识别:面向双侧康复
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491165
Zhibin Song, Shuxiang Guo, Muye Pang, Songyuan Zhang
{"title":"Recognition of motion of human upper limb using sEMG in real time: Towards bilateral rehabilitation","authors":"Zhibin Song, Shuxiang Guo, Muye Pang, Songyuan Zhang","doi":"10.1109/ROBIO.2012.6491165","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491165","url":null,"abstract":"The surface electromyographic (sEMG) signal has been researched in many fields, such as medical diagnoses and prostheses control. In this paper, recognition of motion of human upper limb by processing sEMG signal in real time was proposed for application in bilateral rehabilitation, in which hemiplegia patients trained their impaired limbs by rehabilitation device based on motion of the intact limbs. In the processing of feature exaction of sEMG, Wavelet packet transform (WPT) and autoregressive (AR) model were used. The effect of feature exaction with both methods was discussed through the processing of classification where Back-propagation Neural Networks were trained. The experimental results show both methods can obtain reliable accuracy of motion pattern recognition. Moreover, on the experimental condition, the recognized accuracy of WPT is higher than that of AR model.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126487201","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
Keypoints based laser scan matching — A robust approach 基于关键点的激光扫描匹配——一种鲁棒方法
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491056
R. Ray, D. Banerji, S. Nandy, S. N. Shome
{"title":"Keypoints based laser scan matching — A robust approach","authors":"R. Ray, D. Banerji, S. Nandy, S. N. Shome","doi":"10.1109/ROBIO.2012.6491056","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491056","url":null,"abstract":"This paper aims at development of a robust keypoints based scan matching (KSM) methodology for 2D laser data applied to mobile robot navigation. In this method feature points are first transformed to grid points, and then represented in the form of image. Keypoints are extracted using Harris corner detection method and finally matching is done by RANSAC method. Real world experiments have been carried out to evaluate the utility and robustness of the proposed method. A comparison has been drawn with scan matching technique with ICP method. The proposed method might be used in a robust manner for mobile robot navigation with moderate computational complexity.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125877187","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
Robot tadpole with a novel biomimetic wire-driven propulsor 一种新型仿生线驱动推进器的蝌蚪机器人
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491025
Baofeng Liao, Zheng Li, R. Du
{"title":"Robot tadpole with a novel biomimetic wire-driven propulsor","authors":"Baofeng Liao, Zheng Li, R. Du","doi":"10.1109/ROBIO.2012.6491025","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491025","url":null,"abstract":"This paper presents a robot tadpole which is actuated by a novel biomimetic wire-driven flapping propulsor. The propulsor has a 12-vertebra serpentine backbone and each pair of adjacent vertebras forms a spherical joint. The vertebras are divided into two groups and each group is controlled by a set of wires. By controlling the two sets of wires, the propulsor can generate oscillatory motion (C-Motion) and undulatory motion (S-Motion). A prototype is built. Experiment results show that the design is effective. Its maximum cruise speed of is 0.288 BL/s, and the turning radius is 0.8 BL.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129854592","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
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