2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献_第6页

Guide robot with personal identification method using dress color information via KINECT 引导机器人通过KINECT使用服装颜色信息进行个人识别

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491294

Seiji Sugiyama, K. Baba, T. Yoshikawa

引用次数: 2

Adaptive RBFNN type-2 fuzzy sliding mode controller for robot arm with pneumatic muscles 带气动肌肉机械臂的自适应 RBFNN 型-2 模糊滑模控制器

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491147

A. Rezoug, M. Hamerlain, Mohamed Tadjine

引用次数: 8

Development of virtual reality bike with cylindrical MR fluid brake 圆柱形磁流变液制动器虚拟现实自行车的研制

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491221

T. Kikuchi, Keigo Kobayashi, M. Sugiyama

{"title":"Development of virtual reality bike with cylindrical MR fluid brake","authors":"T. Kikuchi, Keigo Kobayashi, M. Sugiyama","doi":"10.1109/ROBIO.2012.6491221","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491221","url":null,"abstract":"Cycling is a healthy and moderate aerobic exercise for the elderly and it works well not only to their physical functions but also to their mentalities. In order for the exercise machine that can facilitate the moderate aerobic exercise for users who cannot do real cycling, we have developed the virtual reality bike (VR Bike) with a cylindrical MR fluid brake. The aim of this paper is to describe (1) the development and integration of the total system of the VR Bike, and (2) the implementation of the controller for the pedaling torque in the straightway driving with slopes. The cylindrical MR fluid brake was connected to the pedal of a belt-driven bicycle and used to control pedal resistances depending on the environment of the virtual world. We formulated the torque characteristics of the brake and controlled the pedaling torque with the input current. Data of a 3D map were loaded in the VR Bike system and a subject ride a bike in the virtual world. The main controller calculated the dynamics of the bike and determined the pedaling resistance. Time profiles of the traveling speed and pedal torque during climbing up and down the slope were evaluated. Though quantitative evaluation has not conducted, the proposed system changes the pedal resistance depending on the conditions of the bike.","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":"127239633","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

Single loop and double loop balancing control of AU Self-balancing Bicycle (AUSB) AU自平衡自行车(AUSB)的单环和双环平衡控制

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491272

Narong Aphiratsakun, K. Techakittiroj

引用次数: 5

Head movements based control of an intelligent wheelchair in an indoor environment 在室内环境下，基于头部运动控制的智能轮椅

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491175

E. Rechy-Ramirez, Huosheng Hu, K. Mcdonald-Maier

引用次数: 74

Introducing a standardized electronics architecture for multi-modular self-reconfigurable mobile robots 介绍了多模块自重构移动机器人的标准化电子体系结构

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491037

R. Matthias, H. Wörn

{"title":"Introducing a standardized electronics architecture for multi-modular self-reconfigurable mobile robots","authors":"R. Matthias, H. Wörn","doi":"10.1109/ROBIO.2012.6491037","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491037","url":null,"abstract":"In this paper we provide the fundamentals and a proof of concept for a completely new approach in multi-modular self-reconfigurable mobile robotics. The architecture described consists of two main parts being strongly interconnected. The first part is the development of an architecture based upon a high-speed fully switched Ethernet-network. This approach contrasts the way existing platforms were designed. The use of a switched Ethernet-network, instead of commonly used bus-systems, depicts a paradigm change in this field of robotics. The second part stipulates a strict decomposition of the robot module into various submodules. A powerful mainCPU, running a μClinux, represents the central entity of the architecture. It is supported by several peripheral microcontrollers, which perform low-level tasks and data preprocessing only. The submodules are treated as blackboxes, being independant from each other, only loosely coupled by a local SPI-bus. This results in a more robust and manageable system. As the number of submodules is not restricted, the architecture is very flexible. The employment of standards like POSIX and Ethernet severely eases the developmental process and further research.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"9 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":"132023727","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

Cooperative transportation control in consideration of not only internal force but also external force applied to “MRWheel” 考虑“MRWheel”内力和外力的协同运输控制

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491240

Koshi Kashiwazaki, K. Kosuge, Y. Hirata, Y. Sugahara, T. Kanbayashi, Koki Suzuki, K. Murakami, Kenichi Nakamura

{"title":"Cooperative transportation control in consideration of not only internal force but also external force applied to “MRWheel”","authors":"Koshi Kashiwazaki, K. Kosuge, Y. Hirata, Y. Sugahara, T. Kanbayashi, Koki Suzuki, K. Murakami, Kenichi Nakamura","doi":"10.1109/ROBIO.2012.6491240","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491240","url":null,"abstract":"This paper proposes a new cooperative transportation control algorithm in consideration of not only the internal force but the external force applied to “Mobile Robot for a Wheel (MRWheel)”. First, we describe the merits and demerits of the model-based external force compensation method proposed in our previous study and explain the necessity of this new control algorithm. Secondly, we explain this new control algorithm mathematically. In this new algorithm, each follower receives the motion errors estimated by the other followers with TCP/IP, which enables each follower to estimate its motion error by using the force applied to it. Moreover, this new algorithm also enables “intelligent Cooperative Autonomous Robot Transporters-type II (iCART II)” to transport many types of cars at a variety of places without the preliminary car transportation needed for identifying the model parameters of the external force. Finally, we conduct the transportation experiments of two types of cars for the comparison between this new algorithm and the conventional algorithm with the modelbased external force compensation method. These experimental results illustrate the validity of this new control algorithm.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"55 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":"130913105","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 a Maxillofacial Multi-arm Surgery Robot 颌面部多臂手术机器人的研制

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491031

Xiangzhan Kong, X. Duan, Yonggui Wang

引用次数: 1

A real-time intelligent shoe-keyboard for computer input 一种用于计算机输入的实时智能鞋键盘

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491179

Yanbo Tao, Tin Lun Lam, Huihuan Qian, Yangsheng Xu

引用次数: 8

Piezo inkjet drop-on-demand experimentation platform manufactured with rapid prototyping techniques enabling future technologies 采用快速原型技术制造的压电喷墨按需实验平台使未来技术成为可能

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491140

M. Kagerer, Kenji L. Eiler, Thomas Ottnad, F. Irlinger, T. Lueth

引用次数: 3