Pub Date : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.21
Maria Camila Rojas Suárez, Santiago Noriega Álvarez
Quadruped in comparison with the majority of others animals, it has the ability to access to any kind of environment where others living creatures or even humans can’t access. Those bio-inspired attributes are taken into this project in order to design and develop a quadruped robot with the abilities to move in all kind of directions like ascend or descend, avoid obstacles, etc. Combining these skills of the quadruped animals with the ability of continuously monitoring the carbon dioxide, the results can be determinants. This paper presents the dynamic and kinematics model in addition with the measurement scheme of the carbon dioxide index, with the purpose of establish a mechanical sturdy device, which can be monitoring an important variable. As a result, we studied the movement of real animals, so we can define a suitable bio-mimetic model for our robot.
{"title":"Bio-inspired quadruped robot for detection carbon dioxide in the air","authors":"Maria Camila Rojas Suárez, Santiago Noriega Álvarez","doi":"10.13180/clawar.2018.10-12.09.21","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.21","url":null,"abstract":"Quadruped in comparison with the majority of others animals, it has the ability to access to any kind of environment where others living creatures or even humans can’t access. Those bio-inspired attributes are taken into this project in order to design and develop a quadruped robot with the abilities to move in all kind of directions like ascend or descend, avoid obstacles, etc. Combining these skills of the quadruped animals with the ability of continuously monitoring the carbon dioxide, the results can be determinants. This paper presents the dynamic and kinematics model in addition with the measurement scheme of the carbon dioxide index, with the purpose of establish a mechanical sturdy device, which can be monitoring an important variable. As a result, we studied the movement of real animals, so we can define a suitable bio-mimetic model for our robot.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130230919","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}
Pub Date : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.33
C. F. Herrera, Juan Camilo Martínez Franco, Sebastian Herrera
Semi-passive biped robots have been proposed to achieve efficient and robust bipedal locomotion, based on their natural dynamics. In this work, a compass biped with arc shape feet, actuated by a rocker mechanism on the hip is presented and studied. Initially, the effects of the variation of the excitation frequency and amplitude on the stability of the walking cycle are determined. Both, simulation results and experimental tests, suggest that, for a given range of excitation frequencies, the robot exhibits attractive equilibrium as well as entrainment. In addition, strategies for startup, turning and stopping were explored, obtaining promising results. This work supports the possibility of developing controllable, energy efficient, semi-passive, low cost bipeds.
{"title":"Stable walking dynamics in a semi-passive biped","authors":"C. F. Herrera, Juan Camilo Martínez Franco, Sebastian Herrera","doi":"10.13180/clawar.2018.10-12.09.33","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.33","url":null,"abstract":"Semi-passive biped robots have been proposed to achieve efficient and robust bipedal locomotion, based on their natural dynamics. In this work, a compass biped with arc shape feet, actuated by a rocker mechanism on the hip is presented and studied. Initially, the effects of the variation of the excitation frequency and amplitude on the stability of the walking cycle are determined. Both, simulation results and experimental tests, suggest that, for a given range of excitation frequencies, the robot exhibits attractive equilibrium as well as entrainment. In addition, strategies for startup, turning and stopping were explored, obtaining promising results. This work supports the possibility of developing controllable, energy efficient, semi-passive, low cost bipeds.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129676451","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}
Pub Date : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.52
J. Serracín, Iveth Moreno, R. Caballero, Héctor Montes Franceschi
The presented study in this paper deals with the development of a cranio-maxillofacial reconstruction system in three dimensions, which will interact with a haptic tool. In turn, a specific robot will be controlled using this tool, which it has installed applications associated with surgery. The proposed system will help physicians gain pre-operative experience, based on reconstructions of three-dimensional images taken from real patients. Good results have been obtained, which validate the proposed system.
{"title":"Robotics for facial reconstruction using medical images","authors":"J. Serracín, Iveth Moreno, R. Caballero, Héctor Montes Franceschi","doi":"10.13180/clawar.2018.10-12.09.52","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.52","url":null,"abstract":"The presented study in this paper deals with the development of a cranio-maxillofacial reconstruction system in three dimensions, which will interact with a haptic tool. In turn, a specific robot will be controlled using this tool, which it has installed applications associated with surgery. The proposed system will help physicians gain pre-operative experience, based on reconstructions of three-dimensional images taken from real patients. Good results have been obtained, which validate the proposed system.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116368728","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}
Pub Date : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.13
Ke Wang, Aksat Shah, Petar Kormushev
This paper introduces SLIDER, a new bipedal robot featuring knee-less legs and vertical hip sliding motion. Its non-anthropomorphic design has several advantages over the conventional anthropomorphic leg design. The lack of knees reduces the overall leg weight to only 3 kg and also reduces the moment of inertia of the leg rotation. SLIDER's ultra-lightweight legs make it suitable for agile locomotion. To test the design, we created a dynamic model of SLIDER in Gazebo and implemented a two-stage walking pattern generator, achieving a walking speed of 0.18 m/s in simulation. A physical prototype of SLIDER is currently under construction for real-world testing.
{"title":"SLIDER: A bipedal robot with knee-less legs and vertical hip sliding motion","authors":"Ke Wang, Aksat Shah, Petar Kormushev","doi":"10.13180/clawar.2018.10-12.09.13","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.13","url":null,"abstract":"This paper introduces SLIDER, a new bipedal robot featuring knee-less legs and vertical hip sliding motion. Its non-anthropomorphic design has several advantages over the conventional anthropomorphic leg design. The lack of knees reduces the overall leg weight to only 3 kg and also reduces the moment of inertia of the leg rotation. SLIDER's ultra-lightweight legs make it suitable for agile locomotion. To test the design, we created a dynamic model of SLIDER in Gazebo and implemented a two-stage walking pattern generator, achieving a walking speed of 0.18 m/s in simulation. A physical prototype of SLIDER is currently under construction for real-world testing.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129420651","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}
Pub Date : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.17
G. Garrido, T. Sattar, Michael Corsar, Richard D. James, D. Seghier
Inspection of ship-hull welds must be carried out in accordance with classification society guidelines during manufacture and when in service. Failure of ship-hull welds can result in the loss of a vessel, loss of life and pollution of the environment. Typically weld lines are inspected using ultrasound NDT techniques which are labour intensive, expensive and often hazardous to operators. To remain competitive shipbuilders and inspection companies need to reduce costs while maintaining or improving inspection quality. Automated inspection can achieve this, but current systems are complex, expensive and not suited to shipyard operation. AWI is a novel robotic autonomous system (RAS) that uses magnetic adhesion to climb ship hulls and autonomously track weld lines while performing ultrasonic scans of the welds. Communication of the inspection data is transmitted wirelessly to the inspector sited remotely. This addresses a key challenge in overcoming the payload limitations of current climbing robots. Therefore, AWI is equipped with rugged, fast and secure wireless communications, which robustly integrates with the robot hardware for industrial service.
{"title":"Towards safe inspection of long weld lines on ship hulls using an autonomous robot","authors":"G. Garrido, T. Sattar, Michael Corsar, Richard D. James, D. Seghier","doi":"10.13180/clawar.2018.10-12.09.17","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.17","url":null,"abstract":"Inspection of ship-hull welds must be carried out in accordance with classification society guidelines during manufacture and when in service. Failure of ship-hull welds can result in the loss of a vessel, loss of life and pollution of the environment. Typically weld lines are inspected using ultrasound NDT techniques which are labour intensive, expensive and often hazardous to operators. To remain competitive shipbuilders and inspection companies need to reduce costs while maintaining or improving inspection quality. Automated inspection can achieve this, but current systems are complex, expensive and not suited to shipyard operation. AWI is a novel robotic autonomous system (RAS) that uses magnetic adhesion to climb ship hulls and autonomously track weld lines while performing ultrasonic scans of the welds. Communication of the inspection data is transmitted wirelessly to the inspector sited remotely. This addresses a key challenge in overcoming the payload limitations of current climbing robots. Therefore, AWI is equipped with rugged, fast and secure wireless communications, which robustly integrates with the robot hardware for industrial service.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130603648","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}
Pub Date : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.27
G. Carter, M. Tokhi, Oa Oumar
Integration of robot control with computer vision is an emerging technology. The ability to capture a real world scenario, filter out a specific object, and then localise it with respect to a specific point opens up many avenues for future technologies. In this paper, computer vision is integrated with a 6-DOF robotic arm. The aim is to develop a methodology for controlling a robotic arm through visual interaction. The investigations carried out include mathematical and geometrical representation of the physical manipulator, object detection utilising a colour segmentation approach, establishing communications from the command line of the visual recognition program with an Arduino and development of a user orientated software package that integrates the two key objectives.
{"title":"Visual control of a robotic arm","authors":"G. Carter, M. Tokhi, Oa Oumar","doi":"10.13180/clawar.2018.10-12.09.27","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.27","url":null,"abstract":"Integration of robot control with computer vision is an emerging technology. The ability to capture a real world scenario, filter out a specific object, and then localise it with respect to a specific point opens up many avenues for future technologies. In this paper, computer vision is integrated with a 6-DOF robotic arm. The aim is to develop a methodology for controlling a robotic arm through visual interaction. The investigations carried out include mathematical and geometrical representation of the physical manipulator, object detection utilising a colour segmentation approach, establishing communications from the command line of the visual recognition program with an Arduino and development of a user orientated software package that integrates the two key objectives.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"275 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122469344","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}
Pub Date : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.39
R. Fernández, Victor Aliende, P. González-De-Santos, M. Armada, J. Surdilovic, D. Surdilovic
The objective of this research was to explore the feasibility of detecting cucumber fruits in field conditions for autonomous robotic harvesting applications. A high resolution colour camera and a time-of-flight camera are proposed as primary sensors for the design of the sensory system. The preliminary detection algorithm includes a pixel-based classifier that labels areas of interest that belong to cucumber fruits and a registration procedure that combines the results of the aforementioned classifier with the range data provided by the time-of-flight camera. The detection algorithm is extremely simple and efficient, and provides a satisfactory discrimination of the cucumbers fruits with respect to the rest of the elements of the scene. Several experimental tests have been carried out in outdoor conditions in order to evaluate and demonstrate the capabilities of the proposed approach.
{"title":"Cucumber detection for precision agriculture applications","authors":"R. Fernández, Victor Aliende, P. González-De-Santos, M. Armada, J. Surdilovic, D. Surdilovic","doi":"10.13180/clawar.2018.10-12.09.39","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.39","url":null,"abstract":"The objective of this research was to explore the feasibility of detecting cucumber fruits in field conditions for autonomous robotic harvesting applications. A high resolution colour camera and a time-of-flight camera are proposed as primary sensors for the design of the sensory system. The preliminary detection algorithm includes a pixel-based classifier that labels areas of interest that belong to cucumber fruits and a registration procedure that combines the results of the aforementioned classifier with the range data provided by the time-of-flight camera. The detection algorithm is extremely simple and efficient, and provides a satisfactory discrimination of the cucumbers fruits with respect to the rest of the elements of the scene. Several experimental tests have been carried out in outdoor conditions in order to evaluate and demonstrate the capabilities of the proposed approach.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125690490","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}
Pub Date : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.29
Masahiro Yokota, Shohei Kawazoe, D. Chugo, H. Hashimoto
This paper proposes a novel standing assistance robot, which considers the posture tolerance of its user. In previous studies, conventional assistive robots did not require patients to use their own physical strength to stand, which leads to decreased strength in the elderly. Therefore, an assistive robot that allows patients to maximally use the physical strength they possess is required. To realize this objective, it is important that a robot assists patients according to their body movement and by their intentions. However, in previous studies, general assistive robots helped patients by using a xed motion reference path- way in spite of their original intention, and as a result, these robots failed to use the physical strength of the patients. Therefore, we propose a novel standing assistance robot, which allows its user to move their body within a prescribed degree of posture tolerance during the process of moving from a sitting to a standing position. Our key ndings cover two fundamental research topics. One is the investigation into posture tolerance during a standing motion. The other topic is a novel assistance control algorithm that considers the investigated posture tolerance by combining position control and force control. A prototype assistive robot, based on the proposed idea was fabricated to help patients stand up safely using the maximum of their remaining physical strength.
{"title":"Standing assistance that considers user posture tolerance","authors":"Masahiro Yokota, Shohei Kawazoe, D. Chugo, H. Hashimoto","doi":"10.13180/clawar.2018.10-12.09.29","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.29","url":null,"abstract":"This paper proposes a novel standing assistance robot, which considers the posture tolerance of its user. In previous studies, conventional assistive robots did not require patients to use their own physical strength to stand, which leads to decreased strength in the elderly. Therefore, an assistive robot that allows patients to maximally use the physical strength they possess is required. To realize this objective, it is important that a robot assists patients according to their body movement and by their intentions. However, in previous studies, general assistive robots helped patients by using a xed motion reference path- way in spite of their original intention, and as a result, these robots failed to use the physical strength of the patients. Therefore, we propose a novel standing assistance robot, which allows its user to move their body within a prescribed degree of posture tolerance during the process of moving from a sitting to a standing position. Our key ndings cover two fundamental research topics. One is the investigation into posture tolerance during a standing motion. The other topic is a novel assistance control algorithm that considers the investigated posture tolerance by combining position control and force control. A prototype assistive robot, based on the proposed idea was fabricated to help patients stand up safely using the maximum of their remaining physical strength.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126639907","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}
Pub Date : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.22
L. Cantelli, D. Guastella, L. Mangiameli, C. D. Melita, G. Muscato, D. Longo
Smart Walkers are a category of robotic assistive devices particularly useful for the elderly. These systems help the users in locomotion and with respect to the classical walkers, reduce the risk of fall. This work presents a new system that has been developed using low-cost time of flight laser sensors in place of the more expensive laser scanners. Control of direction is performed by guiding the user by mean of brakes on the rear wheels. Other sensors include an inertial measurement unit with magnetometer and an interface with an external absolute localization system. Preliminary trials have been performed on a graphical and physical simulator implemented in the V-Rep framework.
{"title":"A walking assistant using brakes and low cost sensors","authors":"L. Cantelli, D. Guastella, L. Mangiameli, C. D. Melita, G. Muscato, D. Longo","doi":"10.13180/clawar.2018.10-12.09.22","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.22","url":null,"abstract":"Smart Walkers are a category of robotic assistive devices particularly useful for the elderly. These systems help the users in locomotion and with respect to the classical walkers, reduce the risk of fall. This work presents a new system that has been developed using low-cost time of flight laser sensors in place of the more expensive laser scanners. Control of direction is performed by guiding the user by mean of brakes on the rear wheels. Other sensors include an inertial measurement unit with magnetometer and an interface with an external absolute localization system. Preliminary trials have been performed on a graphical and physical simulator implemented in the V-Rep framework.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127239741","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}
Pub Date : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.14
A. Panchenko, V. Pavlovsky
The paper describes kinematic control for hexapod robot with three{segment articulated body. Forward and inverse kinematics for articulated body de- scribed. Static stability studied in case of climbing the so{called cli obstacle. Conditions for static stability during climbing sequence provided.
{"title":"Stable cliff climbing for hexapod robot with articulated body","authors":"A. Panchenko, V. Pavlovsky","doi":"10.13180/clawar.2018.10-12.09.14","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.14","url":null,"abstract":"The paper describes kinematic control for hexapod robot with three{segment articulated body. Forward and inverse kinematics for articulated body de- scribed. Static stability studied in case of climbing the so{called cli obstacle. Conditions for static stability during climbing sequence provided.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128675603","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}
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