Robotics and biomimetics最新文献

A 6-DOF robot-time optimal trajectory planning based on an improved genetic algorithm 基于改进遗传算法的六自由度机器人时间最优轨迹规划

Robotics and biomimetics Pub Date : 2018-07-03 DOI: 10.1186/S40638-018-0085-7

Jiayan Zhang, Q. Meng, Xugang Feng, Hao Shen

引用次数: 25

Systematic engineering design helps creating new soft machines. 系统工程设计有助于创造新的软机器。

Robotics and biomimetics Pub Date : 2018-01-01 Epub Date: 2018-10-26 DOI: 10.1186/s40638-018-0088-4

Arthur Seibel, Lars Schiller

引用次数: 12

PID, BFO-optimized PID, and PD-FLC control of a two-wheeled machine with two-direction handling mechanism: a comparative study. 具有双向搬运机构的两轮机械PID、bfo优化PID和PD-FLC控制的比较研究。

Robotics and biomimetics Pub Date : 2018-01-01 Epub Date: 2018-11-03 DOI: 10.1186/s40638-018-0089-3

K M Goher, S O Fadlallah

引用次数: 5

Design of a novel wheeled tensegrity robot: a comparison of tensegrity concepts and a prototype for travelling air ducts. 一种新型轮式张拉整体机器人的设计:张拉整体概念与移动风道原型的比较。

Robotics and biomimetics Pub Date : 2018-01-01 Epub Date: 2018-05-15 DOI: 10.1186/s40638-018-0084-8

Francisco Carreño, Mark A Post

{"title":"Design of a novel wheeled tensegrity robot: a comparison of tensegrity concepts and a prototype for travelling air ducts.","authors":"Francisco Carreño, Mark A Post","doi":"10.1186/s40638-018-0084-8","DOIUrl":"https://doi.org/10.1186/s40638-018-0084-8","url":null,"abstract":"Efforts in the research of tensegrity structures applied to mobile robots have recently been focused on a purely tensegrity solution to all design requirements. Locomotion systems based on tensegrity structures are currently slow and complex to control. Although wheeled locomotion provides better efficiency over distances there is no literature available on the value of wheeled methods with respect to tensegrity designs, nor on how to transition from a tensegrity structure to a fixed structure in mobile robotics. This paper is the first part of a larger study that aims to combine the flexibility, light weight, and strength of a tensegrity structure with the efficiency and simple control of a wheeled locomotion system. It focuses on comparing different types of tensegrity structure for applicability to a mobile robot, and experimentally finding an appropriate transitional region from a tensegrity structure to a conventional fixed structure on mobile robots. It applies this transitional structure to what is, to the authors' knowledge, the design of the world's first wheeled tensegrity robot that has been designed with the goal of traversing air ducts.","PeriodicalId":90966,"journal":{"name":"Robotics and biomimetics","volume":"5 1","pages":"1"},"PeriodicalIF":0.0,"publicationDate":"2018-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40638-018-0084-8","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"36115368","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: 8

Implementation of Q learning and deep Q network for controlling a self balancing robot model. Q学习和深度Q网络控制自平衡机器人模型的实现。

Robotics and biomimetics Pub Date : 2018-01-01 Epub Date: 2018-12-21 DOI: 10.1186/s40638-018-0091-9

Md Muhaimin Rahman, S M Hasanur Rashid, M M Hossain

引用次数: 28

A multi-jointed underactuated robot hand with fluid-driven stretchable tubes. 一种多关节的欠驱动机械手，带有流体驱动的可拉伸管。

Robotics and biomimetics Pub Date : 2018-01-01 Epub Date: 2018-06-20 DOI: 10.1186/s40638-018-0086-6

Yuangen Wei, Yini Ma, Wenzeng Zhang

{"title":"A multi-jointed underactuated robot hand with fluid-driven stretchable tubes.","authors":"Yuangen Wei, Yini Ma, Wenzeng Zhang","doi":"10.1186/s40638-018-0086-6","DOIUrl":"https://doi.org/10.1186/s40638-018-0086-6","url":null,"abstract":"Inspired from flexible bending of octopus' tentacles and outside-driving kind of traditional exoskeletons, this paper proposed a novel self-adaptive underactuated finger mechanism, called OS finger. OS finger is similar to an octopus' tentacle and consists of an artificial muscle which is through all joints and driven by fluid, eight serial-hinged joints, and force-changeable assembly. The force-changeable assembly is mainly composed of a spring and elastic rubber membrane, which is coordinated for stable grasping by a layer of rubber material in the surface of the finger. OS finger can execute different grasping modes depending on the shapes and dimensions of the grasped objects and grip objects in a gentle and form-fitting manner. The OS finger combines good qualities of both rigid grasp of traditional fingers and form-fitting grasp of flexible fingers. Kinematic analysis and experimental results show that the OS robot Hand with four OS fingers is valid for precise pinching, self-adaptive powerful encompassing, and grasping forces that are freely changeable in a wide range. With the advantage of high self-adaptation, various grasp configurations and large range of grasping forces, the OS Hand has a wide range of applications in the area of service robotics which requires a lot of flexible operations of general grasping, moving and releasing.","PeriodicalId":90966,"journal":{"name":"Robotics and biomimetics","volume":"5 1","pages":"2"},"PeriodicalIF":0.0,"publicationDate":"2018-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40638-018-0086-6","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"36265061","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: 6

Cognition-based variable admittance control for active compliance in flexible manipulation of heavy objects with a power-assist robotic system. 基于认知的可变导纳控制在动力辅助机器人系统中对重物的柔性操纵中的主动顺应。

Robotics and biomimetics Pub Date : 2018-01-01 Epub Date: 2018-11-12 DOI: 10.1186/s40638-018-0090-x

S M Mizanoor Rahman, Ryojun Ikeura

{"title":"Cognition-based variable admittance control for active compliance in flexible manipulation of heavy objects with a power-assist robotic system.","authors":"S M Mizanoor Rahman, Ryojun Ikeura","doi":"10.1186/s40638-018-0090-x","DOIUrl":"https://doi.org/10.1186/s40638-018-0090-x","url":null,"abstract":"In the first step, a 1-DOF power-assist robotic system (PARS) is developed for lifting lightweight objects. Dynamics for human-robot co-manipulation of objects is derived that considers human cognition (weight perception). Then, admittance control with position feedback and velocity controller is derived using weight perception-based dynamics. Human subjects lift an object with the PARS, and HRI (human-robot interaction) and system characteristics are analyzed. A comprehensive scheme is developed to evaluate the HRI and performance. HRI is expressed in terms of physical HRI (maneuverability, motion, safety, stability, naturalness) and cognitive HRI (workload, trust), and performance is expressed in terms of manipulation efficiency and precision. To follow the guidance of ISO/TS 15066, hazard analysis and risk assessment are conducted. A constrained optimization algorithm is proposed to determine the values of the control parameters that produce optimum HRI and performance with lowest risk. Results show that consideration of weight perception in dynamics and control helps achieve optimum HRI and performance for a set of hard constraints. In the second step, a weight perception-based novel variable admittance control scheme is proposed as an active compliance to the system, which enhances the physical HRI, trust, precision and efficiency by 53.05%, 46.78%, 3.84% and 4.98%, respectively, and reduces workload by 35.38% and thus helps achieve optimum HRI and performance for a set of soft constraints. The risk reduces due to the active compliance. Then, effectiveness of the optimization and control algorithms is validated using a multi-DOF PARS for manipulating heavy objects, and intuitive and natural HRI and performance for power-assisted heavy object manipulation are achieved through calibrating HRI and performance with that for manipulation of lightweight object.","PeriodicalId":90966,"journal":{"name":"Robotics and biomimetics","volume":"5 1","pages":"7"},"PeriodicalIF":0.0,"publicationDate":"2018-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40638-018-0090-x","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"36758990","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: 21

Hybrid control combined with a voluntary biosignal to control a prosthetic hand. 混合控制与自愿生物信号相结合来控制假手。

Robotics and biomimetics Pub Date : 2018-01-01 Epub Date: 2018-09-19 DOI: 10.1186/s40638-018-0087-5

Saeed Bahrami Moqadam, Seyed Mohammad Elahi, An Mo, WenZeng Zhang

引用次数: 8

Bacterial foraging-optimized PID control of a two-wheeled machine with a two-directional handling mechanism. 带双向搬运机构的两轮机械细菌觅食优化PID控制。

Robotics and biomimetics Pub Date : 2017-01-01 Epub Date: 2017-03-23 DOI: 10.1186/s40638-017-0057-3

K M Goher, S O Fadlallah

引用次数: 27

Accuracy to detection timing for assisting repetitive facilitation exercise system using MRCP and SVM. 使用MRCP和SVM辅助重复性促进练习系统的检测时间准确性。

Robotics and biomimetics Pub Date : 2017-01-01 Epub Date: 2017-11-07 DOI: 10.1186/s40638-017-0071-5

Satoshi Miura, Junichi Takazawa, Yo Kobayashi, Masakatsu G Fujie

{"title":"Accuracy to detection timing for assisting repetitive facilitation exercise system using MRCP and SVM.","authors":"Satoshi Miura, Junichi Takazawa, Yo Kobayashi, Masakatsu G Fujie","doi":"10.1186/s40638-017-0071-5","DOIUrl":"https://doi.org/10.1186/s40638-017-0071-5","url":null,"abstract":"This paper presents a feasibility study of a brain-machine interface system to assist repetitive facilitation exercise. Repetitive facilitation exercise is an effective rehabilitation method for patients with hemiplegia. In repetitive facilitation exercise, a therapist stimulates the paralyzed part of the patient while motor commands run along the nerve pathway. However, successful repetitive facilitation exercise is difficult to achieve and even a skilled practitioner cannot detect when a motor command occurs in patient's brain. We proposed a brain-machine interface system for automatically detecting motor commands and stimulating the paralyzed part of a patient. To determine motor commands from patient electroencephalogram (EEG) data, we measured the movement-related cortical potential (MRCP) and constructed a support vector machine system. In this paper, we validated the prediction timing of the system at the highest accuracy by the system using EEG and MRCP. In the experiments, we measured the EEG when the participant bent their elbow when prompted to do so. We analyzed the EEG data using a cross-validation method. We found that the average accuracy was 72.9% and the highest at the prediction timing 280 ms. We conclude that 280 ms is the most suitable to predict the judgment that a patient intends to exercise or not.","PeriodicalId":90966,"journal":{"name":"Robotics and biomimetics","volume":"4 1","pages":"12"},"PeriodicalIF":0.0,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40638-017-0071-5","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"35581612","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: 4