2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献_第5页

DeFCN-nano: An End-to-End Real-Time Object Detection for Insulator Defects DeFCN-nano：针对绝缘体缺陷的端到端实时目标检测

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354899

Xiongxin Zou, Yimin Zhou

引用次数: 0

Visual Servo Control for Ball-on-Plate Balancing: Effect of PID Controller Gain on Tracking Performance 用于板上球平衡的可视化伺服控制：PID 控制器增益对跟踪性能的影响

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354893

Sarin Kitchatr, Aphiphu Sirimangkalalo, R. Chaichaowarat

{"title":"Visual Servo Control for Ball-on-Plate Balancing: Effect of PID Controller Gain on Tracking Performance","authors":"Sarin Kitchatr, Aphiphu Sirimangkalalo, R. Chaichaowarat","doi":"10.1109/ROBIO58561.2023.10354893","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354893","url":null,"abstract":"Ball-on-plate balancing is a popular challenge for the implementation of control systems. In this paper, the Universal Robots UR3 industrial arm is set up for the challenge. An acrylic plate is firmly grasped by the robot’s gripper. The pure rotation about three axes is achieved at the center of the plate by considering the offset of the plate from the tool frame. A web camera is mounted on the last link to observe the position of a ping pong ball moving on top of the plate. The color-based object detection is used with OpenCV and the coordinates of the ball are mapped to the pixel of the camera. At the beginning of each test, the ball was placed away from the center of the plate. Considering the x-axis and y-axis error of the ball position away from the center of the plate, the robot arm stabilizes the ball to the center according to the PID controller gain configurations. The effect of the proportional gain on reducing the rise time of the response is observed. The advantage of the derivative gain on reducing the response overshoot is observed. The advantage of the integral gain on reducing the steady-state error is not clearly observed for this ball-on-plate balancing problem. The implemented controller is robust against the small vibration of the camera with respect to the robot arm.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"90 6","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":"139186937","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

Model identification and validation of cascade control schemes for a differential drive mobile robot 差分驱动移动机器人级联控制方案的模型识别与验证

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354643

Bhalekar Vaibhav Bhausaheb, Ps Saikrishna

引用次数: 0

An Universal Dynamic Model Predictive Control Framework for Quadruped Robot Locomotion 四足机器人运动的通用动态模型预测控制框架

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354635

Zehua Huang, Ran Huang

引用次数: 0

Bifurcation variation of a novel line-symmetric double-centered 6R metamorphic mechanism based on ellipses 基于椭圆的新型线对称双心 6R 变质机制的分岔变化

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354943

Song Lin, Yifeng Song, Hongguang Wang, Bingbing Yuan, Jiansheng Dai, Fengren Jing

{"title":"Bifurcation variation of a novel line-symmetric double-centered 6R metamorphic mechanism based on ellipses","authors":"Song Lin, Yifeng Song, Hongguang Wang, Bingbing Yuan, Jiansheng Dai, Fengren Jing","doi":"10.1109/ROBIO58561.2023.10354943","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354943","url":null,"abstract":"This paper proposed a line-symmetric double-centered 6R metamorphic mechanism with bifurcation properties. The mechanism is constructed based on elliptical geometric properties, which is a comprehensive design method for constructing novel metamorphic mechanisms through intuitive geometric figures. Firstly, the geometric constraints of the 6R metamorphic mechanism are revealed, and the parameter constraints and closed-loop kinematic equations of the 6R metamorphic mechanism are deduced. Through the analysis of mechanism geometric constraints, four motion branches of the 6R metamorphic mechanism are obtained: collinear deployable motion branch MB1, spherical 4R motion branch MB2, spherical 4R motion branch MB3, and line-symmetrical Bricard motion branch MB4. Meanwhile, according to the screw theory, the analytical expressions and mobility of the constraint-screw systems under different motion branches are deduced. This led to the identification of the constraint and motion branch variations of the 6R metamorphic mechanism. Finally, the four serial link 4R singular configurations of the 6R metamorphic mechanism are specially studied, and the characteristics of the mutual reconfiguration of these four singular configurations are revealed.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"75 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":"139186988","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

Evaluation of Visual and Audio Notifications in the User Command Interface Integrated with the Industrial Exoskeleton Shoulder-sideWINDER 评估与工业外骨骼肩侧 WINDER 集成的用户命令界面中的视觉和音频通知

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354678

Olmo A. Moreno Franco, Daegeun Park, C. Di Natali, Darwin G. Caldwell, J. Ortiz

{"title":"Evaluation of Visual and Audio Notifications in the User Command Interface Integrated with the Industrial Exoskeleton Shoulder-sideWINDER","authors":"Olmo A. Moreno Franco, Daegeun Park, C. Di Natali, Darwin G. Caldwell, J. Ortiz","doi":"10.1109/ROBIO58561.2023.10354678","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354678","url":null,"abstract":"Industrial exoskeletons are becoming increasingly important for preventing workers from developing musculoskeletal disorders when performing manual material handling. Because the exoskeletons are task dependent, there is versatility of use in the performance according to the type of movement that the user executes. The user command interface is a wearable device for industrial exoskeletons. It is an adaptable setup system between users and occupational wearable robots. The main purpose is to provide access to users in some domains of the exoskeleton configuration system. Areas such as secure user identification, parameter configuration, and signal visualization are well structured in the interface. Shoulder-sideWINDER is an active exoskeleton for shoulder support that was developed in collaboration between XoLab and the Italian Worker’s Compensation Authority. This exoskeleton requires a guided calibration process before the operation. In this paper, we present an evaluation of two novel features of the UCI: (a) tutorial and (b) audio notifications for calibration. These new features are integrated into the upper-limb industrial exoskeleton Shoulder-sideWINDER. Participants performed experiments to assess the interface comprehensibility and usability of the tutorial and sound notifications by wearing the Shoulder-sideWINDER exoskeleton and the user command interface. The results presented in this study show that the user command interface is a highly intuitive control device that guides the calibration sequence of the exoskeleton.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"64 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":"139186997","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

MSMB-GCN: Multi-scale Multi-branch Fusion Graph Convolutional Networks for 3D Human Pose Estimation MSMB-GCN：用于三维人体姿态估计的多尺度多分支融合图卷积网络

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354638

Shanshan Ji, Qiwei Meng, Wen Wang, Zheyuan Lin, Te Li, Minhong Wan, Chunlong Zhang, J. Gu

{"title":"MSMB-GCN: Multi-scale Multi-branch Fusion Graph Convolutional Networks for 3D Human Pose Estimation","authors":"Shanshan Ji, Qiwei Meng, Wen Wang, Zheyuan Lin, Te Li, Minhong Wan, Chunlong Zhang, J. Gu","doi":"10.1109/ROBIO58561.2023.10354638","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354638","url":null,"abstract":"In human-robot interaction (HRI), human pose estimation is a necessary technology for the robot to perceive the dynamic environment and make interactive actions. Recently, graph convolutional networks (GCNs) have been increasingly used for 2D to 3D pose estimation tasks since the skeleton topologies can be viewed as graph structures. In this paper, we propose a novel graph convolutional network architecture, Multi-scale Multi-branch Fusion Graph Convolutional Networks (MSMB-GCN), for 3D Human Pose Estimation(3D HPE) task. The proposed model consists of multiple GCN blocks with a multi-branch architecture. This multi-branch architecture enables the model to get multi-scale features for human skeletal representations. The group of GCN blocks, which has strong multi-level feature extraction capabilities, allows the model to learn global and local features, lower-level and higher-level features. Experiment results on the HumanPose benchmark demonstrate that our model outperforms the state-of-the-art and ablation studies validate the effectiveness of our approach.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"72 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":"139187048","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 Pneumatically Driven Arm Motion Teaching System Using Visual and Torque Feedback 利用视觉和扭矩反馈的气动驱动手臂运动教学系统

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354627

Yoshihide Tomita, Tetsuro Miyazaki, Maina Sogabe, Kenji Kawashima

{"title":"A Pneumatically Driven Arm Motion Teaching System Using Visual and Torque Feedback","authors":"Yoshihide Tomita, Tetsuro Miyazaki, Maina Sogabe, Kenji Kawashima","doi":"10.1109/ROBIO58561.2023.10354627","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354627","url":null,"abstract":"Machine-human interaction systems have been proposed to improve motion learning efficiency by providing feedback on motion misalignment between a learner and an instructor. Conventional motion teaching systems based on haptic information presentation generally use electrical sensors and motors, which causes the exoskeleton suit weight and the scale of the entire system to become large. In this study, we proposed a pneumatic-driven motion teaching system that provides feedback to the learner by simultaneously presenting visual and torque information to the learner. We achieved a lightweight, soft, and user-safety haptic system using pneumatic artificial muscles (PAMs) as actuators. PAMs’ shrink force generates external torque on the learner’s joint to correct the elbow flexion and extension motion misalignment between the instructor and the learner. We conducted a motion teaching experiment to verify the effectiveness of the proposed method. Specifically, we performed motion instruction on eight subjects using three patterns: a visual-only presentation method, a conventional method that simultaneously presents visual and vibrotactile presentation, and the proposed method that simultaneously presents visual and torque. The experimental results showed that the proposed method reduced the angle and angular velocity tracking errors compared to the visual-only method and visual-vibrotactile method.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"61 9","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":"139187056","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

Performance of BVC-based Obstacle Avoidance for a Quadrotor Relative to LiDAR Data Volume 基于 BVC 的四旋翼飞行器避障性能与激光雷达数据量的关系

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354867

Shosuke Inoue, K. Motonaka, Seiji Miyoshi

{"title":"Performance of BVC-based Obstacle Avoidance for a Quadrotor Relative to LiDAR Data Volume","authors":"Shosuke Inoue, K. Motonaka, Seiji Miyoshi","doi":"10.1109/ROBIO58561.2023.10354867","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354867","url":null,"abstract":"Among the various collision avoidance algorithms available, those based on \"buffered Voronoi cells (BVC)\" have been successful in terms of performance. In this approach, the control input can be determined easily using only the relative positions of the quadrotors. However, this approach, when applied to quadrotors in an environment with stationary obstacles, causes occasional \"deadlocks\", wherein the quadrotors can not reach the goal. Moreover, it was assumed that each quadrotor could use the relative positions of the obstacles at any time; however, how to obtain this information using the conventional method was not discussed. In this study, we propose an algorithm to tackle deadlocks. Furthermore, to tackle wall-like obstacles that can not be handled by conventional methods, we propose using all point-cloud data obtained by LiDAR as Voronoi seeds. Additionally, because the calculation cost increases as the number of Voronoi seeds increases, we verify the relationship between the calculation time of the control input and the behavior of the quadrotor with respect to the number of used LiDAR data points.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"61 8","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":"139187057","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

Relative Pose Detection of Pipe Interfaces Based on Point Laser Ranging Sensors 基于点激光测距传感器的管道接口相对姿态检测

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10355019

Yuhan Hou, Pengcheng Ye, Wenda Ye, Shixin Mao, Yisheng Guan, Haifei Zhu

引用次数: 0