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

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Dynamics based time-optimal smooth motion planning for the delta robot 基于动力学的delta机器人时间最优平滑运动规划
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491227
Yunqiang Zhang, Ruining Huang, Y. Lou, Zexiang Li
{"title":"Dynamics based time-optimal smooth motion planning for the delta robot","authors":"Yunqiang Zhang, Ruining Huang, Y. Lou, Zexiang Li","doi":"10.1109/ROBIO.2012.6491227","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491227","url":null,"abstract":"A novel method for time-optimal pick and place motion planning based on robot dynamics is introduced. By using the elliptical trajectory with modified sine motion profile, the motion is smooth and suitable for high speed applications to avoid vibration. Since the modified sine motion profile is characterized by only two parameters, time-optimal pick and place motion planning problem is transformed into a three-variable optimization problem. For the reduction of the optimization variables, this method can rapidly obtain a solution that guarantees the smoothness of torques.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"63 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":"123800273","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: 12
Automatic face detection system for street view images 街景图像自动人脸检测系统
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491305
Xin Yang, Xingang Wang
{"title":"Automatic face detection system for street view images","authors":"Xin Yang, Xingang Wang","doi":"10.1109/ROBIO.2012.6491305","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491305","url":null,"abstract":"As street view images have been widely used in digital maps, detecting and blurring faces in these images for privacy protection is highly needed. In this paper, an automatic face detection system for street view images is constructed. Firstly, image pre-processing is used to increase image's global contrast. Then, head-shoulder detection based on combined-HOG features is applied to locate faces roughly. After that, multi-angle face detection and Bayes face detection based on skin segmentation are used to get faces' locations precisely from the located head-shoulder regions. Experiments conducted show high precision and robustness of the system.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"24 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":"124898747","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
Cooperative vSLAM based on UAV application 基于无人机应用的协同vSLAM
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491085
Xiaodong Li, N. Aouf
{"title":"Cooperative vSLAM based on UAV application","authors":"Xiaodong Li, N. Aouf","doi":"10.1109/ROBIO.2012.6491085","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491085","url":null,"abstract":"This paper addresses research into the application of cooperative visual SLAM for utilization within UAVs. The research utilized a synthetic approach to examine a cooperative data fusing strategy for multiple UAVs equipped with stereo vision camera systems, where the collaborative estimation was implemented with an information filter and covariance intersection technique to investigate potential improvements in robustness to noise and accuracy of location determination and mapping processes, when compared to a single UAV employing vSLAM alone. The achieved performance enhancement is further discussed in terms of the demonstrated error and robustness as a comparison between the cooperative UAV enhanced filtering scheme versus the single UAV implementation without the proposed fusing enhancements. To conclude, the relative merits of the methodology proposed by this research are also discussed.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"52 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":"124951140","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
Defect segmentation of fiber splicing on an industrial robot system using GMM and graph cut 基于GMM和图割的工业机器人系统光纤拼接缺陷分割
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491256
Haoting Liu, Wei Wang, Xinfeng Li, Fan Li
{"title":"Defect segmentation of fiber splicing on an industrial robot system using GMM and graph cut","authors":"Haoting Liu, Wei Wang, Xinfeng Li, Fan Li","doi":"10.1109/ROBIO.2012.6491256","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491256","url":null,"abstract":"A novel defect segmentation method, which utilizes both the Gaussian Mixture Model (GMM) and the Graph Cut Model (GCM), is presented to solve the defect segmentation problem of the hot image for the fiber splicing process on our industrial robot system. Since the fiber has a plastic surface, the LED lamp will create a highlight region in the fiber center when the camera collects the image data during the splicing process. Unfortunately, this highlight region always submerges the defect region. To solve this problem, both the image samples of normal mode and those of the defect mode are employed as the prior information to improve the segmentation performance. When implementing our method, first the GMM and the image samples of normal mode are used to build the statistic illumination model of the spliced fiber. The log histogram is tuned by the GMM components. Once the GMM is built, it can be utilized to restrain the highlight of the defect images. Then the GCM and the image samples of defect mode can be employed to segment the defect region and analyze their region features. Many simulation results have proved the effect of our proposed method.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"20 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":"125270260","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
A laser sintered miniature gear hub for a surgical robot and the maximum torque it can transmit 一种用于外科手术机器人的激光烧结微型齿轮轮毂及其能传递的最大扭矩
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491110
M. F. Traeger, Daniel B. Roppenecker, T. Lüth
{"title":"A laser sintered miniature gear hub for a surgical robot and the maximum torque it can transmit","authors":"M. F. Traeger, Daniel B. Roppenecker, T. Lüth","doi":"10.1109/ROBIO.2012.6491110","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491110","url":null,"abstract":"Our goal is to develop a surgical robot for minimally invasive surgery using selective laser sintering (SLS) of the polyamide PA2200. To drive the robot, we need a reliable interface to attach digital servomotors. Therefore we designed and fabricated a gear hub for a digital servomotor with a maximum torque of 24 Ncm. In an experiment we investigated the maximum torque the laser sintered gear hub can transmit with an error probability of 0.05%. The results show that such a gear hub is suitable for the application in the field of surgical robotics. In this paper we also present a simplified geometrical description for the construction of the gear hub and two minimally invasive interventions, which are in the focus of our research project.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"66 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":"125216608","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
Design and implementation of a vehicle dynamics control system by means of torque vectoring for an autonomous vehicle 基于转矩矢量的自动驾驶汽车动力学控制系统的设计与实现
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491211
Sebastian Reuter, Hilal Diab, S. Kowalewski, E. Hauck, S. Jeschke
{"title":"Design and implementation of a vehicle dynamics control system by means of torque vectoring for an autonomous vehicle","authors":"Sebastian Reuter, Hilal Diab, S. Kowalewski, E. Hauck, S. Jeschke","doi":"10.1109/ROBIO.2012.6491211","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491211","url":null,"abstract":"This paper describes to which extent the operational envelope of scaled vehicles can be extended by integrating a vehicle dynamics control system using torque vectoring. A detailed description for the construction of a mechatronic basis for an autonomous model car in a 1:10th scale is given. The design of the vehicle only uses standardized components and allows the most possible flexibility of controlling the vehicles dynamics behavior by applying individual driving moments to the wheels.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"30 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":"122588728","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
Development of a rotary-percussive drilling mechanism (RPDM) 旋转冲击钻井机构的研制
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491091
Q. Quan, Peng Li, Shengyuan Jiang, X. Hou, Dewei Tang, Z. Deng, Weiwei Zhang
{"title":"Development of a rotary-percussive drilling mechanism (RPDM)","authors":"Q. Quan, Peng Li, Shengyuan Jiang, X. Hou, Dewei Tang, Z. Deng, Weiwei Zhang","doi":"10.1109/ROBIO.2012.6491091","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491091","url":null,"abstract":"A project named Chang'e is currently aiming to accomplish acquiring the lunar soil through automated robotic device. Therefore, many engineers are attempting to develop a kind of prototype of lunar soil coring for the mission. This paper presents a Rotary-percussive Drilling Mechanism (RPDM) which is a novel scheme for driving unit in the deep lunar soil sampling drill. The functions of RPDM behave in two aspects: rotation and percussion, and the two motions are individually driven respectively. According to the complex environments beneath lunar surface, RPDM can drive the coring auger and bit working in the following two modes: rotary mode and rotary-percussive mode. The detailed design of the RPDM is conducted and a prototype has been developed successfully. The mechanic analysis and dynamic simulation of the driving mechanism are implemented. The simulation results are consistent with results of the analysis.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"127 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":"122900396","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
The mechanism of synchronization-based control using neural oscillators for walking assist 基于同步控制的行走辅助神经振荡器的机制
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491167
Xia Zhang, M. Hashimoto
{"title":"The mechanism of synchronization-based control using neural oscillators for walking assist","authors":"Xia Zhang, M. Hashimoto","doi":"10.1109/ROBIO.2012.6491167","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491167","url":null,"abstract":"We proposed synchronization-based control using neural oscillators for walking assist. In order to synchronize a robotic suit's motion with that of a user, the mutual joint torque was used as input signal to a neural oscillator, and the output signal of neural oscillator as desired trajectory of each joint of the suit. This paper conducted computer simulations and experiments to explain the mechanism of synchronization-based control in respects of assist effect, friendly motion assist such as making a stop and restart, as well as the merit and demerit of our proposal. Basing on the results, we conformed that synchronization-based control was a simple system and helped the robot act synchronously and provide friendly assist. In addition, we found that a kind of “attenuation mode” occurred if the input and output signals of neural oscillator were in reverse directions. The attenuation makes the desired angle to be generated more reasonably for motion assist, such as facilitating stop and restart, thus the assist action to be more compliant.","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":"131136474","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
Studies of adaptive control methods based on VSC for trajectory tracking of robotic manipulators 基于VSC的机械臂轨迹跟踪自适应控制方法研究
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491004
Jingmei Zhai, H He, B. Kang
{"title":"Studies of adaptive control methods based on VSC for trajectory tracking of robotic manipulators","authors":"Jingmei Zhai, H He, B. Kang","doi":"10.1109/ROBIO.2012.6491004","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491004","url":null,"abstract":"Control methods are studied based on Variable Structure Control(VSC) thoery to make the trajectory tracking errors and response time of robotic manipulators be significantly reduced. By combining VSC and PID, a new control method has been proposed intially to improve the precision of the trajectory tracking. Furthermore, an adaptive fast control method based on VSC, which is to improve the performance of the reaching motion of conventional VSC method, is presented. The reaching motion would be optimized by proposing an adaptive reaching velocity, which can adjust to the changes of the errors as well as reduce chattering. The simulation results of a three degrees of freedom(DOF) robotic manipulator model have demonstrated that the performance of the two proposed methods is stable, with faster responses. Actually, the effectiveness of adaptive fast control method based on VSC has been further confirmed via experiments by the control of a two DOF robotic manipulator. Thus, the proposed adaptive fast control method based on VSC is superior to the conventional control methods.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"33 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":"131504067","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
Design, implementation and experimental tests of a new generation of Antarctic rover 新一代南极漫游车的设计、实施和实验测试
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491286
Cheng Chen, Chunguang Bu, Yuqing He, Jianda Han
{"title":"Design, implementation and experimental tests of a new generation of Antarctic rover","authors":"Cheng Chen, Chunguang Bu, Yuqing He, Jianda Han","doi":"10.1109/ROBIO.2012.6491286","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491286","url":null,"abstract":"The Arctic and Antarctic, as the harshest environments on the earth, are of great importance to the nation. The extreme environments can be harmful, even fatal, to human beings and mobile robots. To execute missions on the Antarctic in place of human, the State Key Laboratory of Robotics of Shenyang Institute of Automation, Chinese Academy of Sciences has designed three generations of Antarctic rovers. The hardware and software design and implementation of the third generation of Antarctic rover, which has been tested on the Antarctic during the 28th Chinese National Antarctic Research Expedition in 2011, will be presented in this paper. The preliminary experimental results, as introduced in the last part of the paper, suggest that the design and implementation of the hardware and software system can ensure efficiency and reliability of the rover working on the Antarctic.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"14 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":"131603238","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
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