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

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Hierarchical fall avoidance strategy for small-scale humanoid robots 小型人形机器人的分层避摔策略
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6490934
Bassam Jalgha, Daniel C. Asmar, Elie A. Shammas, I. Elhajj
{"title":"Hierarchical fall avoidance strategy for small-scale humanoid robots","authors":"Bassam Jalgha, Daniel C. Asmar, Elie A. Shammas, I. Elhajj","doi":"10.1109/ROBIO.2012.6490934","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6490934","url":null,"abstract":"Ankle, momentum, and/or take-a-step strategies constitute different schemes that a humanoid robot may take to avoid falling, where each strategy has a different energy overhead associated to it. To minimize energy consumption it is important to know when each of these strategies can be applied and yet be effective at preventing a fall. This paper is a continuation of our previous work on the development of a hierarchical fall avoidance approach for humanoid robots. While ankle and hip strategies were previously developed, here we develop a decision surface for a stepping strategy that determines at the onset of a disturbance if by taking a step falling can be avoided. Experiments are conducted on the Webots simulator to validate the theory.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"43 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":"115617638","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
Proposal for an IR system to support automatic control for a personal mobility vehicle 一种支持个人机动车辆自动控制的红外系统方案
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491296
T. Fujikawa, S. Nakajima
{"title":"Proposal for an IR system to support automatic control for a personal mobility vehicle","authors":"T. Fujikawa, S. Nakajima","doi":"10.1109/ROBIO.2012.6491296","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491296","url":null,"abstract":"We propose a supporting system for automatic control of personal mobility vehicles (PMVs) to pass through a narrow space in indoor environment. This system consists of IR markers located on an entrance of a narrow space and an IR sensor to mount on a PMV. An IR sensor calculates relative distance between itself and an IR marker and angle of approach to pass through on a marker. To validate the proposed system we perform both experiments to estimate accuracy of calculated relative distance and angle and to demonstrate automatic control using our manufactured PMV. These results show that the proposed IR system is effective in path guidance for PMVs.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"138 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":"124351863","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
Concept of adaptive gait for leg-wheel robot, RT-Mover 腿轮机器人RT-Mover的自适应步态概念
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6490982
S. Nakajima, Kazuhisa Ietomi
{"title":"Concept of adaptive gait for leg-wheel robot, RT-Mover","authors":"S. Nakajima, Kazuhisa Ietomi","doi":"10.1109/ROBIO.2012.6490982","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6490982","url":null,"abstract":"We have been conducting research into developing sufficient mobilization through usage of the leg-wheel type robot known as “RT-Mover” in its intended environment. This robot uses 4 drive wheels and 5 driving axes to provide simple mechanics, while also delivering a wheel mode and a leg mode. Past research has confirmed the robot's underlying mobilization capability on standard terrain, examined the wheel mode's mobility, and tested the robot's capability to move over rough terrain not suitable for wheel mode via the leg mode. This paper proposes concept of adaptive gait using leg functions. When the wheels come in contact with convex terrain, adaptive gait will allow movement to continue through the use of leg motions. This paper provides a proposal concerning the basic operation of adaptive gait and validates their efficacy using the results of simulations and experiments.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"12 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":"114335367","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
Unscented blind image de-blurring using camera with inertial measurement unit 采用带惯性测量装置的相机进行无气味盲图像去模糊
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491278
Chin-Yuan Tseng, Jian-An Chen, Jwusheng Hu
{"title":"Unscented blind image de-blurring using camera with inertial measurement unit","authors":"Chin-Yuan Tseng, Jian-An Chen, Jwusheng Hu","doi":"10.1109/ROBIO.2012.6491278","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491278","url":null,"abstract":"Image blur resulting from camera motion is an annoying factor for robotic vision, especially for high-speed applications. This work proposes a sensor fusion model for blind image de-blurring using inertial measurement unit. The model attempts to observe the camera motion, estimate the point spread function and de-convolute the image simultaneously. To solve the problem, an iterative estimation procedure using Maximum A-Posteriori Expectation-Maximization (MAP-EM) algorithms and Unscented Kalman Filter are proposed. Simulation results show the feasibility of the proposed formulation to blindly de-blurring the image under camera motion.","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":"114813752","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: 2
A two-stage strategy to introduce spectral matching into recognition of occluded objects 一种将光谱匹配引入遮挡物识别的两阶段策略
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491275
Jia Yun Wu, Xiao Chen
{"title":"A two-stage strategy to introduce spectral matching into recognition of occluded objects","authors":"Jia Yun Wu, Xiao Chen","doi":"10.1109/ROBIO.2012.6491275","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491275","url":null,"abstract":"When recognizing partially visible objects in a scene, a good global decision should be made based on locally gathered features for their recognition, since global information is corrupted. This local to global nature of occlusion recognition leads us to spectral matching technique. Unfortunately, spectral matching algorithms are not desirable for noisy data set from cluttered scene. In this paper, a top-down procedure is introduced into spectral matching for the recognition of occluded objects. Based on the two-stage strategy, both appearance and geometric information are taken into consideration. It is shown that the improvement has been made for spectral algorithms to recognize occluded objects.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"68 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":"114852002","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
Development of force sensing systems for a novel robotic catheter system 新型机器人导管系统力传感系统的研制
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491297
Jian Guo, Shuxiang Guo, Nan Xiao, Yunliang Wang
{"title":"Development of force sensing systems for a novel robotic catheter system","authors":"Jian Guo, Shuxiang Guo, Nan Xiao, Yunliang Wang","doi":"10.1109/ROBIO.2012.6491297","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491297","url":null,"abstract":"Force feedback plays a significant role in robot-assisted catheter system. How to realize the force feedback? How to transmit the force feedback to the experiences of skilled surgeons? Certainly, it is the force sensing system. In this paper, two kinds of force sensing systems for the robotic catheter system have been proposed and developed, we did the experiments to evaluate the performances of the developed force sensing systems, the experimental results indicated that the developed force sensing systems for the robotic catheter training system are effective, they are suitable for the robotic catheter system. They can be used to realize the force feedback during endovascular neurosurgery, furthermore, they can be used to extract the operating skills of experienced neurosurgeons to train unskilled neurosurgeons and medical students by using the robotic catheter system.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"2 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":"116355057","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
Moving target detection based on the properties of corners 基于角点特性的运动目标检测
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6490990
Bin Leng, Qing He, Dewen Zeng, Jian Cao, Guan Guan, Hongwei Xu, Xiaoling Wu, Weimin Zheng
{"title":"Moving target detection based on the properties of corners","authors":"Bin Leng, Qing He, Dewen Zeng, Jian Cao, Guan Guan, Hongwei Xu, Xiaoling Wu, Weimin Zheng","doi":"10.1109/ROBIO.2012.6490990","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6490990","url":null,"abstract":"In video surveillance, there are a variety of random disturbances on moving target detection, such as trees sway, camera shake. In order to eliminate these disturbances, this paper presents a novel moving object detection algorithm based on the properties of corner points. Firstly, this paper uses Harris algorithm to detect corner on the video image, and then proposes a novel indicator, Inter-frame Regional Corners Difference, to select the candidate grids of foreground. In this way, the static and slight shaking background is recognized. Secondly, this paper makes use of Horn and Schunck's optical flow algorithm to build the optical flow field of grids that are the candidates of foreground, and extracts the moving target by some velocity constraint of the horizontal and vertical direction. In virtue of the different dynamic properties of background and moving target, the dynamic background can be eliminated. The experimental results show that our algorithm can accurately extract moving target and can meet the needs of real-time processing with strong anti-jamming.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"31 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":"123639745","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
Hammerstein-Wiener model research for a Stewart platform Stewart平台的Hammerstein-Wiener模型研究
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491307
Xuewei Wang, Wensheng Zhang, Baolin Wu
{"title":"Hammerstein-Wiener model research for a Stewart platform","authors":"Xuewei Wang, Wensheng Zhang, Baolin Wu","doi":"10.1109/ROBIO.2012.6491307","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491307","url":null,"abstract":"The Hammerstein-Wiener model for the Stewart platform driven by a DC motor is formulation, meanwhile the model's parameters are identified by experiments. By comparing the identification results of ARX model and Ham-merstein-Wiener model, it concludes that the Hammer-stein-Wiener model can describe the actual system's movement more accurately. The accuracy of the established Hammer-stein-Wiener model is proved by Stewart platform's single-degree of freedom (DOF) movement experiments in low frequency and small-scale (0–5 mm) range. Experimental studies show that the established model can accurately track the movement of Stewart platform. The Hammerstein-Wiener model of the Stewart platform provides a new method for the use of the Stewart platform in practical project.","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":"122129804","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
A miniature biped wall-climbing robot for inspection of magnetic metal surfaces 用于磁性金属表面检测的微型两足爬壁机器人
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6490987
Zhiqiang Bi, Y. Guan, Shizhong Chen, Haifei Zhu, Hong Zhang
{"title":"A miniature biped wall-climbing robot for inspection of magnetic metal surfaces","authors":"Zhiqiang Bi, Y. Guan, Shizhong Chen, Haifei Zhu, Hong Zhang","doi":"10.1109/ROBIO.2012.6490987","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6490987","url":null,"abstract":"In order to carry out automatic ultrasonic inspection tasks, a miniature biped wall-climbing robot, the so-called MiniBibot-W, has been developed in inspiration of inchworm climbing. Developed with a modular method, this robot consists of six joint modules connected in series as the main body and two electromagnetic adhesion modules at the two ends as the two feet. An ultrasonic probe is mounted to one of the feet. MiniBibot-W thus can not only climb on magnetic surfaces with high mobility, but also perform ultrasonic inspections. In this paper, the development of the robotic system is first presented, and then three climbing gaits and inspection action are introduced. Driving force and adhesion force are analyzed to ensure the safety during climbing and manipulating procedure. A series of experiments are conducted to verify the feasibility and effectiveness of the proposed robotic system and the analysis. A potential application with MiniBibot-W is also demonstrated in ultrasonic detection.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"2 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":"117145132","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: 29
Mechanical design of a magnetic resonance compatible device used for finger rehabilitation and brain imagine studying 一种用于手指康复和脑想象研究的磁共振兼容装置的机械设计
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491248
Z. Tang, S. Sugano, H. Iwata
{"title":"Mechanical design of a magnetic resonance compatible device used for finger rehabilitation and brain imagine studying","authors":"Z. Tang, S. Sugano, H. Iwata","doi":"10.1109/ROBIO.2012.6491248","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491248","url":null,"abstract":"This paper presents the design, fabricate and evaluation of a Magnetic Resonance compatible finger rehabilitation device, which could not only be used as a finger rehabilitation training tool after stroke, but also to study the brain's recovery process during the rehabilitation therapy (ReT). The mechanics of this device are designed to be adjustable to different persons' finger phalanges, and also the gap between one finger to another can be easily changed. By using an ultrasonic motor as its actuator, the device has been designed to be portable, with a high torque output. In addition, the mechanical has been developed into two working models (passive and active) in order to overcome the intrinsic shortage of non-back drivability in ultrasonic motor. The result system enables the client to do extension and flexion rehabilitation exercises in two degrees of freedom (DOF) for each finger as well as one DOF motion on the thumb. Finally, experiment has been carried out to evaluate the performance of the device.","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":"123891594","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
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