2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献_第8页

Deep Reinforcement Learning for a Humanoid Robot Basketball Player 仿人机器人篮球运动员的深度强化学习

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354565

Shuaiqi Zhang, Guodong Zhao, Peng Lin, Mingshuo Liu, Jianhua Dong, Haoyu Zhang

{"title":"Deep Reinforcement Learning for a Humanoid Robot Basketball Player","authors":"Shuaiqi Zhang, Guodong Zhao, Peng Lin, Mingshuo Liu, Jianhua Dong, Haoyu Zhang","doi":"10.1109/ROBIO58561.2023.10354565","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354565","url":null,"abstract":"Currently, the majority of research on humanoid robot basketball shooting focuses on traditional control methods. However, these methods primarily rely on human-robot interaction and fixed shooting patterns to control the robot’s shooting actions, resulting in limited autonomy for the robot. They often require extensive manual design and coding operations, and face challenges in adapting to different shooting scenarios. To address these problems, this paper applies deep reinforcement learning to the basketball shooting task for a humanoid robot. The task environment is based on the basketball shooting competition defined in the FIRA HuroCup. This paper uses the Double DQN algorithm to train the humanoid robot to master end-to-end basketball shooting skills, specifically: The robot takes RGB images captured by its own head camera as input, then decides to take one of three discrete actions, including turning left, turning right, and shooting. In the experimental section, we validate the effectiveness of our approach and conduct an analysis and discussion on the setup of important parameters that influence the experimental results.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"45 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":"139187376","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

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

Enhanced Locomotion of Protein-Based Microrobots via Magnetic Assemblies* 通过磁性组装增强蛋白质微机器人的运动能力*

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354802

Xiangchao Liu, Zhongyi Song, Yuan Liu, Jing Huang, Haifeng Xu

{"title":"Enhanced Locomotion of Protein-Based Microrobots via Magnetic Assemblies*","authors":"Xiangchao Liu, Zhongyi Song, Yuan Liu, Jing Huang, Haifeng Xu","doi":"10.1109/ROBIO58561.2023.10354802","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354802","url":null,"abstract":"Magnetic microrobots are promising for biomedical applications in living organisms, thanks to their remote actuation and non-contact manipulation capabilities. However, controlling single microrobots one after another is technically inefficient. Previous studies showed swarm control of microrobots. Here we introduce a more direct strategy for enhancing the transport efficiency of microrobots by manipulating their assemblies. We present the control of a protein-based microbead system capable of forming magnetic micro-assemblies. By using rotating magnetic fields, we effectively realized the rolling motion of single microbeads, paired microbeads, and assemblies of multiple microbeads. Improved transport velocity is achieved by controlling the assembly of the multiple microrobots. The maximum velocity of the magnetic micro-assembly reaches 1014 μm/s, while the single microbead and micro-dimer is 203 μm/s and 726 μm/s, respectively. And the line coincidence of micro-assembly reaches 0.988. Our results highlight the potential of the controlling strategy based on magnetic assemblies for diverse biomedical applications. The direct control of such magnetic assemblies offers a simpler and more biocompatible solution for improving the transport efficiency of microrobots.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"106 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":"139186816","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

Fast Visual Servo for Rapidly Seafood Capturing of Underwater Delta Robots 用于水下三角洲机器人快速捕捉海鲜的快速视觉伺服系统

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354662

Maosheng Yang, Lin Xiao, Ce Chen, Yangyi Hu, Yi Sun, Huayan Pu, Wenchuan Jia

引用次数: 0

Fatigue Performance and Impact Toughness of PBF-LB Manufactured Inconel 718 PBF-LB 制造的铬镍铁合金 718 的疲劳性能和冲击韧性

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354797

T. Rautio, M. Jaskari, Haider Ali Bhatti, Aappo Mustakangas, M. Keskitalo, A. Järvenpää

{"title":"Fatigue Performance and Impact Toughness of PBF-LB Manufactured Inconel 718","authors":"T. Rautio, M. Jaskari, Haider Ali Bhatti, Aappo Mustakangas, M. Keskitalo, A. Järvenpää","doi":"10.1109/ROBIO58561.2023.10354797","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354797","url":null,"abstract":"This study investigates the fatigue performance and impact toughness of laser powder bed fusion (PBF-LB) manufactured Inconel 718. Inconel 718 is a nickel-based superalloy known for its high-temperature properties. The PBF-LB process offers accuracy and the ability to produce parts with the final geometry, eliminating the need for expensive machining. These features make it an tempting material also for robotic applications, such as structural components or environments that have elevated temperature or are corrosive. However, the influence of heat treatment on the mechanical and dynamic properties of Inconel 718 is not yet fully understood. The study aims to characterize Inconel 718 specimens through tensile, impact, and fatigue testing, as well as microstructural analysis using Field-Emission Scanning Electron Microscopy (FESEM) with Electron Backscatter Diffraction (EBSD). The results will provide insights into the mechanical behavior of PBF-LB-manufactured Inconel 718, considering printing orientation, mechanical properties, and surface quality. The findings will contribute to the understanding of this material’s dynamic properties, crucial for the design and utilization of components produced through PBF-LB.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"69 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":"139187109","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

Reducing the Computational Cost of Transformers for Person Re-identification 降低人员重新识别变压器的计算成本

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354731

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

{"title":"Reducing the Computational Cost of Transformers for Person Re-identification","authors":"Wen Wang, Zheyuan Lin, Shanshan Ji, Te Li, J. Gu, Minhong Wan, Chunlong Zhang","doi":"10.1109/ROBIO58561.2023.10354731","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354731","url":null,"abstract":"Transformer-based visual technologies have witnessed remarkable progress in recent years, and person re-identification (ReID) is one of the active research areas that adopts transformers to improve the performance. However, a major challenge of applying transformers to ReID is the high computational cost, which hinders the real-time deployment of such methods. To address this issue, this paper proposes two simple yet effective techniques to reduce the computation of transformers for ReID. The first technique is to eliminate the invalid patches that do not contain any person information, thereby reducing the number of tokens fed into the transformer. Considering that computational complexity is quadratic with respect to input tokens, the second technique partitions the image into multiple windows, applies separate transformers to each window, and merges class tokens from each window, which can reduce the complexity of the self-attention mechanism. By combining these two techniques, our proposed method reduces the SOTA baseline model by 12.2% FLOPs, while slightly improving the rank-1 accuracy and only sacrificing 1.1% mAP on DukeMTMC-ReID dataset.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"69 11","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":"139187117","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 Magnetic Force Calculation of Permanent Magnet for Magnetic Surgical Instruments 磁性手术器械永久磁铁的磁力计算

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354860

Jingwu Li, Zhijun Sun, Zhongqing Sun, Xing Gao, C. Cao, Yingtian Li

{"title":"A Magnetic Force Calculation of Permanent Magnet for Magnetic Surgical Instruments","authors":"Jingwu Li, Zhijun Sun, Zhongqing Sun, Xing Gao, C. Cao, Yingtian Li","doi":"10.1109/ROBIO58561.2023.10354860","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354860","url":null,"abstract":"When magnetic surgical instruments are used to perform surgical operations, two situations must be strictly avoided to ensure the safety: 1) the magnetic surgical instrument fall down in the abdominal cavity; 2) the pushing forces between the inner wall of the abdominal cavity and the magnetic surgical instruments are too high to harm human body. However, when calculating the magnetic force applied to the magnetic surgical instruments, the variation of the magnetic field within the space which is occupied by the internal permanent magnets (IPMs), placed inside the surgical instrument, is normally omitted. In this paper, to calculate the magnetic field generated by the external permanent magnets (EPMs), a multi-dipole model is proposed considering the variation of the magnetic field in the region where IPMs locate, and a numerical integration method to calculate the magnetic force is introduced. The experimental results showed that the multi-dipole model could predict the magnetic flux density within the distance of 20 - 50 mm away from the permanent magnet. And the magnetic force calculation model can predict the magnetic force variation trend well.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"59 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":"139187124","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

Path-planning for the Human-arm-like Collaborative Robot with the Capability of Infinite Rotation 具有无限旋转能力的仿人协作机器人的路径规划

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354764

Yusheng Yang, Jiajia Liu, Qiaoni Yang, Hang Shi, Yangmin Xie

{"title":"Path-planning for the Human-arm-like Collaborative Robot with the Capability of Infinite Rotation","authors":"Yusheng Yang, Jiajia Liu, Qiaoni Yang, Hang Shi, Yangmin Xie","doi":"10.1109/ROBIO58561.2023.10354764","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354764","url":null,"abstract":"With the advantages of high safety and scalability, collaborative robots are widely used in the fields of Human-Robot Collaboration and Interaction. However, the joint limits of the robot restrict its flexibility and workspace, especially in a cluttered environment. Inspired by the motion of the human arm, whose elbow joint and shoulder joint can rotate infinitely, a collaborative robot with the capability of infinite rotation of its first and fourth joints is constructed in this paper and named the IR-Robot. With the breakthrough of the joint limit, the corresponding dimension in the robot’s configuration space changes from a bounded dimension to an unbounded dimension. The high-dimensional torus configuration space (HTCS) is presented to describe the bounded-unbounded dimensions hybrid property of the IR-Robot’s configuration space. Additionally, an IR-RRT* algorithm is proposed to conduct path-planning in HTCS. The experimental results in simulation and the real world demonstrate the feasibility and superiority of the IR-Robot in path-following and path-planning tasks.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"55 10","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":"139187190","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 Industrial Bin Picking Framework for Assembly Tasks 用于装配任务的工业垃圾箱拣选框架

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354772

Jizhong Liang, Han Sun, Xinhao Chen, Yuanze Gu, Qixin Cao

引用次数: 0

Cell Culture Media Exchange Automation for Screw Cap Flasks within Incubators 用于培养箱内螺旋盖烧瓶的细胞培养基交换自动化系统

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI: 10.1109/ROBIO58561.2023.10354649

Lucas W. Artmann, Valentin Ameres, Tim C. Lueth

引用次数: 0