2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献_第2页

Design of a Small-Scale Locust-Inspired Robot Capable of Jump-gliding Locomotion 设计可跳跃滑行的小型蝗虫启发机器人

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354576

Weitao Zhang, Zisen Wei, Yi Xu, Liang Peng, Changwen Dong, Yanzhou Jin, Qing Shi

{"title":"Design of a Small-Scale Locust-Inspired Robot Capable of Jump-gliding Locomotion","authors":"Weitao Zhang, Zisen Wei, Yi Xu, Liang Peng, Changwen Dong, Yanzhou Jin, Qing Shi","doi":"10.1109/ROBIO58561.2023.10354576","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354576","url":null,"abstract":"Small-scale robots are widely used in real-world rescue missions, but their mobility and movement range are still limited. One solution to improve their adaptability to complex environments is to introduce jumping and gliding strategies into the robot design. In this paper, we developed a small-scale locust-inspired robot capable of active (propeller-driven) gliding after launching from the ground, which had a body length of 19.1 cm and a weight of 97 g. On the basis of the locust’s musculoskeletal model, the jumping system was designed by a six-bar mechanism which can amplify the power. To improve the lift in gliding phase while reducing the draft in jumping phase, the gliding system with a folding wing and a front propeller was proposed corresponding to the fixed-wing principle. The results obtained through a series of experimental tests reveal that the robot achieves a jumping height of 0.15 m and a passive gliding distance of 1.5 m, which has a glide ratio of 1.13. Remarkably, actuating by a propeller, the robot can jump up to a height of 0.20 m, covering a gliding distance of 2.9 m. It is worth noting that the glide ratio of the robot improves by 91.2% in the propeller-driven jump-gliding mode.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"19 1","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":"139186912","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 Novel Generalized EEG Channel Selection Method Using Pearson Correlation Coefficient* 使用皮尔逊相关系数的新型通用脑电图信道选择方法 *

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354934

Dongxu Liu, Qichuan Ding, Maiwei Wen, Chenyu Tong

{"title":"A Novel Generalized EEG Channel Selection Method Using Pearson Correlation Coefficient*","authors":"Dongxu Liu, Qichuan Ding, Maiwei Wen, Chenyu Tong","doi":"10.1109/ROBIO58561.2023.10354934","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354934","url":null,"abstract":"Electroencephalography (EEG), as a non-invasive and convenient method for implementing Brain-Computer Interface (BCI), has been widely used in clinical and research fields. EEG data often requires the acquisition of dozens or even hundreds of channels. Channel selection can reduce irrelevant and redundant channels, improve computational efficiency, and enhance the quality of EEG signals. This study introduces a filter method for channel selection based on Pearson correlation coefficient (PCC) with the candidate channel and employs topographic maps of EEG channel scores, derived from data collected across all subjects, to visualize the spatial distribution of channels selected by different methods. In addition, a generalized channel selection algorithm is proposed to determine consistent channels across all subjects in the experimental group. The effectiveness of the proposed method was evaluated on two steady-state visual evoked potential (SSVEP) datasets, and the results indicated that this method exhibits superior performance compared to both the all-channel method and other channel selection methods. And the application of the generalized channel algorithm has further improved the classification performance. This study uses selected generalized channels applied to new subjects with low BCI performance, yielding a significant improvement. The selected channels have a wide range of applicability, helping to simplify EEG acquisition and improve EEG data quality.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"18 2","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":"139186916","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

Decomposing Trajectory Forecasting into Route and Motion: Enhancing End-to-end Autonomous Driving with Route Map Inputs 将轨迹预测分解为路线和运动：利用路线图输入增强端到端自动驾驶功能

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354693

Keishi Ishihara

{"title":"Decomposing Trajectory Forecasting into Route and Motion: Enhancing End-to-end Autonomous Driving with Route Map Inputs","authors":"Keishi Ishihara","doi":"10.1109/ROBIO58561.2023.10354693","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354693","url":null,"abstract":"Autonomous driving systems operating in urban environments require precise perception, planning, and accurate control to navigate complex traffic scenarios while respecting traffic rules and ensuring safety. Recent advancements in learning-based end-to-end approaches have showcased remarkable performance in goal-directed navigational scenarios. However, while most state-of-the-art approaches primarily focus on enhancing the perception module for a better understanding of the environment, they adopt a simple GRU-based autoregressive structure for producing waypoints. In this paper, we introduce RM2: Route and Motion prediction with Route Map, a simple yet effective approach that decomposes waypoint prediction into two distinct concepts: route, representing the future path to follow, and motion, determining the trajectory and speed. Through experiments, we discover that this approach is the most effective, leading to superior route completion in closed-loop evaluation. We also demonstrate the benefits of incorporating past route predictions. This way, the RM2 approach significantly outperforms the second-best choice by 50% in the lane-change benchmark routes newly introduced in this work.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"54 4","pages":"1-7"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139186977","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

Modeling and Analysis of Surgical Parallel Continuum Manipulator 外科平行连续机械手的建模与分析

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354949

Chao Qian, Jinpeng Diao, Rong Cong, Zhuoheng Li, Xingguang Duan, Changsheng Li

引用次数: 0

Pose-Shape Unified Planning of Cable-driven Serial Manipulators based on Multiple Arm-Angle Construction 基于多臂-角度结构的电缆驱动串行机械手姿态-形状统一规划

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354929

Wenshuo Li, Bin Liang, Boyang Lin, Junxiang Li, Wenfu Xu

{"title":"Pose-Shape Unified Planning of Cable-driven Serial Manipulators based on Multiple Arm-Angle Construction","authors":"Wenshuo Li, Bin Liang, Boyang Lin, Junxiang Li, Wenfu Xu","doi":"10.1109/ROBIO58561.2023.10354929","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354929","url":null,"abstract":"Cable-driven serial manipulator (CDSM) has slender body and high dexterity. Hence it has large potentials in confined space application. However, in terms of complicated motion, achieving overall shape planning and control for the manipulator as a whole has been rarely accomplished, greatly limiting the utilization of redundant degrees of freedom. Therefore, this paper proposes a pose-shape unified planning method based on multiple arm-angle construction and optimization. Firstly, we derive the multi-space mapping relationships, in particularly introducing the concept of arm shape for joint space and deriving the corresponding analytical expressions. Subsequently, we derive the Jacobian matrix of Multiple arm-angel, which theoretically guarantees the efficiency of planning and the ability to achieve acceptable goals in a globally feasible and stable manner. Simulations demonstrate that our framework enables rapid and efficient arm-angles planning while ensuring high pose accuracy. Finally, experiments are conducted using the CDSM to verify the arm's motion capabilities, including pose adjustment and maintaining arm shape during movement. Compared to other planning and closed-loop control methods, the results confirm the consistency and reliability of the arm shape and end-effector pose.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"74 7","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":"139187014","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

Agile Vision Perception and Control Algorithm for Flexible Manufacturing Manipulator System 灵活制造机械手系统的敏捷视觉感知和控制算法

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354578

Kang Yuan, Xuegang Zhang, Li Yan, Hao Liu

{"title":"Agile Vision Perception and Control Algorithm for Flexible Manufacturing Manipulator System","authors":"Kang Yuan, Xuegang Zhang, Li Yan, Hao Liu","doi":"10.1109/ROBIO58561.2023.10354578","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354578","url":null,"abstract":"The manipulator systems with vision perception play an import role in intelligent manufacturing, helping to achieve industrial automation production. However, the electronics manufacturing industry, especially in scenarios such as consumer electronics manufacturing, has a strong demand for flexible manufacturing. The traditional calibration methods for vision perception require manual operation, customized calibration objects and their world-frame coordinates, which cannot meet the requirements of flexible production. Therefore, a novel agile vision calibration, perception and control algorithm is designed to meet flexible manufacturing requirements in the paper. The proposed algorithm receives vision pixel raw information as unique input, derives calibration matrix and manipulator control target pose automatically. The algorithm is adapted for both eye-in-hand and eye-on-hand vision sensor, and the theoretical analysis shows that the calibration algorithm has no manual operation errors. Experimental verification shows that the designed calibration algorithm in this article is simpler to operate, has fewer sources of error, easier to control, and has higher calibration accuracy than traditional calibration algorithms, while meeting the requirements of flexible manufacturing.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"72 12","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":"139187029","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

Active Complaint Control for Smooth and Quick Connector Assembly* 主动投诉控制，实现顺畅快速的连接器装配*。

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354920

Jun Wu, Yu He, He Wang, Qiyu Wang, Shaowei Fan

引用次数: 0

Development of an Electromagnetic Haptic Display System for the Visually Impaired* 为视力受损者开发电磁触觉显示系统*

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354758

Xavier J. Blake, M. Parnichkun

引用次数: 0

Non-holonomic Trajectory Planning Method for Free-Floating Space Robot via A Control Parameterization Approach 通过控制参数化方法实现自由浮动空间机器人的非自主轨迹规划方法

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354706

Gaoqi Liu, Yu Wang, Bin Li

引用次数: 0

Estimation of Hip Joint Torque By Using Parallel Fusion Neural Dynamics Model 利用并行融合神经动力学模型估算髋关节扭矩

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354744

Lei Liu, Jiaxin Wang, Qian Xiang, Zhendong Zhao, Yong Liu, Shijie Guo

引用次数: 0