Pub Date : 2017-12-08DOI: 10.1109/ROBIO.2017.8324652
Qinbing Fu, Shigang Yue
How do animals like insects perceive meaningful visual motion cues involving directional and locational information of moving objects in visual clutter accurately and efficiently? In this paper, with respect to latest biological research progress made in underlying motion detection circuitry in the fly's preliminary visual system, we conduct a novel hybrid visual neural network, combining the functionality of two bio-plausible, namely the motion and the position pathways, for mimicking motion tracking and fixation behaviors. This modeling study extends a former direction selective neurons model to the higher level of behavior. The motivated algorithms can be used to guide a system that extracts location information of moving objects in a scene regardless of background clutter, using entirely low-level visual processing. We tested it against translational movements in synthetic and real-world scenes. The results demonstrated the following contributions: (1) The proposed computational structure fulfills the characteristics of a putative signal tuning map of the fly's physiology. (2) It also satisfies a biological implication that visual fixation behaviors could be simply tuned via the position pathway; nevertheless, the motion-detecting pathway improves the tracking precision. (3) Contrary to segmentation and registration based computer vision techniques, its computational simplicity benefits the building of neuromorphic visual sensor for robots.
{"title":"Mimicking fly motion tracking and fixation behaviors with a hybrid visual neural network","authors":"Qinbing Fu, Shigang Yue","doi":"10.1109/ROBIO.2017.8324652","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324652","url":null,"abstract":"How do animals like insects perceive meaningful visual motion cues involving directional and locational information of moving objects in visual clutter accurately and efficiently? In this paper, with respect to latest biological research progress made in underlying motion detection circuitry in the fly's preliminary visual system, we conduct a novel hybrid visual neural network, combining the functionality of two bio-plausible, namely the motion and the position pathways, for mimicking motion tracking and fixation behaviors. This modeling study extends a former direction selective neurons model to the higher level of behavior. The motivated algorithms can be used to guide a system that extracts location information of moving objects in a scene regardless of background clutter, using entirely low-level visual processing. We tested it against translational movements in synthetic and real-world scenes. The results demonstrated the following contributions: (1) The proposed computational structure fulfills the characteristics of a putative signal tuning map of the fly's physiology. (2) It also satisfies a biological implication that visual fixation behaviors could be simply tuned via the position pathway; nevertheless, the motion-detecting pathway improves the tracking precision. (3) Contrary to segmentation and registration based computer vision techniques, its computational simplicity benefits the building of neuromorphic visual sensor for robots.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133630999","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 : 2017-12-08DOI: 10.1109/ROBIO.2017.8324764
M. Giannaccini, Keren Yue, J. Graveston, M. Birchall, A. Conn, J. Rossiter
Robotic healthcare is a growing and multi-faceted field where robots help perform surgery, remotely provide care to patients, aid in supplying various physical therapies and further medical research. Robotic simulators of human physiology provide a powerful platform to advance the development of novel treatments, prostheses and therapies. This study focuses on the design, building, testing and characterisation of a novel simulator of the human respiratory system. The comparison between healthy subjects breathing and coughing physiological values and the values achieved utilising our novel bioinspired respiratory simulator shows that the latter is able to reproduce peak flow rates and volumes.
{"title":"Respiratory simulator for robotic respiratory tract treatments","authors":"M. Giannaccini, Keren Yue, J. Graveston, M. Birchall, A. Conn, J. Rossiter","doi":"10.1109/ROBIO.2017.8324764","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324764","url":null,"abstract":"Robotic healthcare is a growing and multi-faceted field where robots help perform surgery, remotely provide care to patients, aid in supplying various physical therapies and further medical research. Robotic simulators of human physiology provide a powerful platform to advance the development of novel treatments, prostheses and therapies. This study focuses on the design, building, testing and characterisation of a novel simulator of the human respiratory system. The comparison between healthy subjects breathing and coughing physiological values and the values achieved utilising our novel bioinspired respiratory simulator shows that the latter is able to reproduce peak flow rates and volumes.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129025321","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 : 2017-12-05DOI: 10.1109/ROBIO.2017.8324599
Kamal Mohy El Dine, J. Corrales, Y. Mezouar, J. Fauroux
In robotic grinding tasks, the robot controller must reactively adapt to sudden changes in the environment and be able to handle uncertainties in texture, change in materials, and disturbances caused by vibrations, impacts and friction of the grinding tool operating at high rotational speed. This requires managing sudden signal changes in sensor data. In this paper, we present a smooth hybrid force/position controller based on distance measurements from radars, enabling the robot to achieve a stable interaction with the environment while grinding an unknown three-dimensional surface. The control uses an actively compliant wrist that maintains a desired force centered on the disc and normal to the surface. Our controller is based on a smooth transition between free space and contact modes, significantly reducing the impact force. Additionally, the vibro-dynamic effects are suppressed and smooth environmental tracking is ensured by the impedance/admittance control of the wrist. This framework is validated on a 6-dof anthropomorphic arm through dynamic simulation. The controller is able to adapt reactively to abrupt disturbances in the environment (ex: sudden impacts on the disc) while ensuring good position and force tracking performance.
{"title":"A smooth position-force controller for asbestos removal manipulator","authors":"Kamal Mohy El Dine, J. Corrales, Y. Mezouar, J. Fauroux","doi":"10.1109/ROBIO.2017.8324599","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324599","url":null,"abstract":"In robotic grinding tasks, the robot controller must reactively adapt to sudden changes in the environment and be able to handle uncertainties in texture, change in materials, and disturbances caused by vibrations, impacts and friction of the grinding tool operating at high rotational speed. This requires managing sudden signal changes in sensor data. In this paper, we present a smooth hybrid force/position controller based on distance measurements from radars, enabling the robot to achieve a stable interaction with the environment while grinding an unknown three-dimensional surface. The control uses an actively compliant wrist that maintains a desired force centered on the disc and normal to the surface. Our controller is based on a smooth transition between free space and contact modes, significantly reducing the impact force. Additionally, the vibro-dynamic effects are suppressed and smooth environmental tracking is ensured by the impedance/admittance control of the wrist. This framework is validated on a 6-dof anthropomorphic arm through dynamic simulation. The controller is able to adapt reactively to abrupt disturbances in the environment (ex: sudden impacts on the disc) while ensuring good position and force tracking performance.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131895020","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 : 2017-12-01DOI: 10.1109/ROBIO.2017.8324591
Keisuke Naniwa, Yoichi Masuda, M. Ishikawa, K. Osuka
This article describes a minimalistic legged robot that generates three-dimensional gaits using a purely physical mechanism, without a sensor or microprocessor. The robot has an extremely simple body structure composed of modular units and an elastic spine. By arranging these units, we can investigate the effect of a morphological parameter — the number of legs — and interlimb interaction via spinal flexibility. A simple oscillator model is applied to generate gaits. This model delays and synchronizes the phases of the legs by exploiting only the mechanical passivity of the DC motors corresponding to each leg.
{"title":"Weak actuators generate versatile locomotion patterns without a brain","authors":"Keisuke Naniwa, Yoichi Masuda, M. Ishikawa, K. Osuka","doi":"10.1109/ROBIO.2017.8324591","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324591","url":null,"abstract":"This article describes a minimalistic legged robot that generates three-dimensional gaits using a purely physical mechanism, without a sensor or microprocessor. The robot has an extremely simple body structure composed of modular units and an elastic spine. By arranging these units, we can investigate the effect of a morphological parameter — the number of legs — and interlimb interaction via spinal flexibility. A simple oscillator model is applied to generate gaits. This model delays and synchronizes the phases of the legs by exploiting only the mechanical passivity of the DC motors corresponding to each leg.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116993625","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 : 2017-12-01DOI: 10.1109/ROBIO.2017.8324406
J. Fuentes‐Pérez, Naveed Muhammad, J. Tuhtan, Ruth Carbonell-Baeza, M. Musall, G. Toming, M. Kruusmaa
Flow sensing has recently gained attention of the robotics community, as it can complement the conventional sensing modalities of vision and sonar in underwater robotics. There is increasing literature in flow sensing for robotics focusing on performing tasks such as object detection and positioning, and robot's orientation estimation, most commonly under idealized laboratory conditions. In this paper, using recent advances and methodologies for bioinspired flow sensing, we propose a map-based localization technique that employs simulated hydrodynamic maps. The proposed conceptual idea could be an interesting complement to perform localization in those underwater environments with structural maps and a heterogeneous hydrodynamic, such as dams, harbour structures, fishways, caves, swers or any other drowned structure. To demonstrate its performance, computational fluid dynamic models are used to generate flow-speed maps of a structured underwater environment. Later, during off-line experiments, pressure data acquired using a flow sensing probe fitted on a Cartesian robot is transformed into speed information, and used inside a particle-filter to perform localization within the simulated flow-speed maps. The proposed technique has been tested using multiple scenarios with varying particle densities and motion command error levels. The results show filter convergence for all studied scenarios, inducing motion errors up to 0.20 m, suggesting that flow based information could be used to improve the navigation and localization abilities of underwater robots.
{"title":"Map-based localization in structured underwater environment using simulated hydrodynamic maps and an artificial lateral line","authors":"J. Fuentes‐Pérez, Naveed Muhammad, J. Tuhtan, Ruth Carbonell-Baeza, M. Musall, G. Toming, M. Kruusmaa","doi":"10.1109/ROBIO.2017.8324406","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324406","url":null,"abstract":"Flow sensing has recently gained attention of the robotics community, as it can complement the conventional sensing modalities of vision and sonar in underwater robotics. There is increasing literature in flow sensing for robotics focusing on performing tasks such as object detection and positioning, and robot's orientation estimation, most commonly under idealized laboratory conditions. In this paper, using recent advances and methodologies for bioinspired flow sensing, we propose a map-based localization technique that employs simulated hydrodynamic maps. The proposed conceptual idea could be an interesting complement to perform localization in those underwater environments with structural maps and a heterogeneous hydrodynamic, such as dams, harbour structures, fishways, caves, swers or any other drowned structure. To demonstrate its performance, computational fluid dynamic models are used to generate flow-speed maps of a structured underwater environment. Later, during off-line experiments, pressure data acquired using a flow sensing probe fitted on a Cartesian robot is transformed into speed information, and used inside a particle-filter to perform localization within the simulated flow-speed maps. The proposed technique has been tested using multiple scenarios with varying particle densities and motion command error levels. The results show filter convergence for all studied scenarios, inducing motion errors up to 0.20 m, suggesting that flow based information could be used to improve the navigation and localization abilities of underwater robots.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121125616","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 : 2017-12-01DOI: 10.1109/ROBIO.2017.8324733
Qiang Cheng, Ruiqin Li, George Zhang
3P-Delta parallel mechanism is a spatial 3-DOF translational parallel mechanism which has the advantages of simple structure and easy to control. It can be used in sorting, handling, packaging and other automatic applications. In this paper, taking the 3P-Delta parallel mechanism as the research object, firstly the forward and the inverse kinematics of the mechanism are formulated by using closed-loop vector method. Through the Jacobian matrix of the mechanism, the velocity and acceleration expressions are derived. The singularity points of the mechanism are studied based on the Jacobian matrices and all singularity configurations of the mechanism are obtained. Secondly, based on the inverse kinematics of the mechanism, the workspace of the mechanism is solved by using the extreme limit boundary searching method and the stereoscopic graph of the workspace is plotted. Taking the Jacobian condition number of the mechanism as an index, the dexterity of the mechanism is analyzed, figuring out the Jacobian condition number of each point in the workspace. The global Jacobian condition number of the mechanism is obtained by MATLAB simulation. And taking the minimum global Jacobian condition number as the optimization objective, the structural parameters of the mechanism are optimized using the genetic algorithm to obtain the optimal dimension of the mechanism. Then, the virtual prototype model is established using ADAMS to simulate the mechanism and the velocity and acceleration curves of the mechanism are obtained. From the curve, it can be concluded that the mechanism has a good movement performance. Finally, the experimental prototype is constructed and the motion trajectory of the mechanism is planned by trapezoidal velocity curve. With the trajectory planning, the moving platform can pass through a given path with a good kinematics performance.
{"title":"Parameter optimization and trajectory planning of 3P-Delta parallel mechanism","authors":"Qiang Cheng, Ruiqin Li, George Zhang","doi":"10.1109/ROBIO.2017.8324733","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324733","url":null,"abstract":"3P-Delta parallel mechanism is a spatial 3-DOF translational parallel mechanism which has the advantages of simple structure and easy to control. It can be used in sorting, handling, packaging and other automatic applications. In this paper, taking the 3P-Delta parallel mechanism as the research object, firstly the forward and the inverse kinematics of the mechanism are formulated by using closed-loop vector method. Through the Jacobian matrix of the mechanism, the velocity and acceleration expressions are derived. The singularity points of the mechanism are studied based on the Jacobian matrices and all singularity configurations of the mechanism are obtained. Secondly, based on the inverse kinematics of the mechanism, the workspace of the mechanism is solved by using the extreme limit boundary searching method and the stereoscopic graph of the workspace is plotted. Taking the Jacobian condition number of the mechanism as an index, the dexterity of the mechanism is analyzed, figuring out the Jacobian condition number of each point in the workspace. The global Jacobian condition number of the mechanism is obtained by MATLAB simulation. And taking the minimum global Jacobian condition number as the optimization objective, the structural parameters of the mechanism are optimized using the genetic algorithm to obtain the optimal dimension of the mechanism. Then, the virtual prototype model is established using ADAMS to simulate the mechanism and the velocity and acceleration curves of the mechanism are obtained. From the curve, it can be concluded that the mechanism has a good movement performance. Finally, the experimental prototype is constructed and the motion trajectory of the mechanism is planned by trapezoidal velocity curve. With the trajectory planning, the moving platform can pass through a given path with a good kinematics performance.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127116660","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 : 2017-12-01DOI: 10.1109/ROBIO.2017.8324695
Alexander C. Holston, Deok-Hwa Kim, Jong-Hwan Kim
This paper presents Fast Batch Informed Trees (Fast-BIT∗), a modification to the asymptotically optimal path planner Batch Informed Trees (BIT∗). Fast-BIT∗ modifies the underlying heuristic that dictates the expansion and processing of vertex and edge queues. BIT∗ uses heuristics to guide the search of implicit Random Geometric Graphs (RGGs) to generate an explicit solutions, while minimizing highly computational tasks such as collision checking. Fast-BIT∗ builds on BIT∗ by biasing the search heuristic towards the goal, in a solution analogous to depth-first search, finding an initial solution of the implicit RGG at a faster rate, at the cost of decreasing initial optimality. Fast-BIT∗ requires additional procedures to reset expansion variables of affected areas in the graph, ensuring the bias is not lasting in the graph expansion. An earlier initial solution leads to a faster initial upper bound for use in informed graph pruning, allowing convergence of path cost to begin earlier in the planning procedure. We show that Fast-BIT∗ finds a first solution faster than BIT∗ as well as the commonly used RRT-Connect and similar methods, along with a faster overall convergence rate. This paper shows various random-world test examples, showing the benefits of similar algorithms, along with a robot path planning simulation.
{"title":"Fast-BIT∗: Modified heuristic for sampling-based optimal planning with a faster first solution and convergence in implicit random geometric graphs","authors":"Alexander C. Holston, Deok-Hwa Kim, Jong-Hwan Kim","doi":"10.1109/ROBIO.2017.8324695","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324695","url":null,"abstract":"This paper presents Fast Batch Informed Trees (Fast-BIT∗), a modification to the asymptotically optimal path planner Batch Informed Trees (BIT∗). Fast-BIT∗ modifies the underlying heuristic that dictates the expansion and processing of vertex and edge queues. BIT∗ uses heuristics to guide the search of implicit Random Geometric Graphs (RGGs) to generate an explicit solutions, while minimizing highly computational tasks such as collision checking. Fast-BIT∗ builds on BIT∗ by biasing the search heuristic towards the goal, in a solution analogous to depth-first search, finding an initial solution of the implicit RGG at a faster rate, at the cost of decreasing initial optimality. Fast-BIT∗ requires additional procedures to reset expansion variables of affected areas in the graph, ensuring the bias is not lasting in the graph expansion. An earlier initial solution leads to a faster initial upper bound for use in informed graph pruning, allowing convergence of path cost to begin earlier in the planning procedure. We show that Fast-BIT∗ finds a first solution faster than BIT∗ as well as the commonly used RRT-Connect and similar methods, along with a faster overall convergence rate. This paper shows various random-world test examples, showing the benefits of similar algorithms, along with a robot path planning simulation.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127237163","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 : 2017-12-01DOI: 10.1109/ROBIO.2017.8324771
Jingdong Zhao, Junguang Han, Yikun Gu, Liangliang Zhao, F. Ni, Yongjun Sun, S. Fan, Hong Liu
With the continuous development of aerospace industry, space robots have been widely used in challenging environments. Due to the special space environment of space missions, the widely used ordinary manipulators were considered unsuitable for space on-orbit tasks. In order to solve this problem, this paper presents a novel class of robots adapted to finish the complex tasks on the truss of the space station, which we call “trinal-branch robot”. This kind of robots consist of three branches and have 15 degrees of freedoms (DOFs). In this paper, the gaits fall into two categories: translational and tumbling. The simulation results confirm that this kind of robots are flexible enough to perform motion on trusses of different sizes.
{"title":"Translational and tumbling gaits for trinal-branch robots","authors":"Jingdong Zhao, Junguang Han, Yikun Gu, Liangliang Zhao, F. Ni, Yongjun Sun, S. Fan, Hong Liu","doi":"10.1109/ROBIO.2017.8324771","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324771","url":null,"abstract":"With the continuous development of aerospace industry, space robots have been widely used in challenging environments. Due to the special space environment of space missions, the widely used ordinary manipulators were considered unsuitable for space on-orbit tasks. In order to solve this problem, this paper presents a novel class of robots adapted to finish the complex tasks on the truss of the space station, which we call “trinal-branch robot”. This kind of robots consist of three branches and have 15 degrees of freedoms (DOFs). In this paper, the gaits fall into two categories: translational and tumbling. The simulation results confirm that this kind of robots are flexible enough to perform motion on trusses of different sizes.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127458794","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 : 2017-12-01DOI: 10.1109/ROBIO.2017.8324750
Zhongjie Meng, Bingheng Wang, Panfeng Huang
The avoidance of collision and intertwist is of great significance for debris towing removal. For this purpose, a removal strategy using releasing mechanism is proposed in this paper. The dynamics model is established, taking into account the tether slackness, platform orbital motion, relative motion of the two end bodies and their in-plane attitude. Platform and debris are assumed to be rectangle and square with certain size respectively. Therefore, the twisted length of unstretched tether is defined to investigate the change of tension during twist. Through the study of the impact of tension on collision and twist, a motor control law of releasing mechanism is developed to adjust tension. Simulation shows that the tension is confined to the defined bounds, making the platform-debris distance kept in a safe range while preventing the twist.
{"title":"GEO debris towing removal using reel control of tethered space robots","authors":"Zhongjie Meng, Bingheng Wang, Panfeng Huang","doi":"10.1109/ROBIO.2017.8324750","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324750","url":null,"abstract":"The avoidance of collision and intertwist is of great significance for debris towing removal. For this purpose, a removal strategy using releasing mechanism is proposed in this paper. The dynamics model is established, taking into account the tether slackness, platform orbital motion, relative motion of the two end bodies and their in-plane attitude. Platform and debris are assumed to be rectangle and square with certain size respectively. Therefore, the twisted length of unstretched tether is defined to investigate the change of tension during twist. Through the study of the impact of tension on collision and twist, a motor control law of releasing mechanism is developed to adjust tension. Simulation shows that the tension is confined to the defined bounds, making the platform-debris distance kept in a safe range while preventing the twist.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124730249","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 : 2017-12-01DOI: 10.1109/ROBIO.2017.8324624
Sajjad Manzoor, Youngjin Choi
In this paper we propose an algorithm for the neural oscillator-based side-winding recurring motion generation in a newly constructed modular snake robot. The snake robot created and then used for experimental purposes is subdivided into body, neck, head and tail modules. It is equipped with active joints. Each body module is provided with two rotary motor to generate yaw and pitch motion. While the neck module is provided with two rotary motor generate pitch motion. In order to move the snake with side winding motion a network of neural oscillators is used to bend snake robot into a two dimension sine-wave. In this way only a few points on the robot body touches the surface on which it is moving. These contact points are propagated from tail to head by using the proposed algorithm. Finally experiment is conducted to confirm the worthiness of snake robot and the authenticity of the proposed algorithm in order to generate side-winding motion generation.
{"title":"Recurring side-winding motion generation for modular snake robot","authors":"Sajjad Manzoor, Youngjin Choi","doi":"10.1109/ROBIO.2017.8324624","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324624","url":null,"abstract":"In this paper we propose an algorithm for the neural oscillator-based side-winding recurring motion generation in a newly constructed modular snake robot. The snake robot created and then used for experimental purposes is subdivided into body, neck, head and tail modules. It is equipped with active joints. Each body module is provided with two rotary motor to generate yaw and pitch motion. While the neck module is provided with two rotary motor generate pitch motion. In order to move the snake with side winding motion a network of neural oscillators is used to bend snake robot into a two dimension sine-wave. In this way only a few points on the robot body touches the surface on which it is moving. These contact points are propagated from tail to head by using the proposed algorithm. Finally experiment is conducted to confirm the worthiness of snake robot and the authenticity of the proposed algorithm in order to generate side-winding motion generation.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126154126","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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