2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献_第4页

A fast and robust head pose estimation system based on depth data 基于深度数据的快速鲁棒头部姿态估计系统

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491011

Xiaozheng Mou, Han Wang

{"title":"A fast and robust head pose estimation system based on depth data","authors":"Xiaozheng Mou, Han Wang","doi":"10.1109/ROBIO.2012.6491011","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491011","url":null,"abstract":"This paper proposes a performance enhancement algorithm for Kinect depth data based head pose estimation method that uses discriminative random regression forest (DRRF). In the testing phase of DRRF, patches are extracted from the whole query depth image and then are passed through each of the tree in the trained forest for head detection and head pose estimation. In this procedure, however, errors in head detection may occur when some complex background information appears in the depth image. Moreover, the more background information the depth image contains, the more processing time is required. Another drawback of DRRF is that it is very sensitive in live mode. For example, the measurement of head pose may vibrate heavily even the pose of the head stays unchanged. In this paper, we present an improved algorithm by combining DRRF with Kalman filter. The new algorithm has greatly improved the reliability for head pose estimation. In this approach, the head location is first predicted using Kalman filter, and then patches are extracted from the head region defined by the predicted head location. The head pose is then estimated by passing these patches through DRRF for regression. Finally, the noisy regression result is refined by the correcting model of Kalman filter. Experimental results show that the proposed algorithm is faster, more robust and more accurate than the original DRRF.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"93 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":"127855178","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: 6

Distributed formation control for a cooperative multi-agent system using potential function and extremum seeking algorithm 基于势函数和极值搜索算法的协同多智能体系统分布式编队控制

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491244

Heng Li, Jun Peng, J. Xiao, Feng Zhou, Weirong Liu, Jing Wang

{"title":"Distributed formation control for a cooperative multi-agent system using potential function and extremum seeking algorithm","authors":"Heng Li, Jun Peng, J. Xiao, Feng Zhou, Weirong Liu, Jing Wang","doi":"10.1109/ROBIO.2012.6491244","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491244","url":null,"abstract":"The formation control and communication optimization problem of a multi-agent system is considered in this article. A classical approach for the formation control problem is potential function method. With potential function, agents are kept a given separation distance with neighbors. Since communication quality will generally change due to the physical environment during formation, a given separation distance might not always be the desired communication distance. In this paper, a distributed scheme integrating potential function and extremum seeking algorithm is proposed to obtain the desired separation distance between neighboring agents in real-time. A comprehensive performance index related to the environment is presented first, capturing a trade-off between formation tasks and communication quality. Since it is difficult to predict the gradient of the performance in physical environments, an adaptive model-free extremum seeking algorithm is developed, which calls for no knowledge of the gradient of the performance. Then the desired separation distance can be obtained dynamically by maximizing the performance with extremum seeking algorithm. Simulation results demonstrate effectiveness of the proposed scheme.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"38 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":"127872803","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: 5

The analysis and synthesis of PID controller based on closed loop response characteristics 基于闭环响应特性的PID控制器的分析与综合

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491250

Zhiqiang Zhu, Yuqing He, Juntong Qi, Jianda Han, Tianran Wang

{"title":"The analysis and synthesis of PID controller based on closed loop response characteristics","authors":"Zhiqiang Zhu, Yuqing He, Juntong Qi, Jianda Han, Tianran Wang","doi":"10.1109/ROBIO.2012.6491250","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491250","url":null,"abstract":"In this paper, a new PID parameter tuning method is proposed. First, extensive analysis of the PID frequency properties is conducted. Based on the analysis results, the concept of characteristic frequency of the PID controller is proposed, which builds a relationship between the PID parameters and the oscillation characteristics of the closed loop response of the PID control system. This relationship makes it possible to adjust the PID parameters according to the oscillation characteristics of the closed loop response of the PID control system. Based on the characteristic frequency of the PID controller and the corresponding analysis results, three tuning rules of the PID parameters are proposed, which are based on the characteristics of the closed loop response. The merits of these tuning rules are: only the characteristics of the closed loop response of the control system are required in the tuning process, while the system model of the controlled object is not required. The effectiveness of these tuning rules is verified by the simulation results for several models of the controlled objects.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"11 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":"130137131","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

Self-tuning of two-axis autopilot for small aeroplanes and aerial robots 小型飞机和空中机器人两轴自动驾驶仪的自调谐

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491083

D. Matko, T. Tomazic, R. Markovic

引用次数: 2

Offline kinematics analysis and path planning of two-robot coordination in exhaust manifold welding 排气歧管焊接双机器人协调的离线运动分析与路径规划

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491230

Fan Ouyang, Tie Zhang, Can Ying

{"title":"Offline kinematics analysis and path planning of two-robot coordination in exhaust manifold welding","authors":"Fan Ouyang, Tie Zhang, Can Ying","doi":"10.1109/ROBIO.2012.6491230","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491230","url":null,"abstract":"This paper focuses on the two-robot welding coordination of complex curve seam that one robot grasp the workpiece, the other hold the torch, the two robots work on the same workpiece coordinately. This paper builds the two-robot coordinate system at the beginning. After that, the non master/slave scheme is chosen for the path planning, the non master/slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two robot end effecter paths through the constrained relationship automatically. Moreover, Downhand welding is employed which can guarantee the torch and the seams keep in good contact condition all the time during the welding process. Besides, a Solidworks-SimMechanics simulation platform is established, and a simulation of Exhaust Manifold welding is conducted. Finally, the results of the simulation illustrate the welding process can meet the requirements of predefined torch pose planning and the downhand welding. In addition, two advantages of two industrial robot coordinated welding are summarized compared with arc-welding robot and positioning table system.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"16 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":"134126361","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 of unit for haptic device on foot 步行触觉装置单元设计

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491214

Y. Masuda, T. Kikuchi, W. Kobayashi, T. Mitsumata, S. Ohori

{"title":"Design of unit for haptic device on foot","authors":"Y. Masuda, T. Kikuchi, W. Kobayashi, T. Mitsumata, S. Ohori","doi":"10.1109/ROBIO.2012.6491214","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491214","url":null,"abstract":"Walking and traveling are popular recreation activities for the elderly in Japan. These activities are also mild exercises and have good effects for their health. However, people suffering from physical and / or cognitive disorders have a difficulty in going out and walking in real environments. Therefore we have proposed a virtual walking system with a haptic device on feet. This system consists of visual, sound, and haptic devices to present various kinds of ambient information for users. Especially, development of the haptic interface for feet soles is a new challenge. In this paper, we discuss a use of magnetic field sensitive elastomers (MSEs) as working materials for the device. We developed an electromagnet as a testbed of MSE and evaluated it performance. According to the measurement of planter pressures, this device can perform different pressures on soles by applying magnetic field. The result also implied necessities of the improvement of the magnetic circuit and basic structure for more feasible device. According to the experimental results on a dot-type braille block, a target level of the maximum plantar pressure was clarified. On the basis of these results, we designed a unit for the haptic device on feet.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"4 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":"134233935","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

Intuitive operation of a wheelchair mounted robotic arm for the upper limb disabled: The mouth-only approach 用于上肢残疾人的轮椅机械臂的直观操作:只用嘴的方法

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491218

Wei Wang, Zeyu Zhang, Y. Suga, H. Iwata, S. Sugano

引用次数: 7

Development of MorphHand: Design of an underactuated anthropomorphic rubber finger for a prosthetic hand using compliant joints MorphHand的发展:一种使用柔顺关节的假手的欠驱动拟人化橡胶手指的设计

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6490957

T. Tarvainen, Wenwei Yu, J. González-Vargas

{"title":"Development of MorphHand: Design of an underactuated anthropomorphic rubber finger for a prosthetic hand using compliant joints","authors":"T. Tarvainen, Wenwei Yu, J. González-Vargas","doi":"10.1109/ROBIO.2012.6490957","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6490957","url":null,"abstract":"This paper describes the design of a 3D-printed rubber finger with simple compliant joints for an anthropomorphic prosthetic hand. This hand, called MorphHand, is developed to test a new manufacturing method that combines the ideas of morphological computation, compliant mechanisms, biomimetics, personalization, and rapid manufacturing. In this paper, the essential features and parameters for the design of the finger were investigated with the goal of achieving inherent flexibility and similar, smooth and natural trajectories as the human hand. Five two-joint rubber fingers with nine different structural and material configurations were 3D-printed and tested. Trajectory, joint angle, and force data were acquired by using a motion capture system and a force gauge. Finally, the results were compared to a real finger. The chosen morphological parameters had the expected effects on the fingers' response and three of the configurations resulted in a close to natural response. Also, one of the fingers had closed air pockets behind its joints. This made the finger's extension faster and its cosmesis better, making the structure interesting for further development.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"780 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":"133005824","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

Field Programmable Gate Array (FPGA) based Collision Avoidance using acceleration velocity obstacles 基于现场可编程门阵列(FPGA)的加速速度障碍物避碰技术

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491318

Roopak Dubey, Neeraj Pradhan, K. Madhava Krishna, S. R. Chowdhury

引用次数: 7

Posture study for self-training system of patient transfer 病人转运自我训练系统的姿势研究

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491073

Zhifeng Huang, A. Nagata, M. Kanai-Pak, J. Maeda, Y. Kitajima, Mitsuhiro Nakamura, Kyouko Aida, N. Kuwahara, T. Ogata, J. Ota

{"title":"Posture study for self-training system of patient transfer","authors":"Zhifeng Huang, A. Nagata, M. Kanai-Pak, J. Maeda, Y. Kitajima, Mitsuhiro Nakamura, Kyouko Aida, N. Kuwahara, T. Ogata, J. Ota","doi":"10.1109/ROBIO.2012.6491073","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491073","url":null,"abstract":"Sufficient training with feedback was important for nursing students to learn the techniques. In view of this, we studied the method for measuring and evaluating the performance of nursing students in order to develop a self-training system. Focusing on the training of transferring a patient from a bed to a wheelchair, we defined seven evaluation items related with the postures. In addition, evaluation indexes of each item were determined. Then, we established a prototype system based on two Kinect range cameras. Using the system, first, we recognized the body parts and joints through the color of the markers attached on the bodies. After that, the body joints' spatial locations and body parts' inclination angles were measured via the combination of color and depth information in order to calculate the indexes. We applied Bayes minimum error decision to classify nursing students' performance of each items as correct or incorrect. Ten inexperienced nursing students and five experienced nurses were asked to transfer patient from a bed to a wheelchair at least twice. Every time the patient was transferred, the nursing teacher evaluated the trainee's performance. In addition, proposed system measured and recorded the data. The significant difference between correct and incorrect performance of each item was observed through the determined indexes (P<0.01). Accuracy of performance classification was examined by the leave one-out cross-validation. The average of accuracy was up to 80%. These results suggested that the defined index was effective and the proposed classification approach could classify the performance of the nursing students as almost the same as the nursing teacher did.","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":"131262213","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: 6