2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献_第7页

DenseXFormer: An Effective Occluded Human Instance Segmentation Network based on Density Map for Nursing Robot DenseXFormer：基于密度图的护理机器人有效遮挡人体实例分割网络

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354873

Sihao Qi, Jiexin Xie, Haitao Yan, Shijie Guo

{"title":"DenseXFormer: An Effective Occluded Human Instance Segmentation Network based on Density Map for Nursing Robot","authors":"Sihao Qi, Jiexin Xie, Haitao Yan, Shijie Guo","doi":"10.1109/ROBIO58561.2023.10354873","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354873","url":null,"abstract":"Human instance segmentation in occlusion scenarios remains a challenging task, especially in nursing scenarios, which hinders the development of nursing robots. Existing approaches are unable to focus the network’s attention on the occluded areas, which leads to unsatisfactory results. To address this issue, this paper proposes a novel and effective network based on density map in the instance segmentation task. Density map-based neural networks perform well in cases where human bodies occlude each other and can be trained without additional annotation information. Firstly, a density map generator (DMG) is introduced to generate accurate density information from feature maps computed by the backbone. Secondly, using density map enhances features in the density fusion module (DFM), which focuses the network on high-density areas as well as occluded areas. Additionally, to remedy the lack of occlusion-based dataset of nursing instance segmentation, a new dataset NSR-dataset is proposed. A large amount experiments on the public datasets (NSR and COCO-PersonOcc) show that the proposed method can be a powerful instrument for human instance segmentation. The improvements of efficiency with respect to accuracy are both prominent. The dataset can be got at https://github.com/Monkey0806/NSR-dataset.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"44 4","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":"139187378","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

Real-Time RGB-D Pedestrian Tracking for Mobile Robot 移动机器人的实时 RGB-D 行人跟踪

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354856

Wenhao Liu, Wanlei Li, Tao Wang, Jun He, Yunjiang Lou

{"title":"Real-Time RGB-D Pedestrian Tracking for Mobile Robot","authors":"Wenhao Liu, Wanlei Li, Tao Wang, Jun He, Yunjiang Lou","doi":"10.1109/ROBIO58561.2023.10354856","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354856","url":null,"abstract":"Pedestrian tracking is an important research direction in the field of mobile robotics. In order to complete tasks more efficiently and without hindering the original intention of pedestrians, mobile robots need to track pedestrians accurately in real time. In this paper, we propose a real-time RGB-D pedestrian tracking framework. First, we propose a pedestrian segmentation detection algorithm to detect pedestrians and obtain their two-dimensional positions. Second, due to limited computational resources and the rarity of missed detection for pedestrians, we use an nearest neighbor tracker for pedestrian tracking. To address the issue of inaccurate pedestrian localization, we use our detection algorithm to obtain the center of pedestrians from RGB images. By combining them with point clouds, the 2D coordinates of pedestrians are obtained. Our method enables accurate pedestrian tracking in the world coordinate, by adaptively fusing RGB images with their corresponding depth-based point clouds. Besides, our light-weight detection and tracking algorithm guarantee the real-time pedestrian tracking for realistic mobile robot applications. To validate the effectiveness and real-time performance of tracking algorithm, we conduct experiments using multiple pedestrian datasets of approximately half a minute in length, captured from two different perspectives. To validate the practicality and accuracy of the tracking algorithm in real-world scenarios, we extend our tracking algorithm to apply it to trajectory prediction.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"43 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":"139187405","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

Feature Fusion Module Based on Gate Mechanism for Object Detection 基于门机制的物体检测特征融合模块

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354575

Zepeng Sun, Dongyin Jin, Jian Deng, Mengyang Zhang, Zhenzhou Shao

引用次数: 0

Fog-based Distributed Camera Network system for Surveillance Applications 用于监控应用的基于雾的分布式摄像机网络系统

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10355008

Mvs Sakethram, Ps Saikrishna

引用次数: 0

Shape Analysis and Control of a Continuum Objects* 连续物体的形状分析和控制 *

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354616

Yuqiao Dai, Peng Li, Shilin Zhang, Yunhui Liu

引用次数: 0

Research on Horizontal Following Control of a Suspended Robot for Self-Momentum Targets 悬挂式机器人对自重目标的水平跟随控制研究

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354971

Dan Xiong, Yiyong Huang, Yanjie Yang, Hongwei Liu, Zhijie Jiang, Wei Han

{"title":"Research on Horizontal Following Control of a Suspended Robot for Self-Momentum Targets","authors":"Dan Xiong, Yiyong Huang, Yanjie Yang, Hongwei Liu, Zhijie Jiang, Wei Han","doi":"10.1109/ROBIO58561.2023.10354971","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354971","url":null,"abstract":"Micro/low gravity is one of the most prominent features of the outer space environment, and it significantly alters the force state and dynamics of spacecraft or astronauts compared to the Earth’s gravitational environment. It is crucial to simulate the micro/low gravity environment on the ground for astronaut training or spacecraft testing. The suspension method utilizes a pulley and sling mechanism to create a micro-low gravity environment. This method counteracts the gravitational force exerted by the object based on rope tension. The simulation effect greatly depends on the accuracy of the horizontal following system, which serves as the central subsystem of the suspension device. In this paper, we propose a dual-arm following system to solve the issue of horizontal following for self-momentum targets. In addition, we conduct research on adaptive inhibition technology for flexible rope swing, and coupling control between a robotic arm and a crane. Physical experiments are conducted on the robotic system to verify the effectiveness of the proposed approach.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"88 12","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":"139186736","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

Estimation of Deformation for Self-balancing Lower Limb Exoskeleton Only Using Force/Torque Sensors 仅使用力/扭矩传感器估算自平衡下肢外骨骼的形变

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354999

Ziqiang Chen, Ming Yang, Feng Li, Wentao Li, Jinke Li, Dingkui Tian, Jianquan Sun, Yong He, Xinyu Wu

{"title":"Estimation of Deformation for Self-balancing Lower Limb Exoskeleton Only Using Force/Torque Sensors","authors":"Ziqiang Chen, Ming Yang, Feng Li, Wentao Li, Jinke Li, Dingkui Tian, Jianquan Sun, Yong He, Xinyu Wu","doi":"10.1109/ROBIO58561.2023.10354999","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354999","url":null,"abstract":"This paper presents a general estimation method of deformation for the self-balancing lower limb exoskeleton (SBLLE). In particular, we propose a Bi-LSTM deformation estimator (BLDE) to predict and compensate for the deformation of SBLLE based on the current force and torque data measured by force/torque (F/T) sensors. First, we choose four movements including squatting down and up, waist twisting, left foot lifting, and right foot lifting to mimic the constituent action of walking motion. The deformation data set is obtained through the motion capture analysis system and offline planning trajectories, and the relative F/T data set is obtained by the F/T sensors embedded in the feet of SBLLE. Second, the BiLSTM network is trained to learn the relationship between the deformation and F/T and verified on the test set. After that, BLDE is added to the control system of SBLLE to estimate and compensate for the deformation. Finally, four same movements and the walking experiment are conducted on the exoskeleton AutoLEE-G2 with BLDE. The experimental results have proven that BLDE can predict and compensate for deformation by only using F/T sensors.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"87 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":"139186764","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

Automatic Control System for Reach-to-Grasp Movement of a 7-DOF Robotic Arm Using Object Pose Estimation with an RGB Camera 利用 RGB 摄像机进行物体姿态估计的 7-DOF 机械臂伸抓运动自动控制系统

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354531

Shuting Bai, Jiazhen Guo, Yinlai Jiang, Hiroshi Yokoi, Shunta Togo

引用次数: 0

Decoupled Control of Bipedal Locomotion Based on HZD and H-LIP 基于 HZD 和 H-LIP 的双足运动解耦控制

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354624

Yinong Ye, Yongming Yue, Wei Gao, Shiwu Zhang

引用次数: 0

Optimum Design and Stiffness Analysis of a 3-RCU Parallel Manipulator * 3-RCU 平行机械手的优化设计和刚度分析 *

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354888

Chenhao Xu, F. Xie, Xin-Jun Liu

{"title":"Optimum Design and Stiffness Analysis of a 3-RCU Parallel Manipulator *","authors":"Chenhao Xu, F. Xie, Xin-Jun Liu","doi":"10.1109/ROBIO58561.2023.10354888","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354888","url":null,"abstract":"Large tilt angle is required for parallel manipulators in many applications, this is a challenging issue in the field. In this paper, the optimum design of a 3-RCU parallel manipulator with 1T2R DoFs is carried out to realize the performance of large tilt angle output. The parameter-finiteness normalization method is used to build the parameter design space, and the motion/force transmission and constraint performance indices are used as the evaluation criterion. On these bases, the performance charts have been generated. Taking the constraint condition of achieving 45° tilt angle in all directions into consideration, an optimum region in the parameter design space has been derived and a group of optimized parameters is obtained. According to the results of optimum design, an CAD model of the manipulator is built. Based on perturbation method and principle of virtual work, a stiffness analytical model is established. Finally, the stiffness has been investigated, and the accuracy of the stiffness analytical model has been verified by comparing with the stiffness calculation using finite element analysis method. The work in this paper lays the foundation for the development of the manipulator.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"108 9","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":"139186782","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