IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation最新文献_第7页

Fuzzy Logic Controller Design for PUMA 560 Robot Manipulator puma560机器人机械手模糊控制器设计

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-06-01 DOI: 10.11591/ijra.v9i2.pp%p

A. Said

引用次数: 4

General concepts of multi-sensor data-fusion based SLAM 基于SLAM的多传感器数据融合的一般概念

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-06-01 DOI: 10.11591/ijra.v9i2.pp63-72

J. Klečka, K. Horak, Ondrej Bostik

引用次数: 3

Control system design of duct cleaning robot capable of overcoming L and T-shaped ducts L型和t型风管清扫机器人控制系统设计

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-06-01 DOI: 10.11591/ijra.v9i2.pp123-134

Myeong In Seo, Woo-jin Jang, Junhwan Ha, Kyong-Jun Park, Dong Hwan Kim

引用次数: 0

Inverse kinematic analysis of 3 DOF 3-PRS PM for machining on inclined prismatic surfaces 三自由度3-PRS PM在倾斜棱柱表面加工的运动学反分析

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-06-01 DOI: 10.11591/ijra.v9i2.pp135-142

Hishantkumar Rashmikantbhai Patel, Y. Patel

引用次数: 0

Robots for search site monitoring, suspect guarding, and evidence identification 用于搜索现场监控、嫌疑人护卫和证据识别的机器人

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-06-01 DOI: 10.11591/ijra.v9i2.pp84-93

Yi-Chang Wu, Jih-Wei Lee, Huan-Chun Wang

引用次数: 0

Cylinder Diameter Measurement for Rail Tankers Using 3D Laser Scanning Technology 利用三维激光扫描技术测量铁路罐车气缸直径

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-06-01 DOI: 10.1109/ICRAS49812.2020.9134924

Qi Chao, Shao Xuejun, Pan Qing, Wu Huijie

引用次数: 0

Towards Bimanual Vein Cannulation: Preliminary Study of a Bimanual Robotic System With a Dual Force Constraint Controller. 面向双手静脉插管:双力约束双手机器人系统的初步研究。

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-05-01 Epub Date: 2020-09-15 DOI: 10.1109/icra40945.2020.9196889

Changyan He, Ali Ebrahimi, Emily Yang, Muller Urias, Yang Yang, Peter Gehlbach, Iulian Iordachita

{"title":"Towards Bimanual Vein Cannulation: Preliminary Study of a Bimanual Robotic System With a Dual Force Constraint Controller.","authors":"Changyan He, Ali Ebrahimi, Emily Yang, Muller Urias, Yang Yang, Peter Gehlbach, Iulian Iordachita","doi":"10.1109/icra40945.2020.9196889","DOIUrl":"https://doi.org/10.1109/icra40945.2020.9196889","url":null,"abstract":"Retinal vein cannulation is a promising approach for treating retinal vein occlusion that involves injecting medicine into the occluded vessel to dissolve the clot. The approach remains largely unexploited clinically due to surgeon limitations in detecting interaction forces between surgical tools and retinal tissue. In this paper, a dual force constraint controller for robot-assisted retinal surgery was presented to keep the tool-to-vessel forces and tool-to-sclera forces below prescribed thresholds. A cannulation tool and forceps with dual force-sensing capability were developed and used to measure force information fed into the robot controller, which was implemented on existing Steady Hand Eye Robot platforms. The robotic system facilitates retinal vein cannulation by allowing a user to grasp the target vessel with the forceps and then enter the vessel with the cannula. The system was evaluated on an eye phantom. The results showed that, while the eyeball was subjected to rotational disturbances, the proposed controller actuates the robotic manipulators to maintain the average tool-to-vessel force at 10.9 mN and 13.1 mN and the average tool-to-sclera force at 38.1 mN and 41.2 mN for the cannula and the forcpes, respectively. Such small tool-to-tissue forces are acceptable to avoid retinal tissue injury. Additionally, two clinicians participated in a preliminary user study of the bimanual cannulation demonstrating that the operation time and tool-to-tissue forces are significantly decreased when using the bimanual robotic system as compared to freehand performance.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/icra40945.2020.9196889","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"25455303","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

A Fully Actuated Body-Mounted Robotic Assistant for MRI-Guided Low Back Pain Injection. 一种用于MRI引导下腰痛注射的全驱动车载机器人助手。

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-05-01 Epub Date: 2020-09-15 DOI: 10.1109/icra40945.2020.9197534

Gang Li, Niravkumar A Patel, Weiqiang Liu, Di Wu, Karun Sharma, Kevin Cleary, Jan Fritz, Iulian Iordachita

{"title":"A Fully Actuated Body-Mounted Robotic Assistant for MRI-Guided Low Back Pain Injection.","authors":"Gang Li, Niravkumar A Patel, Weiqiang Liu, Di Wu, Karun Sharma, Kevin Cleary, Jan Fritz, Iulian Iordachita","doi":"10.1109/icra40945.2020.9197534","DOIUrl":"10.1109/icra40945.2020.9197534","url":null,"abstract":"This paper reports the development of a fully actuated body-mounted robotic assistant for MRI-guided low back pain injection. The robot is designed with a 4-DOF needle alignment module and a 2-DOF remotely actuated needle driver module. The 6-DOF fully actuated robot can operate inside the scanner bore during imaging; hence, minimizing the need of moving the patient in or out of the scanner during the procedure, and thus potentially reducing the procedure time and streamlining the workflow. The robot is built with a lightweight and compact structure that can be attached directly to the patient's lower back using straps; therefore, attenuating the effect of patient motion by moving with the patient. The novel remote actuation design of the needle driver module with beaded chain transmission can reduce the weight and profile on the patient, as well as minimize the imaging degradation caused by the actuation electronics. The free space positioning accuracy of the system was evaluated with an optical tracking system, demonstrating the mean absolute errors (MAE) of the tip position to be 0.99±0.46 mm and orientation to be 0.99±0.65°. Qualitative imaging quality evaluation was performed on a human volunteer, revealing minimal visible image degradation that should not affect the procedure. The mounting stability of the system was assessed on a human volunteer, indicating the 3D position variation of target movement with respect to the robot frame to be less than 0.7 mm.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/icra40945.2020.9197534","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"39348468","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 10

Large-Scale Volumetric Scene Reconstruction using LiDAR 基于激光雷达的大规模体景重建

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9197388

Tilman Kuhner, Julius Kummerle

{"title":"Large-Scale Volumetric Scene Reconstruction using LiDAR","authors":"Tilman Kuhner, Julius Kummerle","doi":"10.1109/ICRA40945.2020.9197388","DOIUrl":"https://doi.org/10.1109/ICRA40945.2020.9197388","url":null,"abstract":"Large-scale 3D scene reconstruction is an important task in autonomous driving and other robotics applications as having an accurate representation of the environment is necessary to safely interact with it. Reconstructions are used for numerous tasks ranging from localization and mapping to planning. In robotics, volumetric depth fusion is the method of choice for indoor applications since the emergence of commodity RGB-D cameras due to its robustness and high reconstruction quality. In this work we present an approach for volumetric depth fusion using LiDAR sensors as they are common on most autonomous cars. We present a framework for large-scale mapping of urban areas considering loop closures. Our method creates a meshed representation of an urban area from recordings over a distance of 3.7km with a high level of detail on consumer graphics hardware in several minutes. The whole process is fully automated and does not need any user interference. We quantitatively evaluate our results from a real world application. Also, we investigate the effects of the sensor model that we assume on reconstruction quality by using synthetic data.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82884048","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

Mechanism and Model of a Soft Robot for Head Stabilization in Cancer Radiation Therapy. 肿瘤放射治疗中头部稳定软机器人的机理与模型。

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-05-01 Epub Date: 2020-09-15 DOI: 10.1109/icra40945.2020.9197007

Olalekan Ogunmolu, Xinmin Liu, Nicholas Gans, Rodney D Wiersma

引用次数: 1