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Design and analysis of variable stiffness soft manipulator based on jamming structure 基于干扰结构的变刚度软机械臂设计与分析
... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324492
Hongliang Yu, Fengyu Xu, Yudong Yang, Pengfei Zhou
{"title":"Design and analysis of variable stiffness soft manipulator based on jamming structure","authors":"Hongliang Yu, Fengyu Xu, Yudong Yang, Pengfei Zhou","doi":"10.1109/ROBIO.2017.8324492","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324492","url":null,"abstract":"Particle jamming has been demonstrated to be very effective for soft manipulator with stiffness modulation. However, the structural uncertainty due to particles rearrangements and particle deformation makes soft manipulator which based on particle jamming unreliable in both position and stiffness control. In this paper, a soft manipulator based on skeleton and particles' structure is introduced first. It is a good solution to structural uncertainty. According to the Hertz contact model and Pascal's law, we analyzed the interaction force among membrane, the big balls, membrane and the filling particles. Then, we assume that the particles inside the membrane are restrained to an integral configuration and can be regarded as a rigid body. Based on these assumptions, we have established the mechanical model of this institution. The stiffness is simulated by using the locking moment, and put derived result to simulate. Finally, we conclude the relationship between the locking moment and the vacuum pressure, locking moment and the size of the filled particles.","PeriodicalId":91430,"journal":{"name":"... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics","volume":"215 ","pages":"657-662"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91467447","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: 3
Development of rehabilitation robot for hand "ReRoH" 手部康复机器人“ReRoH”的研制
... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324723
Hayato Mukai, Chihiro Sato, Isao Abe, T. Kikuchi
{"title":"Development of rehabilitation robot for hand \"ReRoH\"","authors":"Hayato Mukai, Chihiro Sato, Isao Abe, T. Kikuchi","doi":"10.1109/ROBIO.2017.8324723","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324723","url":null,"abstract":"Regardless of the importance of well-organized motions for the wrist and fingers, their effective training / assessment methods have not been developed because of their anatomical relationships. The rehabilitation robot for hand, “ReRoH,” was developed. The ReRoH consists of a main body, an external controller and a game controller. The ReRoH installs an ER Brake to generate senses of force to wrists. We conducted characteristics tests for the brake. The results show the output torque was 0.9 Nm at 1.4 kV input, and the response time was around 5 ms. The ReRoH also installs a Leap Motion sensor for hands coordinate. We investigated the optimal area of the sensor. By using this sensor, we suggested a new way to assess motor functions of fingers and hands.","PeriodicalId":91430,"journal":{"name":"... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics","volume":"241 1","pages":"2063-2068"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76271643","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: 2
The efficient calibration and the normal calculation method of the stereoscopic deflectometry 立体偏转仪的有效标定和正常计算方法
... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics Pub Date : 2017-01-01 DOI: 10.1109/ROBIO.2017.8324570
Chen Li, Xu Zhang, Dawei Tu
{"title":"The efficient calibration and the normal calculation method of the stereoscopic deflectometry","authors":"Chen Li, Xu Zhang, Dawei Tu","doi":"10.1109/ROBIO.2017.8324570","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324570","url":null,"abstract":"","PeriodicalId":91430,"journal":{"name":"... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics","volume":"53 1","pages":"1136-1141"},"PeriodicalIF":0.0,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73854742","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
Motion description language for trajectory generation of a robot manipulator 用于机械手轨迹生成的运动描述语言
... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics Pub Date : 2017-01-01 DOI: 10.1109/ROBIO.2017.8324704
Zhaoming Liu, Nailong Liu, Qing Wei, Long Cui
{"title":"Motion description language for trajectory generation of a robot manipulator","authors":"Zhaoming Liu, Nailong Liu, Qing Wei, Long Cui","doi":"10.1109/ROBIO.2017.8324704","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324704","url":null,"abstract":"","PeriodicalId":91430,"journal":{"name":"... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics","volume":"88 1","pages":"1950-1955"},"PeriodicalIF":0.0,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85316719","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
Study on dynamic characteristics of V-type leg hydraulic system of truck mounted concrete pump 车载混凝土泵v型支腿液压系统动态特性研究
... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics Pub Date : 2017-01-01 DOI: 10.1109/ROBIO.2017.8324645
Qing Zhao, Huiyong Liu, Y. Xiong
{"title":"Study on dynamic characteristics of V-type leg hydraulic system of truck mounted concrete pump","authors":"Qing Zhao, Huiyong Liu, Y. Xiong","doi":"10.1109/ROBIO.2017.8324645","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324645","url":null,"abstract":"","PeriodicalId":91430,"journal":{"name":"... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics","volume":"22 1","pages":"1594-1598"},"PeriodicalIF":0.0,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81027272","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
Stability analysis and optimization on conical cylinder block in swash plate piston pumps 斜盘式柱塞泵锥形缸体稳定性分析与优化
... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics Pub Date : 2017-01-01 DOI: 10.1109/ROBIO.2017.8324697
Jihai Jiang, Weipeng Yan
{"title":"Stability analysis and optimization on conical cylinder block in swash plate piston pumps","authors":"Jihai Jiang, Weipeng Yan","doi":"10.1109/ROBIO.2017.8324697","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324697","url":null,"abstract":"","PeriodicalId":91430,"journal":{"name":"... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics","volume":"38 1","pages":"1906-1911"},"PeriodicalIF":0.0,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85235131","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
Research on high precision magnetic suspension positioning platform 高精度磁悬浮定位平台的研究
... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics Pub Date : 2017-01-01 DOI: 10.1109/ROBIO.2017.8324647
Zhihan Yang, Haibo Huang, Feng Zhao, Wenwen Zhang, Yongchao Pei, Liguo Chen, Jizhu Liu
{"title":"Research on high precision magnetic suspension positioning platform","authors":"Zhihan Yang, Haibo Huang, Feng Zhao, Wenwen Zhang, Yongchao Pei, Liguo Chen, Jizhu Liu","doi":"10.1109/ROBIO.2017.8324647","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324647","url":null,"abstract":"","PeriodicalId":91430,"journal":{"name":"... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics","volume":"246 3","pages":"1605-1611"},"PeriodicalIF":0.0,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72571967","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
Optimization and simulation on key parameters of foot trajectory for a hydraulic quadruped robot 液压四足机器人足部轨迹关键参数优化与仿真
... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics Pub Date : 2017-01-01 DOI: 10.1109/ROBIO.2017.8324622
Meng Gao, Ya-Nan Li, Qingsheng Luo, Ning Sun
{"title":"Optimization and simulation on key parameters of foot trajectory for a hydraulic quadruped robot","authors":"Meng Gao, Ya-Nan Li, Qingsheng Luo, Ning Sun","doi":"10.1109/ROBIO.2017.8324622","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324622","url":null,"abstract":"","PeriodicalId":91430,"journal":{"name":"... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics","volume":"108 1","pages":"1454-1459"},"PeriodicalIF":0.0,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79549198","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
Numerical investigation on a cable-driven flight simulator with high-G acceleration capability 具有高加速度特性的缆索驱动飞行模拟器数值研究
... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics Pub Date : 2017-01-01 DOI: 10.1109/ROBIO.2017.8324747
Xiaoguang Wang, Qi Lin
{"title":"Numerical investigation on a cable-driven flight simulator with high-G acceleration capability","authors":"Xiaoguang Wang, Qi Lin","doi":"10.1109/ROBIO.2017.8324747","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324747","url":null,"abstract":"","PeriodicalId":91430,"journal":{"name":"... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics","volume":"98 1","pages":"2212-2217"},"PeriodicalIF":0.0,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78672775","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 rolling soft cable climbing robot: Design analysis and fabrication 一种滚动软索攀爬机器人:设计分析与制造
... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics Pub Date : 2017-01-01 DOI: 10.1109/ROBIO.2017.8324493
Yudong Yang, Fengyu Xu, Hongliang Yu, Pengfei Zhou
{"title":"A rolling soft cable climbing robot: Design analysis and fabrication","authors":"Yudong Yang, Fengyu Xu, Hongliang Yu, Pengfei Zhou","doi":"10.1109/ROBIO.2017.8324493","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324493","url":null,"abstract":"","PeriodicalId":91430,"journal":{"name":"... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics","volume":"64 1","pages":"663-668"},"PeriodicalIF":0.0,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75194143","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
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