2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献_第4页

FastVL: Fast Moving 3D Indoor Reconstruction System Based on SE(2) Constraint for Visual-Laser Fusion FastVL：基于 SE(2) 约束的视觉-激光融合快速移动 3D 室内重建系统

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354536

Junyi Hou, Zihao Pan, Lei Yu

引用次数: 0

Lightweight Map Storage and Retrieval Method for Autonomous Navigation of UAVs in Large-Scale Cylindrical Spaces 用于大规模圆柱形空间无人机自主导航的轻量级地图存储和检索方法

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354875

Mengfan Xu, Shuai Su, Taogang Hou, Xuan Pei, Junxi Chen

{"title":"Lightweight Map Storage and Retrieval Method for Autonomous Navigation of UAVs in Large-Scale Cylindrical Spaces","authors":"Mengfan Xu, Shuai Su, Taogang Hou, Xuan Pei, Junxi Chen","doi":"10.1109/ROBIO58561.2023.10354875","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354875","url":null,"abstract":"The inspection of autonomous Unmanned Aerial Vehicles (UAVs) in large cylindrical enclosed spaces has difficulties in positioning and processing massive global map data in real-time required for planning. Because such environments have the characteristics of darkness, GPS signal rejection, approximate cylinder, and large-scale environmental spaces. Therefore, we built a UAV using multi-line lidar and simultaneous localization and mapping (SLAM) in this environment to adapt to the former characteristics. In the face of the feature degradation in the height direction caused by the cylindrical-like features of the environment, the constraint information of the height sensor is added in lidar SLAM. And a map storage method called selective ordered indexed map (SOIM) is proposed for storing and real-time retrieval of huge amount of map data in large spaces required by path planning during autonomous inspection tasks. We conducted inspection experiment in a desulfurization tower of a thermal power plant to verify the function of designed system. The results prove the feasibility of our system and presented that the proposed SOIM saved 98.86% of storage space compared to the point cloud map in this environment, and the voxel search speed was 22.53% higher than that of octree search.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"107 9","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":"139186810","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

Thermally Drawn Monolithic Polymer Continuum Robot with Laser Cutting Profile 带激光切割轮廓的热拉伸单片聚合物连续机器人

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354591

Huanghua Liu, Yun Zou, Zheng Xu, Anzhu Gao

{"title":"Thermally Drawn Monolithic Polymer Continuum Robot with Laser Cutting Profile","authors":"Huanghua Liu, Yun Zou, Zheng Xu, Anzhu Gao","doi":"10.1109/ROBIO58561.2023.10354591","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354591","url":null,"abstract":"Continuum robots have the great potential in endoluminal diagnosis and intervention toward narrow and confined workspace. However, fabrication of continuum robots still poses a grant challenge in its miniaturization. To solve this, this paper designs a thermally drawn monolithic polymer continuum robot with laser cutting profile. First, the continuum robot is designed with two degrees of freedom (DOF) for shape deflection, and it consists of four optical fibers with the fiber Bragg grating (FBG) sensor on each for tension sensing as driving cables. Second, its main body is a multi-channel polycarbonate (PC) tube produced by thermal drawing process, and a series of rectangular cutouts are made on it via laser cutting process. By combining these two fabrication processes, the developed continuum robot realizes the integration of the multi-channel structure and the notch feature. Third, a control framework of puller-follower controller using the integrated tension sensing is proposed for teleoperation control. Finally, experimental setup is built for the robot validation, and results show that the repeated positioning accuracy of the robot is 1.08 mm. Moreover, a micro endoscope and a needle are added to the end of the continuum robot, and a phantom study of auripuncture and drug delivery is completed to verify the preliminary feasibility. And the proposed fabrication approach enables the miniaturization and complex structure for the cable-driven continuum robots.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"95 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":"139186828","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

Hysteresis Effect Suppression: Replacing Modeling with Linear and Nonlinear Methods Combination 抑制滞后效应：用线性和非线性方法组合取代建模

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354970

Bingyang Hou, Ze Wang, Chuxiong Hu, Yu Zhu

{"title":"Hysteresis Effect Suppression: Replacing Modeling with Linear and Nonlinear Methods Combination","authors":"Bingyang Hou, Ze Wang, Chuxiong Hu, Yu Zhu","doi":"10.1109/ROBIO58561.2023.10354970","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354970","url":null,"abstract":"Benefiting from the decent converse piezoelectric effect, the piezoelectric nanopositioning stage has been applied to various micro-to-nano motion scenarios with splendid control performance and advantages. However, the inherent nonlinearity characteristics of piezoelectric significantly degrade the tracking accuracy and result in obvious positioning uncertainties. Especially the hysteresis effect mainly brings about the apparent control period lag and the reciprocating stroke inconsistency. Substantial existing control methods focus on establishing approximate hysteresis or inverse hysteresis model to suppress these adverse nonlinearities. Nevertheless, these methods commonly require sophisticated nonlinear modeling procedures, and the control performance largely relies on the modeling accuracy. Notably, the linear characteristics of the piezoelectric actually still perform a major influence on the control process, which can be significantly suppressed by straightforward linear algorithms. After compensating for the linearities, the nonlinearities only demonstrate an obviously marginal impact on the control performance. On this basis, the linear and nonlinear methods integration idea is proposed to replace the conventional modeling algorithm in this paper. Several combinations are discussed and conducted on the stage to validate the effectiveness of this idea.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"84 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":"139186835","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

Assistive Upper-Limb Control using a Novel Measure of Human Muscular Manipulability based on Force Envelopes 利用基于力包络的人体肌肉可操控性新测量方法进行辅助上肢控制

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354618

Rafael J. Escarabajal, Elena París, T. Petrič, Ángel Valera, Vicente Mata, Jan Babič

{"title":"Assistive Upper-Limb Control using a Novel Measure of Human Muscular Manipulability based on Force Envelopes","authors":"Rafael J. Escarabajal, Elena París, T. Petrič, Ángel Valera, Vicente Mata, Jan Babič","doi":"10.1109/ROBIO58561.2023.10354618","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354618","url":null,"abstract":"This paper presents a novel approach to measuring upper limb muscular manipulability considering human biomechanics. We address the limitations of classical manipulability measures in robotics when applied to the human body. Our method introduces the concept of a force envelope to estimate the capability of the human arm to exert forces in different directions, considering the contributions of the muscles. To achieve this, we employed a biomechanical model based on Hill’s muscle model, calibrated using both geometric (segmental lengths) and strength-based (muscle activation) approaches to adapt to individual users. Furthermore, we designed a control algorithm that enables a robotic device to assist the user in unfavorable directions, guided by the manipulability measure. By providing a more isotropic response, the robotic device compensates for low manipulability in certain regions of the workspace. We conducted experiments using a haptic robot in admittance mode along the sagittal plane, where a viscous environment acted as a load to hinder human movement throughout the workspace. Our results demonstrate the effectiveness of the proposed method in reducing human effort by assisting in less manipulable directions while leaving high manipulability directions unassisted. Additionally, we successfully verified the superiority in performance of our novel approach against existing methods.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"93 9","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":"139186863","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

Robotic grasp detection toward unknown objects using 3D edge detection and Gaussian mixture model for clustering candidates 利用三维边缘检测和高斯混合物模型对候选对象进行聚类，实现对未知物体的机器人抓取检测

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354880

Haruki Shimotori, Ping Jiang, J. Ooga, Atsushi Sugahara, Shun Ito, Atsuya Koike, R. Ueda

引用次数: 0

ANMIP: Adaptive Navigation based on Mutual Information Perception in Uncertain Environments ANMIP：基于不确定环境中互信息感知的自适应导航

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354912

Chenyang Cao, Xujun Xu, Xiaofei Gong, Bo Lu, Wenzheng Chi, Lining Sun

{"title":"ANMIP: Adaptive Navigation based on Mutual Information Perception in Uncertain Environments","authors":"Chenyang Cao, Xujun Xu, Xiaofei Gong, Bo Lu, Wenzheng Chi, Lining Sun","doi":"10.1109/ROBIO58561.2023.10354912","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354912","url":null,"abstract":"Navigation in uncertain environment has become a hot research topic. Some path planning algorithms have been proposed to address the uncertainty problem, such as Canadian Traveller’s Problem (CTP) algorithm. However, these algorithms usually require accurate environmental information, which is often difficult to obtain. In addition, their decisions are based on robot current perceptions and the previous navigation experience is usually ignored, whereas the past experience is an important reference for people to optimize policies. In order to address these issues, we propose a mutual information perception based navigation method for efficient navigation in uncertain environment. First, an efficient CTP solver is proposed to quickly generate policy based on the obtained environment information. Second, a topological map representation method is proposed for map decomposition. In order to perceive environmental information, a block judgment interface module is proposed. Then, the door edge resolver algorithm is proposed to absorb the experience of the previous navigation. Finally, we design a complete information updating mechanism based on Wilson confidence interval, so that the robot can update its perception of the environment and realize adaptive navigation in uncertain environments. The experimental results show that by comparing with the existing move_base navigation system, our method has better performance in average navigation cost and navigation success rate.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"91 3","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":"139186901","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 Robust and Efficient EKF-based GNSS-Visual-Inertial Odometry 基于 EKF 的稳健高效的全球导航卫星系统-视觉惯性测距仪

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10355011

Jie Yin, Haitao Jiang, Jiale Wang, Dayu Yan, Hao Yin

引用次数: 0

Generation of an adaptive ascending step for a lower limb exoskeleton 为下肢外骨骼生成自适应上升台阶

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354951

Marina Raineri, Andrea Tagliavini, C. Bianco

引用次数: 0

Dynamic Identification for a Manipulator Model based on Stribeck Friction using the Quasi-Newton Iterative Method 使用准牛顿迭代法对基于斯特里贝克摩擦力的机械手模型进行动态识别

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354755

Feng Xiao, Feilong Zhang, Bing Han, Hualiang Zhang

{"title":"Dynamic Identification for a Manipulator Model based on Stribeck Friction using the Quasi-Newton Iterative Method","authors":"Feng Xiao, Feilong Zhang, Bing Han, Hualiang Zhang","doi":"10.1109/ROBIO58561.2023.10354755","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354755","url":null,"abstract":"The performance of dynamic control is intimately tied to modeling accuracy. However, traditional estimation methods and friction models, such as the least squares method and the Coulomb plus viscous model, fail to reflect the actual characteristics accurately. Particularly, the linear nature of the Coulomb plus viscous model overlooks the nonlinear static features of joint friction at slower velocities. To improve the rationality of the model structure, we integrate the Stribeck friction model into the Coulomb plus viscous model. However, introducing such nonlinearities compromises the applicability of the least squares method. As a countermeasure, we propose a new strategy that combines the least square method and the Quasi-Newton iterative method to identify the parameters of the modified nonlinear model. Additionally, the design of the excitation trajectory is critical to achieve high identification accuracy. We utilized the inverse of the smallest singular value of the observation matrix as the objective function. By minimizing it with the interior point method, we generate the excitation trajectory well-suited to stimulate dynamic characteristics. Then we leverage the discrepancies between the measured and estimated torques to assess the precision of the dynamic parameters of the manipulator. Remarkably, our proposed algorithm reduces the mean absolute error of the estimated torque by over 20.40%. Finally, an experiment of the industrial manipulator by hand guiding grab and drag is performed and shows that the proposed approach can provide the manipulator with comprehensive torque compensation.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"102 5","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":"139186926","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