2019 International Conference on Robotics and Automation (ICRA)最新文献_第2页

Real-time Model Predictive Control for Versatile Dynamic Motions in Quadrupedal Robots 四足机器人多用途动态运动的实时模型预测控制

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-22 DOI: 10.1109/ICRA.2019.8793669

Yanran Ding, Abhishek Pandala, Hae-won Park

引用次数: 62

Sensorless Force Control of Automated Grinding/Deburring Using an Adjustable force regulation mechanism 采用可调力调节机构的自动磨削/去毛刺无传感器力控制

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-22 DOI: 10.1109/ICRA.2019.8794058

Y. Kuo, Sheng-Yuan Huang, Chao-Chieh Lan

{"title":"Sensorless Force Control of Automated Grinding/Deburring Using an Adjustable force regulation mechanism","authors":"Y. Kuo, Sheng-Yuan Huang, Chao-Chieh Lan","doi":"10.1109/ICRA.2019.8794058","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794058","url":null,"abstract":"Controlling the contact force on workpieces has been a challenging task for industrial grinding/deburring operations. Its realization often requires a grinding spindle with a multi-axis force sensor and controller feedback. The spindle needs to frequently vary its position in order to maintain a constant contact force. The use of sensors and control is costly and introduces extra complexity for grinding tools. To improve the polishing quality of handling workpieces of irregular contours, this paper presents a novel force regulation mechanism (FRM) to be installed on grinding tools. Without using additional sensors and control, the FRM can passively produce an adjusTable NORMAL Contact force between the tooltip and workpiece of various geometry. the spindle does not have to move to regulate the contact force. together with a simple grinder which is much less expensive, this approach offers a more attractive solution in terms of cost and complexity. in this paper, the design concept and simulation results are presented and discussed. a prototype of a grinder with the proposed FRM is illustrated to demonstrate the effectiveness and accuracy of force regulation. this novel mechanism is expected to serve as a reliable alternative for industrial grinding/deburring operation.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"124 1","pages":"9489-9495"},"PeriodicalIF":0.0,"publicationDate":"2019-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86446657","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: 13

Fabrication and Characterization of Muscle Rings Using Circular Mould and Rotary Electrical Stimulation for Bio-Syncretic Robots 基于环形模具和旋转电刺激的仿生机器人肌肉环的制造与表征

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793903

Chuang Zhang, Jialin Shi, Wenxue Wang, N. Xi, Yuechao Wang, Lianqing Liu

{"title":"Fabrication and Characterization of Muscle Rings Using Circular Mould and Rotary Electrical Stimulation for Bio-Syncretic Robots","authors":"Chuang Zhang, Jialin Shi, Wenxue Wang, N. Xi, Yuechao Wang, Lianqing Liu","doi":"10.1109/ICRA.2019.8793903","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793903","url":null,"abstract":"Bio-syncretic robots made up of living biological systems and electromechanical systems may have the potential excellent performance of natural biological entities. Therefore, the study of the bio-syncretic robots has got lots of attention in recent years. The 3D skeletal muscles have been used widely, due to the considerable contraction force and the controllability. However, the low differentiation quality of the C2C12 in the tissues hinders the broad application in the development of the skeleton muscle actuated bio-syncretic robots. In this work, an approach based on circular mould and rotary electrical stimulation to build high-quality muscle rings, which can be used to actuate various bio-syncretic robots, has been proposed. Firstly, the advantage of the proposed circular mould for the muscle rings culture has been shown by simulation. Then, the muscle rings have been fabricated with different moulds using the experiment-optimized compositions of the biological mixture. After that, the muscle rings in the circular moulds with different electrical stimulations have been cultured, to show the superiority of the proposed rotary electrical stimulation. Moreover, the contractility of the muscle rings have been measured under the different electrical pulses stimulation, for the study of the control property of the muscle rings. This work may be meaningful not only the development of bio-syncretic robots actuated by 3D muscle tissues but also the muscle tissue engineering.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"57 3 1","pages":"4825-4830"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75776841","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: 1

Soft Robotic Glove with Integrated Sensing for Intuitive Grasping Assistance Post Spinal Cord Injury 集成传感的软机器人手套用于脊髓损伤后的直观抓取辅助

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794367

Yu Meng Zhou, Diana Wagner, Kristin Nuckols, Roman Heimgartner, Carolina Correia, Megan E. Clarke, D. Orzel, Ciarán T. O’Neill, Ryan Solinsky, S. Paganoni, C. Walsh

{"title":"Soft Robotic Glove with Integrated Sensing for Intuitive Grasping Assistance Post Spinal Cord Injury","authors":"Yu Meng Zhou, Diana Wagner, Kristin Nuckols, Roman Heimgartner, Carolina Correia, Megan E. Clarke, D. Orzel, Ciarán T. O’Neill, Ryan Solinsky, S. Paganoni, C. Walsh","doi":"10.1109/ICRA.2019.8794367","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794367","url":null,"abstract":"This paper presents a fully-integrated soft robotic glove with multi-articular textile actuators, custom soft sensors, and an intuitive state machine intent detection controller. We demonstrate that the pressurized actuators can generate motion and force comparable to natural human fingers through bench-top testing. We apply textile-elastomer capacitive sensors to the glove to track finger flexion via strain and detect contact with objects via force. Intuitive user control is achieved via a state machine controller based on signals from the integrated sensors to detect relative changes in hand-object interactions. Results from an initial evaluation with 3 participants with spinal cord injury (SCI), of varied injury levels and years since injury, wearing and controlling the glove show an average of 87% improvement in grasping force, and improvements in functional assessments for participants with recent injuries. A significant variation in response suggests further investigation is required to understand the adaptation needed across different injury levels and durations since injury. Additionally, we evaluate the controller and find an average of 3 seconds from user initiations to completed grasps, and 10% inadvertent grasp triggers and no false releases when objects are held.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"16 1","pages":"9059-9065"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73694087","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: 34

Linear Heterogeneous Reconfiguration of Cubic Modular Robots via Simultaneous Tunneling and Permutation 基于同步隧道和排列的三次模块化机器人线性非均质重构

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793594

H. Kawano

{"title":"Linear Heterogeneous Reconfiguration of Cubic Modular Robots via Simultaneous Tunneling and Permutation","authors":"H. Kawano","doi":"10.1109/ICRA.2019.8793594","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793594","url":null,"abstract":"Reconfiguring heterogeneous modular robots in which all modules are not identical is much more time consuming than reconfiguring homogeneous ones, because ordinary heterogeneous reconfiguration is a combination of homogeneous transformation and heterogeneous permutation. While linear homogeneous transformation has been accomplished in previous research, linear heterogeneous permutation has not. This paper studies a reconfiguration algorithm for heterogeneous lattice modular robots with linear operation time cost. The algorithm is based on simultaneous tunneling and permutation, where a robot transforms its configuration via tunneling motion while permutation of each module’s position is performed simultaneously during the tunneling transformation. To achieve this, we introduce the idea of a transparent meta-module that allows modules belonging to a meta-module to pass through the spaces occupied by other meta-modules. We prove the correctness and completeness of the proposed algorithm for a 2$times$ 2$times$ 2 cubic meta-module-based connected robot structure. We also show examples of the reconfiguration simulations of heterogeneous modular robots by the proposed algorithm.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"36 1-2","pages":"332-338"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72598294","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: 6

Underwater Terrain Reconstruction from Forward-Looking Sonar Imagery 从前视声纳图像重建水下地形

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794473

Jinkun Wang, Tixiao Shan, Brendan Englot

引用次数: 21

A Multimodal Aerial Underwater Vehicle with Extended Endurance and Capabilities 一种多模态空中水下航行器，具有扩展的续航力和能力

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793985

Di Lu, Chengke Xiong, Zheng Zeng, L. Lian

{"title":"A Multimodal Aerial Underwater Vehicle with Extended Endurance and Capabilities","authors":"Di Lu, Chengke Xiong, Zheng Zeng, L. Lian","doi":"10.1109/ICRA.2019.8793985","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793985","url":null,"abstract":"A new solution to improving the poor endurance of the existing hybrid aerial underwater vehicle (HAUV) is proposed in this paper. The proposed multimodal hybrid aerial underwater vehicle (MHAUV) merges the design concept of the fixed-wing unmanned aerial vehicle (UAV), the multirotor, and the underwater glider (UG) and has a novel lightweight pneumatic buoyancy adjustment system. MHAUV is well suited for moving in distinct medium and can achieve extended endurance for long distance travel in both air and water. The mathematical model is given based on Newton-Euler formalism. Necessary design principles of the vehicle’s physical parameters are obtained through different gliding equilibrium points. Then, a control scheme composed of two separate proportional-integral-derivative (PID) is employed for the vehicle’s motion control in multi-domain simulation. The simulation results are presented to verify the multi-domain mobility and the mode switch ability of the proposed vehicle intuitively. Finally, a prototype, NEZHA, is introduced to be the experimental platform. The success of the flight test, the hovering test, the underwater glide test, and the medium transition test all contribute to prove the feasibility of the proposed concept of the novel MHAUV.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"64 1","pages":"4674-4680"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75095455","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: 25

Online Estimation of Geometric and Inertia Parameters for Multirotor Aerial Vehicles 多旋翼飞行器几何和惯性参数的在线估计

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794274

Valentin Wüest, Vijay R. Kumar, Giuseppe Loianno

引用次数: 27

Quantum Computation in Robotic Science and Applications 量子计算在机器人科学与应用中的应用

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793768

Christina Petschnigg, Mathias Brandstötter, Horst Pichler, M. Hofbaur, Bernhard Dieber

引用次数: 17

Sharing the Load: Human-Robot Team Lifting Using Muscle Activity 分担负荷:使用肌肉活动的人机团队举重

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794414

Joseph DelPreto, D. Rus

引用次数: 43