2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献

A hybrid algorithm of UAV path planning for rescue in bushfire environments 用于丛林火灾环境救援的无人机路径规划混合算法

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354697

Jingwen Wei, Siyuan Li

引用次数: 0

Robust Signal Temporal Logic-based Planning for Uncertain External Events 针对不确定外部事件的基于时态逻辑的鲁棒信号规划

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354911

Shumpei Tokuda, Masaki Yamakita, Hiroyuki Oyama, Rin Takano

引用次数: 0

Analysis of Stability and Energy Efficiency of Legged Running Based on the Two-Segmented Leg Model 基于双截腿模型的绑腿跑稳定性和能效分析

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354826

Hao Hu, Letian Qian, Zhanhao Xu, Xin Luo

{"title":"Analysis of Stability and Energy Efficiency of Legged Running Based on the Two-Segmented Leg Model","authors":"Hao Hu, Letian Qian, Zhanhao Xu, Xin Luo","doi":"10.1109/ROBIO58561.2023.10354826","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354826","url":null,"abstract":"The running of animals and humans often exhibits a spring-like leg behavior, which is abstractly explained by the Spring-Loaded Inverted Pendulum (SLIP) model. However, such an equivalent model neglects the nonlinear characteristics generated by the spring-like behavior localized at the joint level, leading to a substantial difference from those in the real system when analyzing locomotion stability and energy efficiency. The segmented leg model introduces the stiffness and rest angle of the virtual torsion spring at the joint into the dynamics to demonstrate the nonlinear relationship between the leg force and the leg compression. Due to the introduction of multiple parameters, it is of great significance to determine the optimal parameter combination. In this paper, we present a method to analyze the effects of the model parameters on the self-stability and energy efficiency. The nonlinear relationship between leg force and leg compression, and the hybrid dynamics of a two-segmented leg model are built, the apex return map is introduced to set up the self-stable constraints based on passive dynamics, and the effects of model parameters on the running energy efficiency are investigated via numerical simulation. The simulation results reveal that the highest energy efficiency is achieved when the stiffness is set to be the maximum value allowed and achievable, and the target running pattern is located at the fixed point corresponding to the largest angle to attack. The methodology to determine the model parameters is concluded based on the simulation results.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"99 3","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139186754","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

Echo-based dynamic trajectory generation for customised unilateral exoskeleton applications 基于回声的动态轨迹生成，用于定制单侧外骨骼应用

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354675

Annika Guez, Saksham Dhawan, Ravi Vaidyanathan

{"title":"Echo-based dynamic trajectory generation for customised unilateral exoskeleton applications","authors":"Annika Guez, Saksham Dhawan, Ravi Vaidyanathan","doi":"10.1109/ROBIO58561.2023.10354675","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354675","url":null,"abstract":"For unilateral pathologies, effective rehabilitation relies on the use of a customised trajectory in order for the user to relearn a natural and symmetrical gait. In recent years, lower-limb exoskeletons have seen a growing interest due to their capacity to provide support and facilitate repetitive exercises while correcting the user’s motion. However, in the context of robotic-assisted locomotion, the investigated trajectory models tend to rely on generating standardised walking patterns that lack step-specific customisation, and therefore do not account for the dynamic variations of natural gait.This paper investigates the viability of an echo-based approach for trajectory generation, which centres around the dynamic relabelling of a time-invariant reference trajectory, based on the motion of the contralateral leg. The presented cascaded network combines (1) a classifier that determines the gait phase performed by the sound leg and updates the reference trajectory accordingly, with (2) a regressor that uses electromyography inputs from the investigated leg to predict the gait cycle percentage performed, and provide the associated knee angle based on the dynamic reference.This trajectory generation framework was evaluated on 6 able-bodied subjects, using both steady-state and transient speeds. Despite some discrepancies in the range of motion, the produced knee angle trajectory strongly resembles the experimentally captured ones for both conditions, with an average mapping Root Mean Squared Error across subjects of 4.62°±0.39° for steady-state and 5.88°±1.83°for transient speeds. This proof-of-concept implementation demonstrates the potential of an echo-based approach for personalised dynamic trajectory generation in unilateral exoskeleton applications.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"86 10","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139186769","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

An Underwater Snake Robot that Does Not Consider Actuators’ Waterproof: Design and Primary Experiments 不考虑致动器防水性的水下蛇形机器人：设计与初步实验

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354774

Shah Darshankumar Rajendrakumar, A. Kakogawa, Shugen Ma

引用次数: 0

The virtual prototype design and simulation of crab walking gaits inspired crawling and barrier-crossing parallel mechanism 受螃蟹行走步态启发的爬行与越障并行机制的虚拟原型设计与仿真

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354647

Ma Zheng, Li Kai, Xiao-Guang Hu

引用次数: 0

Research on Biomimetic Design Methods for Humanoid Robot Thigh* 仿人机器人大腿的仿生设计方法研究 *

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354757

Daming Nie, Anhuan Xie, Lingyu Kong, Yu Zhang, Gang Zheng, Yili Fu, Jason Gu

{"title":"Research on Biomimetic Design Methods for Humanoid Robot Thigh*","authors":"Daming Nie, Anhuan Xie, Lingyu Kong, Yu Zhang, Gang Zheng, Yili Fu, Jason Gu","doi":"10.1109/ROBIO58561.2023.10354757","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354757","url":null,"abstract":"Human bones have formed the preferred configuration for high-strength and lightweight after long-time evolution. Taking human’s longest and strongest bone - the femur - as an example, it is consist of two characteristic layers, i.e. the substantia compacta and the substantia spongiosd. This article innovatively imitates the structural characteristics of human femur, the thigh of humanoid robot is designed in form of \"variable thickness shell + variable density lattice\". The thickness of shell and the density of lattice are adjusted by the initial stress distribution individually. Results show that the weight of shell and lattice of the thigh structure can be reduced by 20% under reasonable mapping relationship of \"stress - shell thickness\" and \"stress - lattice rod diameter\", while the structural stiffness meets the application requirements. Finally, the limiting factors of the \"variable thickness shell + variable density lattice\" structure designing approach are analyzed, and potential measures for optimizing the design method of the humanoid robot thigh in the future are described.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"84 5","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139186834","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

Comparison of compliance error compensation approaches for robotic manipulators with double encoders 带双编码器的机器人机械手的遵从误差补偿方法比较

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354557

A. Klimchik

引用次数: 0

Autonomous Trajectory Planning Based on Bézier Curve with Curvature Constraints and Piecewise-Jerk Speed-Time Optimization 基于贝塞尔曲线的自主轨迹规划（带曲率约束和片断式速度-时间优化

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354927

You Wang, Ziyi Zou, Ziang Zhang, Xiaoqing Guan, Boyu Lin, Xiang Li, Guang Li

{"title":"Autonomous Trajectory Planning Based on Bézier Curve with Curvature Constraints and Piecewise-Jerk Speed-Time Optimization","authors":"You Wang, Ziyi Zou, Ziang Zhang, Xiaoqing Guan, Boyu Lin, Xiang Li, Guang Li","doi":"10.1109/ROBIO58561.2023.10354927","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354927","url":null,"abstract":"In this paper, we propose an efficient trajectory planning algorithm with path smoothing based on the Bézier curve with curvature constraints and piecewise-jerk speed-time optimization. We use hybrid A* to generate a rough path and construct a safe corridor by inflating the path. After that, we formulate the smooth problem as a nonlinear programming(NLP) with piecewise Bézier curves. Since the curvature constraints for Bézier curves are difficult, we employ quartic Bézier Curves with special forms and compute the closed-form solution for the maximum curvature to simplify the representation of the maximum curvature. By using the special Bézier curves, we realize the gear shifts and easily guarantee the security, continuity, and feasibility of the path. Meanwhile, we add time variables based on PJSO, improving the quality of trajectory within an acceptable increase in time, making the allocation of time and speed better. Simulation and real-world experiments with a car-like robot in various environments confirm that our algorithm can generate a smooth, feasible, and high-quality trajectory for robots.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"90 11","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139186904","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

Motion Control Utilizing Surrogate Model for A Soft Actuator Driven by Airbag-typed Cells 利用代用模型对气囊型细胞驱动的软致动器进行运动控制

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354987

Yuchuan Yang, Manjia Su, Yisheng Guan, Wangcheng Chen

引用次数: 0