Robotics and biomimetics最新文献_第3页

Improving low-cost inertial-measurement-unit (IMU)-based motion tracking accuracy for a biomorphic hyper-redundant snake robot. 提高基于低成本惯性测量单元(IMU)的生物形态超冗余蛇形机器人运动跟踪精度。

Robotics and biomimetics Pub Date : 2017-01-01 Epub Date: 2017-11-10 DOI: 10.1186/s40638-017-0069-z

Weixin Yang, Alexandr Bajenov, Yantao Shen

{"title":"Improving low-cost inertial-measurement-unit (IMU)-based motion tracking accuracy for a biomorphic hyper-redundant snake robot.","authors":"Weixin Yang, Alexandr Bajenov, Yantao Shen","doi":"10.1186/s40638-017-0069-z","DOIUrl":"https://doi.org/10.1186/s40638-017-0069-z","url":null,"abstract":"This paper develops and experimentally validates a 3D-printed snake robot prototype. Its structure is designed to allocate limited room for each functional module (including an external power module, battery power module, the wireless control and transmission module and some detective sensors), so as to ensure the snake robot works in different environments. In order to control and track the snake robot, a low-cost MEMS-IMU (micro-electro-mechanical systems inertial measurement unit)-based snake robot motion tracking system is developed. Three algorithms (low-pass filter, baseline calibration, and Kalman filter) are used to eliminate noise from IMU's acceleration data, thus minimizing the noise influence to tracking accuracy. Through signal processing, the IMU acceleration data can be effectively used for motion tracking. The result from the video tracking software is employed as a reference for comparison, so as to evaluate the motion tracking algorithm efficiency. The comparison results demonstrate high efficiency of the proposed IMU-based motion tracking algorithm.","PeriodicalId":90966,"journal":{"name":"Robotics and biomimetics","volume":"4 1","pages":"16"},"PeriodicalIF":0.0,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40638-017-0069-z","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"35281341","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: 13

Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines. 混合螺旋-动态细菌趋化算法及其在两轮机械控制中的应用。

Robotics and biomimetics Pub Date : 2017-01-01 Epub Date: 2017-06-16 DOI: 10.1186/s40638-017-0059-1

K M Goher, A M Almeshal, S A Agouri, A N K Nasir, M O Tokhi, M R Alenezi, T Al Zanki, S O Fadlallah

{"title":"Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines.","authors":"K M Goher, A M Almeshal, S A Agouri, A N K Nasir, M O Tokhi, M R Alenezi, T Al Zanki, S O Fadlallah","doi":"10.1186/s40638-017-0059-1","DOIUrl":"https://doi.org/10.1186/s40638-017-0059-1","url":null,"abstract":"This paper presents the implementation of the hybrid spiral-dynamic bacteria-chemotaxis (HSDBC) approach to control two different configurations of a two-wheeled vehicle. The HSDBC is a combination of bacterial chemotaxis used in bacterial forging algorithm (BFA) and the spiral-dynamic algorithm (SDA). BFA provides a good exploration strategy due to the chemotaxis approach. However, it endures an oscillation problem near the end of the search process when using a large step size. Conversely; for a small step size, it affords better exploitation and accuracy with slower convergence. SDA provides better stability when approaching an optimum point and has faster convergence speed. This may cause the search agents to get trapped into local optima which results in low accurate solution. HSDBC exploits the chemotactic strategy of BFA and fitness accuracy and convergence speed of SDA so as to overcome the problems associated with both the SDA and BFA algorithms alone. The HSDBC thus developed is evaluated in optimizing the performance and energy consumption of two highly nonlinear platforms, namely single and double inverted pendulum-like vehicles with an extended rod. Comparative results with BFA and SDA show that the proposed algorithm is able to result in better performance of the highly nonlinear systems.","PeriodicalId":90966,"journal":{"name":"Robotics and biomimetics","volume":"4 1","pages":"3"},"PeriodicalIF":0.0,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40638-017-0059-1","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"35145752","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: 1

Studying slippage on pushing applications with snake robots. 研究滑动在蛇形机器人推动中的应用。

Robotics and biomimetics Pub Date : 2017-01-01 Epub Date: 2017-11-02 DOI: 10.1186/s40638-017-0065-3

Fabian Reyes, Shugen Ma

引用次数: 3

Comparison of different soft grippers for lunch box packaging. 不同软夹持器在饭盒包装中的比较。

Robotics and biomimetics Pub Date : 2017-01-01 Epub Date: 2017-11-02 DOI: 10.1186/s40638-017-0067-1

Zhongkui Wang, Mingzhu Zhu, Sadao Kawamura, Shinichi Hirai

引用次数: 27

Robot-aided electrospinning toward intelligent biomedical engineering. 面向智能生物医学工程的机器人辅助电纺丝技术。

Robotics and biomimetics Pub Date : 2017-01-01 Epub Date: 2017-11-10 DOI: 10.1186/s40638-017-0075-1

Rong Tan, Xiong Yang, Yajing Shen

引用次数: 0

Assessment of personal care and medical robots from older adults' perspective. 从老年人的角度评估个人护理和医疗机器人。

Robotics and biomimetics Pub Date : 2017-01-01 Epub Date: 2017-09-20 DOI: 10.1186/s40638-017-0061-7

K M Goher, N Mansouri, S O Fadlallah

引用次数: 42

A novel cluster-tube self-adaptive robot hand. 一种新型簇管自适应机械手。

Robotics and biomimetics Pub Date : 2017-01-01 Epub Date: 2017-12-21 DOI: 10.1186/s40638-017-0082-2

Hong Fu, Haokun Yang, Weishu Song, Wenzeng Zhang

引用次数: 16

Route bundling in polygonal domains using Differential Evolution. 基于差分进化的多边形域路由捆绑。

Robotics and biomimetics Pub Date : 2017-01-01 Epub Date: 2017-12-08 DOI: 10.1186/s40638-017-0079-x

Victor Parque, Satoshi Miura, Tomoyuki Miyashita

引用次数: 7

A tracked robot with novel bio-inspired passive "legs". 具有新型仿生被动“腿”的履带式机器人。

Robotics and biomimetics Pub Date : 2017-01-01 Epub Date: 2017-11-13 DOI: 10.1186/s40638-017-0070-6

Bo Sun, Xingjian Jing

{"title":"A tracked robot with novel bio-inspired passive \"legs\".","authors":"Bo Sun, Xingjian Jing","doi":"10.1186/s40638-017-0070-6","DOIUrl":"https://doi.org/10.1186/s40638-017-0070-6","url":null,"abstract":"For track-based robots, an important aspect is the suppression design, which determines the trafficability and comfort of the whole system. The trafficability limits the robot's working capability, and the riding comfort limits the robot's working effectiveness, especially with some sensitive instruments mounted on or operated. To these aims, a track-based robot equipped with a novel passive bio-inspired suspension is designed and studied systematically in this paper. Animal or insects have very special leg or limb structures which are good for motion control and adaptable to different environments. Inspired by this, a new track-based robot is designed with novel \"legs\" for connecting the loading wheels to the robot body. Each leg is designed with passive structures and can achieve very high loading capacity but low dynamic stiffness such that the robot can move on rough ground similar to a multi-leg animal or insect. Therefore, the trafficability and riding comfort can be significantly improved without losing loading capacity. The new track-based robot can be well applied to various engineering tasks for providing a stable moving platform of high mobility, better trafficability and excellent loading capacity.","PeriodicalId":90966,"journal":{"name":"Robotics and biomimetics","volume":"4 1","pages":"18"},"PeriodicalIF":0.0,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40638-017-0070-6","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"35218946","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: 16

Ethical framework of assistive devices: review and reflection. 辅助器具的伦理框架:回顾与反思。

Robotics and biomimetics Pub Date : 2017-01-01 Epub Date: 2017-11-15 DOI: 10.1186/s40638-017-0074-2

Nazanin Mansouri, Khaled Goher, Seyed Ebrahim Hosseini

引用次数: 11