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Hydrodynamic performance of a soft body under-actuated batoid robot 软体欠驱动机器人的水动力特性研究
... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-01 DOI: 10.1109/ROBIO.2011.6181536
P. Alvarado
{"title":"Hydrodynamic performance of a soft body under-actuated batoid robot","authors":"P. Alvarado","doi":"10.1109/ROBIO.2011.6181536","DOIUrl":"https://doi.org/10.1109/ROBIO.2011.6181536","url":null,"abstract":"Understanding the hydrodynamics that enable the levels of maneuverability observed in biological swimming is important for designing and controlling future underwater man-made vehicles. Batoids generate waves along their pectoral fins to propel themselves and maneuver. In this study the preliminary analysis of the wake structure generated by soft body under-actuated rajiform-type batoid robots is presented. Soft body under-actuated robots have continuous flexible bodies with purposely designed material distributions. Prototype bodies are designed with the heterogeneity needed to produce modes of vibration that match the body motions needed for locomotion using minimal actuation. Characterizing achievable performance is an essential step towards design improvements. In this study, further insight into the hydrodynamics of rajiforms is also gained. Particle image velocimetry (PIV) experiments reveal complex wake structures. However, identifying the exact three-dimensional vortex configuration is challenging. The orientation of the propulsive jet produced by the wake is attributed to the fin amplitude and phase parameters.","PeriodicalId":91430,"journal":{"name":"... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics","volume":"333 1","pages":"1712-1717"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77641861","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: 9
A vision system for remote control of mobile robot to enlarge field of view in horizontal and vertical 一种用于移动机器人远程控制的视觉系统，可在水平和垂直方向上扩大视野
... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-01 DOI: 10.1109/ROBIO.2011.6181254
Suzuki Sho'ji
{"title":"A vision system for remote control of mobile robot to enlarge field of view in horizontal and vertical","authors":"Suzuki Sho'ji","doi":"10.1109/ROBIO.2011.6181254","DOIUrl":"https://doi.org/10.1109/ROBIO.2011.6181254","url":null,"abstract":"We propose a vision system consists of two cameras, a camera with wide-lens and an omni-directional camera, to acquire an image useful for remote control of mobile robots. Two camera images are combined to enlarge the field of view in horizontal and vertical. In addition, markers fixed on the robot can be observed in the bottom part of the acquired image and used as a reference to recognize position and orientation of the robot in the environment. We implemented and tested a prototype system which has horizontal 200 degree and vertical 180 degree of field of view. In this article, we describe about the configuration of the proposed vision system, detail of image combination process and projection model, and experiments for evaluation.","PeriodicalId":91430,"journal":{"name":"... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics","volume":"51 1","pages":"8-13"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84478745","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
Obstacle performance analysis for a novel inspection robot with passive joints 一种新型被动关节检测机器人越障性能分析
... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-01-01 DOI: 10.1109/ROBIO.2011.6181406
Yifeng Song, Hongguang Wang, Fengren Jing
{"title":"Obstacle performance analysis for a novel inspection robot with passive joints","authors":"Yifeng Song, Hongguang Wang, Fengren Jing","doi":"10.1109/ROBIO.2011.6181406","DOIUrl":"https://doi.org/10.1109/ROBIO.2011.6181406","url":null,"abstract":"","PeriodicalId":91430,"journal":{"name":"... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics","volume":"114 1","pages":"926-931"},"PeriodicalIF":0.0,"publicationDate":"2011-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80774260","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
An effective approach for active tracking with a PTZ camera 一种有效的PTZ相机主动跟踪方法
... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics Pub Date : 2010-12-01 DOI: 10.1109/ROBIO.2010.5723599
Lei Zhang, Ke Xu, Shiqi Yu, Ruiqing Fu, Yangsheng Xu
{"title":"An effective approach for active tracking with a PTZ camera","authors":"Lei Zhang, Ke Xu, Shiqi Yu, Ruiqing Fu, Yangsheng Xu","doi":"10.1109/ROBIO.2010.5723599","DOIUrl":"https://doi.org/10.1109/ROBIO.2010.5723599","url":null,"abstract":"The concept of active tracking is presented to simulate the characteristics of human vision in intelligent visual surveillance. The Pan/Tilt/Zoom (PTZ) camera is generally used for active tracking. In this paper, we present a novel and effective approach for active object tracking with a PTZ camera, and construct a near real-time system for indoor and outdoor scenes. The tracking algorithm of our system is based on the feature matching, with the PID control to drive the camera. The feature extracted from moving people is described as a region covariance matrix which combines the spatial and statistical properties of the targets (e.g. coordinates, color, and gradient). Results from indoor and outdoor experiments demonstrate the effectiveness and accuracy of our approach.","PeriodicalId":91430,"journal":{"name":"... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics","volume":"54 1","pages":"1768-1773"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79564547","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
Welcome message 欢迎信息
... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics Pub Date : 2010-01-01 DOI: 10.1109/robio.2010.5723292
Shugen Ma, S. Hirai
{"title":"Welcome message","authors":"Shugen Ma, S. Hirai","doi":"10.1109/robio.2010.5723292","DOIUrl":"https://doi.org/10.1109/robio.2010.5723292","url":null,"abstract":"","PeriodicalId":91430,"journal":{"name":"... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics","volume":"17 1","pages":"1"},"PeriodicalIF":0.0,"publicationDate":"2010-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82075749","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 new design of biomechanical experimental jig for pelvic acetabulum 一种新型骨盆髋臼生物力学实验夹具设计
... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-12-19 DOI: 10.1109/ROBIO.2009.5420660
L. Hui, Cen Hai-tang, Pei Bao-qing
{"title":"A new design of biomechanical experimental jig for pelvic acetabulum","authors":"L. Hui, Cen Hai-tang, Pei Bao-qing","doi":"10.1109/ROBIO.2009.5420660","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.5420660","url":null,"abstract":"Biomechanical experiment method has been widely used in research for the mechanical properties of pelvic acetabulum. Loading jig is a very important part in the studies. Yet, few articles did intensive studies about the jig. In this paper, a kind of new loading jig, which is more analogical with physiological orthostatism of the pelvic, is being introduced and some biomechanical experiments have been done with it to testify its usability. Results show that this jig is feasible and its structure is accordance with the biological principles of the pelvic.","PeriodicalId":91430,"journal":{"name":"... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics","volume":"37 1","pages":"292-296"},"PeriodicalIF":0.0,"publicationDate":"2009-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74904350","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 the workspace of 6-PSS bionic parallel machine horse 6-PSS仿生并联机器马工作空间研究
... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-12-19 DOI: 10.1109/ROBIO.2009.5420946
Zhu Qi-guang, Wang Hong-rui, Chen Ying
{"title":"Study on the workspace of 6-PSS bionic parallel machine horse","authors":"Zhu Qi-guang, Wang Hong-rui, Chen Ying","doi":"10.1109/ROBIO.2009.5420946","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.5420946","url":null,"abstract":"Analyzed and studied the motion platform of the orthogonal 6-DOF PSS bionic parallel horse which come from the Stewart platform, described the layout features of its structure, based on inverse kinematics and constraints of the links, rotation range of the joints, using numerical boundary search method, and Matlab programming tools, solved the 6-PSS parallel machines horse workspace, drawn the outline of its workspace map, provided the theoretical basis for the design and application of parallel horse.","PeriodicalId":91430,"journal":{"name":"... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics","volume":"2014 1","pages":"1463-1466"},"PeriodicalIF":0.0,"publicationDate":"2009-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87742765","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
Time series modeling for an adaptive visibility improvement of the outdoor image sequences in wavelet domain 小波域室外图像序列自适应可视性改进的时间序列建模
... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-12-19 DOI: 10.1109/ROBIO.2009.5420855
Liu Haoting, Lu Hanqing, Xu Feng-gang
{"title":"Time series modeling for an adaptive visibility improvement of the outdoor image sequences in wavelet domain","authors":"Liu Haoting, Lu Hanqing, Xu Feng-gang","doi":"10.1109/ROBIO.2009.5420855","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.5420855","url":null,"abstract":"Under a complex atmosphere, the visibility of images captured by a moving camera needs to be enhanced so as to overcome various atmospheric perturbations. To achieve a stable and robust performance, in this paper, we propose to build a time series based model in wavelet domain by employing both spatial and temporal information of the sequential images. First, we set up a blind evaluation criteria of the Image Quality (IQ). Second, to each frame of the sequence, we utilize an adaptive computation framework to improve the performance of the wavelet based algorithm, which is controlled by the criteria above. After that, we build two time series models separately, i.e., an Autoregressive Integrated Moving Average (ARIMA) model and an Autoregressive Conditional Heteroscedasticity (ARCH) model to fit the parameters change of the complex atmosphere. Finally, we utilize these two models to guide and improve the adjustment of the adaptive calculation. Experiment results demonstrate the effectiveness and robustness of our solution in many outdoor applications.","PeriodicalId":91430,"journal":{"name":"... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics","volume":"28 1","pages":"1247-1252"},"PeriodicalIF":0.0,"publicationDate":"2009-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78456723","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
Dynamic modeling of a novel bionic micro-machine 一种新型仿生微机械的动力学建模
... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-26 DOI: 10.1109/ROBIO.2009.4913045
Y. Cenyu, Song Tao, Wang Jinguang, Wang Zhe, Wang Zheng
{"title":"Dynamic modeling of a novel bionic micro-machine","authors":"Y. Cenyu, Song Tao, Wang Jinguang, Wang Zhe, Wang Zheng","doi":"10.1109/ROBIO.2009.4913045","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913045","url":null,"abstract":"By inspiring the motion of magnetotactic bacterium, a bionic micro-machine swimming in the liquid was proposed in the paper. The bionic micro-machine is propelled by the propeller fixed onto the motor shaft, and the motor's start-up, stop and speed are controlled by wireless radio transceiver modules. The moving attitude of the bionic micro-machine is adjusted through interaction between the internal permanent magnetic block and the external uniform magnetic field. To realize its automatic control, the kinematic model and dynamic model were established. Utilizing the prototype and the dynamic model, we studied the turning performance of the bionic micro-machine theoretically and experimentally. The results show that the bionic micro-machine can achieve the agile control of the attitude and the simulated results mostly agree with the experimental results that verify the correctness of the dynamic model of the bionic micromachine.","PeriodicalId":91430,"journal":{"name":"... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics","volume":"7 1","pages":"449-453"},"PeriodicalIF":0.0,"publicationDate":"2009-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81805167","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
Research and design on optimal controller of aerial robotics 航空机器人最优控制器的研究与设计
... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-01-01 DOI: 10.1109/ROBIO.2009.5420692
Jian-qiang Li, J. Yin, Hao Lu, Hailong Pei
{"title":"Research and design on optimal controller of aerial robotics","authors":"Jian-qiang Li, J. Yin, Hao Lu, Hailong Pei","doi":"10.1109/ROBIO.2009.5420692","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.5420692","url":null,"abstract":"","PeriodicalId":91430,"journal":{"name":"... IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics","volume":"63 1","pages":"469-474"},"PeriodicalIF":0.0,"publicationDate":"2009-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80422157","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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