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

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Development of an underactuated robot gripper capable of retracting motion 一种能收缩运动的欠驱动机器人夹持器的研制
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491289
Hiroyuki Nishimura, A. Kakogawa, Shugen Ma
{"title":"Development of an underactuated robot gripper capable of retracting motion","authors":"Hiroyuki Nishimura, A. Kakogawa, Shugen Ma","doi":"10.1109/ROBIO.2012.6491289","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491289","url":null,"abstract":"This paper presents a new underactuated robot gripper capable of retracting motion. Two fingers of the gripper consist of parallel-linkages and belts which can grasp objects and switch its motion to the retracting automatically. These gripping and retracting motions are given by a single motor through a planetary gear mechanism. Two angled wheels called a rotational resistance mechanism are pressed to the belts to regulate the distribution of the motor power. To verify the validity of the underactuated robot gripper, the experiments of the fabricated prototype are conducted.","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":"116509145","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
Pneumatic drive active vibration control for flexible manipulator using an adaptive interactive PD controller 基于自适应交互式PD控制器的柔性机械臂气动振动主动控制
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491254
Zhi-cheng Qiu, Zhili Zhao
{"title":"Pneumatic drive active vibration control for flexible manipulator using an adaptive interactive PD controller","authors":"Zhi-cheng Qiu, Zhili Zhao","doi":"10.1109/ROBIO.2012.6491254","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491254","url":null,"abstract":"A pneumatic drive system is used as the actuator of a flexible manipulator to control its motion as a rigid body and suppress its vibration when consider its low stiffness. A pulse code modulation (PCM) valve is used to construct a single-input dual-output control system. Due to the time-varying and nonlinear properties of the system, an improved adaptive interactive PD controller is applied for positioning and vibration control. The system model is used in simulation. A description of an adaptive interactive controller and our modification is provided. Experimental setup of this pneumatic drive system is described. Experiments for positioning and vibration control are conducted. The simulation and experimental results show the feasibility of the actuator and the effectiveness of the control strategy.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"35 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":"116515044","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: 8
Incremental Human Motion Map system and human walking behavior representation in indoor environment 增量人体运动地图系统与室内环境下人体行走行为表征
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491057
T. Wada, Z. Wang, Yuji Ogawa, Y. Hirata, K. Kosuge
{"title":"Incremental Human Motion Map system and human walking behavior representation in indoor environment","authors":"T. Wada, Z. Wang, Yuji Ogawa, Y. Hirata, K. Kosuge","doi":"10.1109/ROBIO.2012.6491057","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491057","url":null,"abstract":"For robots working in human living space, both environmental information acquisition and human existence detection and estimation are necessary. In this study, by using human existence estimation function and mapping function of SLAM, a concept and architecture of Human Motion Map by representing extracted human behavior in the human living space as a map are proposed. Human Motion Map is a high-dimensional map, which incorporating human states information into results of conventional SLAM. On building Human Motion Map incrementally, human walking area interpolating algorithm and map update algorithm are developed. Finally, we implemented human motion map generating system on a mobile robot and demonstrated a Human Motion Map result for a floor area of our research lab in CIT, generated from individual observations of 80 experiments. Human Motion Map could be used for robots' motion planning of robots and further estimation of human motion in dynamic environment.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"18 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":"116522444","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
Racket control and its experiments for robot playing table tennis 机器人打乒乓球的球拍控制及实验
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6490973
Chunfang Liu, Y. Hayakawa, A. Nakashima
{"title":"Racket control and its experiments for robot playing table tennis","authors":"Chunfang Liu, Y. Hayakawa, A. Nakashima","doi":"10.1109/ROBIO.2012.6490973","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6490973","url":null,"abstract":"This paper proposes a racket control method for returning a table tennis ball to a desired position with a desired rotational velocity. The method determines the racket's state, i.e., the racket's striking posture and translational velocity by using two physical models: racket rebound model and aerodynamics model. The algorithm of determining the racket's state is derived by solving nonlinear equations and solving two points boundary value problems of differential equation. Numerical simulations and experimental results show effectiveness of the proposed methods.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"338 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":"116531578","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: 15
Estimating terrain elevation maps from sparse and uncertain multi-sensor data 从稀疏和不确定的多传感器数据估计地形高程图
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491052
D. Belter, Przemyslaw Labecki, P. Skrzypczyński
{"title":"Estimating terrain elevation maps from sparse and uncertain multi-sensor data","authors":"D. Belter, Przemyslaw Labecki, P. Skrzypczyński","doi":"10.1109/ROBIO.2012.6491052","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491052","url":null,"abstract":"This paper addresses the issues of unstructured terrain modelling for the purpose of motion planning in an insect-like walking robot. Starting from the well-established elevation grid concept adopted to the specific requirements of a small legged robot with limited perceptual capabilities we extend this idea to a multi-sensor system consisting of a 2D pitched laser scanner, and a stereo vision camera. We propose an extension of the usual, ad hoc elevation grid update mechanism by incorporating formal treatment of the spatial uncertainty, and show how data from different sensors can be fused into a consistent terrain model. Moreover, this paper describes a novel method for filling-in missing areas of the elevation grid, which appear due to erroneous data or the line-of-sight constraints of the sensors. This method takes into account the uncertainty of the multi-sensor data collected in the elevation grid.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"59 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":"121872190","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: 30
Building a safe robot for behavioral biology experiments 为行为生物学实验建造一个安全的机器人
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491029
A. Gribovskiy, J. Halloy, J. Deneubourg, F. Mondada
{"title":"Building a safe robot for behavioral biology experiments","authors":"A. Gribovskiy, J. Halloy, J. Deneubourg, F. Mondada","doi":"10.1109/ROBIO.2012.6491029","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491029","url":null,"abstract":"A robot accepted by animals as conspecific is a very powerful tool in behavioral biology, particularly in studies of gregarious animals. However in experiments where animals and robots share the same physical environment, there is always a risk of a robot accident that can lead to animal injuries. Safety regulations have to be developed to guide the design of an intrinsically safe robotic hardware and software. Currently this question is not addressed in experimental biology. In this paper, we present our efforts to build a safe robot for experimentation with domestic chickens. The methodology we use is based on robot safety studies done in the field of physical humanrobot interaction. The safety elements were introduced in the mechanical design of the robot, its control system and into the experimental environment. We show how in particular cases, when local information available to the robot is insufficient to detect an abnormal situation, the global information provided by the external vision system can be used by a novelty detection system based on extreme value theory. We believe that this study can be useful for robotic researchers providing robots for biological studies, as the concepts presented are universal and can be applied to other types of animals.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"37 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":"133164802","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
Motion planning for the fast opening of the protection cover based on high order polynomial interpolation 基于高次多项式插值的防护罩快速开启运动规划
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491314
Zuoxun Wang, De Xu, Baolin Wu, Fudong Li
{"title":"Motion planning for the fast opening of the protection cover based on high order polynomial interpolation","authors":"Zuoxun Wang, De Xu, Baolin Wu, Fudong Li","doi":"10.1109/ROBIO.2012.6491314","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491314","url":null,"abstract":"A high order polynomial interpolation method is proposed for the motion planning of the fast opening of the protection cover, which is based on its characteristics to ensure the steady ability. Fifth-order polynomial is chosen to complete the motion planning, and subsection search method is employed to set its acceleration. Optimal planning path is achieved after several subsection searching, and MATLAB simulation confirms the validity and efficiency of the proposed method.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"34 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":"132351413","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
Histogram of Silhouette Direction code: An efficient HOG-based descriptor for accurate human detection 轮廓方向直方图代码:一个有效的基于hog的描述符，用于准确的人体检测
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6490988
Wei Yang, Zhan Song, Xinyu Wu
{"title":"Histogram of Silhouette Direction code: An efficient HOG-based descriptor for accurate human detection","authors":"Wei Yang, Zhan Song, Xinyu Wu","doi":"10.1109/ROBIO.2012.6490988","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6490988","url":null,"abstract":"Histograms of Oriented Gradients (HOG) is an effective means for the human detection from image or video. Based on the HOG principle, this paper presents a more efficient method named Histogram of Silhouette Direction (HSD). To extract the silhouette pattern of human body, the average background model is used. A novel function that combined with brightness and color information is proposed to segment the foreground accurately and adaptively. The histogram of direction code is constructed via Freeman Chain Code of Eight Directions (FCCE) along the extracted silhouette and used as the feature descriptor. Compared with traditional HOG descriptor which calculates gradients of all image pixels, the proposed HSD descriptor can reduce the feature dimension and whole computation greatly. Experimental results with real video sequences show its improvements in both segmentation efficiency and accuracy.","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":"117129622","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
Optimization design for linkage mechanism based on reliability of kinematic accuracy 基于运动精度可靠性的连杆机构优化设计
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491090
Wan Nianfeng, Wei Shuai, Zhang Xianmin
{"title":"Optimization design for linkage mechanism based on reliability of kinematic accuracy","authors":"Wan Nianfeng, Wei Shuai, Zhang Xianmin","doi":"10.1109/ROBIO.2012.6491090","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491090","url":null,"abstract":"In this paper, the optimization design of four-bar mechanism of mechanical finger is investigated by taking into consideration the motional smoothness and reliability of kinematic accuracy. In the investigation, first, the motion relationship between driving lever and driven lever is obtained by building a mathematic model for linkage mechanism of finger and the motional smoothness of mechanism can be described by the acceleration of driven lever. Next, the reliability index is obtained by first-order second-moment method and is used to reflect the reliability of kinematic accuracy. Then, the minimum acceleration of driven lever and the maximum reliability are respectively chosen as the objective function to establish the optimization model of the four-bar mechanism, with a certain boundary condition according to the practical requirement of finger. Last, the optimization design is completed by genetic algorithms (GA) and the simulation of optimization result is conducted with MATLAB. The results show that, as compared with the optimization design only considering kinematics, the proposed method is more reliable in kinematic accuracy of the finger.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"19 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":"116101812","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
Path Updating Tree based fast path planner for unpredictable changing environments 基于路径更新树的快速路径规划器，用于不可预测的变化环境
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI: 10.1109/ROBIO.2012.6491185
Chuan Wang, Bin Chen, Hong Liu
{"title":"Path Updating Tree based fast path planner for unpredictable changing environments","authors":"Chuan Wang, Bin Chen, Hong Liu","doi":"10.1109/ROBIO.2012.6491185","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491185","url":null,"abstract":"For changing environments, although lots of planning algorithms have focused on how to get a valid and short path, seldom planning algorithms can be employed to extract a sustaining valid path. Especially for large-scale environments, getting a sustaining valid path is required to make intelligent decisions for robots. In this paper, a method of Path Updating Tree (PUT) is proposed to get such a sustainingly valid region path, which approximately estimates the environment using extended nodes in the projected Cspace. Each extended node is used to reflect local crowding information in this paper. An approximate path, which connected goal and start, is generated based on each region's collision possibility, reachable possibility and path length. With environment changing, nodes of PUT are updated and new region paths are generated by regrowing if necessary. Then a two-level path planner is introduced with PUT and local path generator to distribute the computational resource properly. The proposed method has shown to be efficient in large-scale scenarios with crowded obstacles.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"44 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":"115251149","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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