Pub Date : 2017-12-01DOI: 10.1109/ROBIO.2017.8324643
Zihao Xu, Weiqun Wang, Z. Hou, Xiaoming Lin, Xu Liang
During the robot assisted active rehabilitation training, it is very important to adaptively adjust the interaction force between the robot and limbs, online. Aiming at this problem, a fuzzy-impedance control strategy is proposed. First, the difference between the estimated and the measured forces is used to represent the human-robot interaction force. The estimated force is based on rehabilitation robot dynamic model. Then, an adaptive algorithm based on fuzzy logic is presented for adjusting the impedance parameters, including stiffness and damping. Specifically, the interaction force and position errors are used to adjust stiffness, and the interaction force and velocity errors to damping. Finally, the feasibility of the proposed algorithm is verified by the simulation experiment.
{"title":"Dynamic model based fuzzy-impedance interaction control for rehabilitation robots","authors":"Zihao Xu, Weiqun Wang, Z. Hou, Xiaoming Lin, Xu Liang","doi":"10.1109/ROBIO.2017.8324643","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324643","url":null,"abstract":"During the robot assisted active rehabilitation training, it is very important to adaptively adjust the interaction force between the robot and limbs, online. Aiming at this problem, a fuzzy-impedance control strategy is proposed. First, the difference between the estimated and the measured forces is used to represent the human-robot interaction force. The estimated force is based on rehabilitation robot dynamic model. Then, an adaptive algorithm based on fuzzy logic is presented for adjusting the impedance parameters, including stiffness and damping. Specifically, the interaction force and position errors are used to adjust stiffness, and the interaction force and velocity errors to damping. Finally, the feasibility of the proposed algorithm is verified by the simulation experiment.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"1 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":"130571811","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.2017.8324806
Pengcheng Li, W. Xie, Xiaoming Zhang, Rui Zeng
In the control of parallel robot, kinematic parameters calibration is an essential preparation step. In this paper, a posture variation based algorithm is proposed to calibrate the kinematic parameters of a 6-RSS parallel robot. A relative posture-based calibration algorithm is designed to search the optimal kinematic error parameters based on visually detected posture variation. This method uses both the position and orientation variations and does not need the accurate location information for the detection sensor. The simulation results validate the effectiveness of the algorithm under different circumstances. And the experimental results demonstrate that the calibrated kinematic parameters can be used to improve the end-effector tracking performance.
{"title":"Relative posture-based kinematic calibration of a 6-RSS parallel robot by using a monocular vision system","authors":"Pengcheng Li, W. Xie, Xiaoming Zhang, Rui Zeng","doi":"10.1109/ROBIO.2017.8324806","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324806","url":null,"abstract":"In the control of parallel robot, kinematic parameters calibration is an essential preparation step. In this paper, a posture variation based algorithm is proposed to calibrate the kinematic parameters of a 6-RSS parallel robot. A relative posture-based calibration algorithm is designed to search the optimal kinematic error parameters based on visually detected posture variation. This method uses both the position and orientation variations and does not need the accurate location information for the detection sensor. The simulation results validate the effectiveness of the algorithm under different circumstances. And the experimental results demonstrate that the calibrated kinematic parameters can be used to improve the end-effector tracking performance.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"86 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":"123844237","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.2017.8324797
T. Shiina, Zhidong Wang
To autonomous robot systems, performing tasks, such as navigation a mobile robot in indoor environments should be able to cope with state changes of many environment objects, such as a door. This will involve many key technologies such as mapping, real time state observation and action decision. In this paper, we define the concept of Quasi-Static Environment Object (QSO) which represents state-changeable object from mapping level, and implement it in current robotic map system with QSO data structure. A navigation algorithm with QSO state representation and states based navigation decision is developed for allowing a robot can flexibly modify its route while observed door in its original shortest route is closed. Additionally, a method with general type LRF sensors for glass QSO object detection is proposed by using reflection characteristics of glass and pre-registered QSO map data. This lets our proposed extended navigation algorithm can be applied to most of indoor environments including many recent buildings with transparent glass doors and glass walls which are invisible in conventional SLAM based mapping methods. Several experiments are provided for illustrating the validity of the proposed methods.
{"title":"An indoor navigation algorithm incorporating representation of Quasi-Static Environmental Object and glass surface detection using LRF sensor","authors":"T. Shiina, Zhidong Wang","doi":"10.1109/ROBIO.2017.8324797","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324797","url":null,"abstract":"To autonomous robot systems, performing tasks, such as navigation a mobile robot in indoor environments should be able to cope with state changes of many environment objects, such as a door. This will involve many key technologies such as mapping, real time state observation and action decision. In this paper, we define the concept of Quasi-Static Environment Object (QSO) which represents state-changeable object from mapping level, and implement it in current robotic map system with QSO data structure. A navigation algorithm with QSO state representation and states based navigation decision is developed for allowing a robot can flexibly modify its route while observed door in its original shortest route is closed. Additionally, a method with general type LRF sensors for glass QSO object detection is proposed by using reflection characteristics of glass and pre-registered QSO map data. This lets our proposed extended navigation algorithm can be applied to most of indoor environments including many recent buildings with transparent glass doors and glass walls which are invisible in conventional SLAM based mapping methods. Several experiments are provided for illustrating the validity of the proposed methods.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"55 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":"123973362","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.2017.8324644
Guozheng Xu, Lei Xu, Cheng Lv, Bo Zhu
Concerning the physically handicapped people, using head movement to control the motion of mobile service robot has become a new choice, and it has favored by many consumers and researchers and has high market value and research value. In view of the shortcomings of the traditional head pose estimation algorithm in practical applications, this paper proposes an improved head pose estimation method based on the combination of random forest and iterative closest point (ICP) algorithm for robotic wheelchair interactive control. And the corresponding experiments are conducted to compare the accuracy and time performance of this algorithm with the traditional algorithm.
{"title":"An improved head pose estimation method for the robotic wheelchair interaction control","authors":"Guozheng Xu, Lei Xu, Cheng Lv, Bo Zhu","doi":"10.1109/ROBIO.2017.8324644","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324644","url":null,"abstract":"Concerning the physically handicapped people, using head movement to control the motion of mobile service robot has become a new choice, and it has favored by many consumers and researchers and has high market value and research value. In view of the shortcomings of the traditional head pose estimation algorithm in practical applications, this paper proposes an improved head pose estimation method based on the combination of random forest and iterative closest point (ICP) algorithm for robotic wheelchair interactive control. And the corresponding experiments are conducted to compare the accuracy and time performance of this algorithm with the traditional algorithm.","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":"123669221","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.2017.8324757
Miaofeng Liu, Chaohan Cui, Wenjun Lv, Yu Kang
In this paper, we propose an analytical numerical model to describe the parameters related to capacity factors inspired by renormalization methods in statistical physics and a modified cellular automata model. We demonstrate the validity of our model compared with the simulating results from a cellar automata model in the configuration of this problem. We also address an efficient way to implement numerical computation using our paradigm. Additionally, our work shows an interesting relationship between the statistical scaling and the traffic modelling, which can be discussed and applied in other similar configurations.
{"title":"From cellular automation to renormalization: Looking into how smart cars enhance the roads capacity","authors":"Miaofeng Liu, Chaohan Cui, Wenjun Lv, Yu Kang","doi":"10.1109/ROBIO.2017.8324757","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324757","url":null,"abstract":"In this paper, we propose an analytical numerical model to describe the parameters related to capacity factors inspired by renormalization methods in statistical physics and a modified cellular automata model. We demonstrate the validity of our model compared with the simulating results from a cellar automata model in the configuration of this problem. We also address an efficient way to implement numerical computation using our paradigm. Additionally, our work shows an interesting relationship between the statistical scaling and the traffic modelling, which can be discussed and applied in other similar configurations.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"226 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":"116493939","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.2017.8324616
Na Wei, Mingyong Liu
According to the cooperative antagonism game problem of multi autonomous underwater vehicles(AUVs), multi AUVs cooperative attack dynamic countermeasures are researched. A multi-combat steps dynamic target assignment optimization model is built based on the game theory for multi-strategy autonomous underwater vehicles cooperative attack. Particle swarm optimization (PSO) algorithm is applied to solve the Nash equilibrium point for obtaining optimal antagonistic tactics. It is confirmed that the feasibility and validity of the proposed model and method.
{"title":"AUV antagonistic tactics study for naval battle based on dynamic game","authors":"Na Wei, Mingyong Liu","doi":"10.1109/ROBIO.2017.8324616","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324616","url":null,"abstract":"According to the cooperative antagonism game problem of multi autonomous underwater vehicles(AUVs), multi AUVs cooperative attack dynamic countermeasures are researched. A multi-combat steps dynamic target assignment optimization model is built based on the game theory for multi-strategy autonomous underwater vehicles cooperative attack. Particle swarm optimization (PSO) algorithm is applied to solve the Nash equilibrium point for obtaining optimal antagonistic tactics. It is confirmed that the feasibility and validity of the proposed model and method.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"21 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":"121590410","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}
In this paper, a peg-in-hole assembly strategy based on vision/force guidance and dual-arm coordination is proposed. Vision guidance using corner detection algorithm is applied for rough adjustment and ensures a suitable dual-arm operating space. To realize precise adjustment, position adjustment and orientation adjustment are realized respectively according to the forces and torques information detected by a 6-axis F/T sensor. Besides, master-slave arms are distinguished in dual-arm coordinated operation. The proposed strategy can be applied not only for round assembly parts, but also for triangle and square parts. Experimental results show that the proposed assembly strategy perform well for different-shaped parts and 0.5mm maximum clearance between peg and hole can be assembled successfully.
{"title":"Peg-in-hole assembly based on hybrid vision/force guidance and dual-arm coordination","authors":"Yanglong Zheng, Xianmin Zhang, Yanlin Chen, Yanjiang Huang","doi":"10.1109/ROBIO.2017.8324453","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324453","url":null,"abstract":"In this paper, a peg-in-hole assembly strategy based on vision/force guidance and dual-arm coordination is proposed. Vision guidance using corner detection algorithm is applied for rough adjustment and ensures a suitable dual-arm operating space. To realize precise adjustment, position adjustment and orientation adjustment are realized respectively according to the forces and torques information detected by a 6-axis F/T sensor. Besides, master-slave arms are distinguished in dual-arm coordinated operation. The proposed strategy can be applied not only for round assembly parts, but also for triangle and square parts. Experimental results show that the proposed assembly strategy perform well for different-shaped parts and 0.5mm maximum clearance between peg and hole can be assembled successfully.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"12 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":"126430725","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.2017.8324450
Hao Liu, Zhuqing Ji, Jie Li, Yuanyuan Zhou, Chongyang Wang, Peng Ba
In recent years, the dexterous continuum robots have been widely researched and developed rapidly as their well capability of distal dexterity, the compact structure and the excellent intrinsic compliance with environment. Especially, the continuum robots that could bend to planar S shape are known to have great advantages in contacting target tissues and avoiding the obstacles, which mean significant importance in minimally invasive field. Meanwhile, the rigidity requirement of continuum robots seems especially important during the Minimally Invasive Surgery (MIS). In this paper, we introduced a novel S shape continuum robot with a single actuation structured by NiTi slices, which also contain notches that could pass drive wires of the surgical instrument to achieve surgical requirements. The designed continuum robot could bend to planar S shape as expected, its external diameter is 7mm and length is 57.5mm. The load capacity of distal tip could meet the surgical requirement at maximal deformation, which has been verified by experiments.
{"title":"A S shape continuum robot with a single actuation structured by NiTi slices","authors":"Hao Liu, Zhuqing Ji, Jie Li, Yuanyuan Zhou, Chongyang Wang, Peng Ba","doi":"10.1109/ROBIO.2017.8324450","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324450","url":null,"abstract":"In recent years, the dexterous continuum robots have been widely researched and developed rapidly as their well capability of distal dexterity, the compact structure and the excellent intrinsic compliance with environment. Especially, the continuum robots that could bend to planar S shape are known to have great advantages in contacting target tissues and avoiding the obstacles, which mean significant importance in minimally invasive field. Meanwhile, the rigidity requirement of continuum robots seems especially important during the Minimally Invasive Surgery (MIS). In this paper, we introduced a novel S shape continuum robot with a single actuation structured by NiTi slices, which also contain notches that could pass drive wires of the surgical instrument to achieve surgical requirements. The designed continuum robot could bend to planar S shape as expected, its external diameter is 7mm and length is 57.5mm. The load capacity of distal tip could meet the surgical requirement at maximal deformation, which has been verified by experiments.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"16 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":"126472686","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}
This paper describes a design of soft pneumatic actuator(SPA), the fabrication process of which was based on 3D print technology. Optimal design was done by using non-linear finite element method, in which geometrical and material non-linearity were considered. In this paper, the characteristics of two kinds of SPAs, single material actuator(SMA) and dual material actuator(DMA) were analyzed and evaluated at the same time to lead to optimal actuator designs, which were validated against experimental data of one-degree bending. In order to get the largest deformation of the actuator under given pressure, the structure of SMA and DMA were studied. In the end, the optimal actuator design was applied to make a gripper which was combined of three DMAs.
{"title":"A kind of soft pneumatic actuator based on multi-material 3D print technology","authors":"Nianfeng F. Wang, XianDong Ge, Hao Guo, Chaoyu Cui, Xianmin Zhang","doi":"10.1109/ROBIO.2017.8324519","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324519","url":null,"abstract":"This paper describes a design of soft pneumatic actuator(SPA), the fabrication process of which was based on 3D print technology. Optimal design was done by using non-linear finite element method, in which geometrical and material non-linearity were considered. In this paper, the characteristics of two kinds of SPAs, single material actuator(SMA) and dual material actuator(DMA) were analyzed and evaluated at the same time to lead to optimal actuator designs, which were validated against experimental data of one-degree bending. In order to get the largest deformation of the actuator under given pressure, the structure of SMA and DMA were studied. In the end, the optimal actuator design was applied to make a gripper which was combined of three DMAs.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"8 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":"125493336","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.2017.8324791
T. Tsujita, Tadamasa Kitahara, R. Tahara, S. Abiko, A. Konno
To drop a humanoid robot with a parachute from an airplane is one of the promising ways of delivering robots to a disaster site, and this research has focused on how to absorb parachute landing shock. Two large impacts were observed in one drop test using a small one-legged robot in our previous experiment. The second peak could be reduced by the shock absorbing motion, but the first peak did not change dramatically even if the landing posture was changed. Therefore, this paper forces on how to reduce the first impact acceleration and discusses on effect of cushioning material and servo gain on the impact. It was found that the difference in the hardness of the cushioning material greatly influences the impact acceleration. There was a difference in impact acceleration more than twice between a soft cushion and a hard cushion. On the other hand, impact absorption effect by change of servo gain of robot's actuators was minor. Therefore, it is concluded that flexibility with hardware is also necessary for joints.
{"title":"Drop test for evaluating effect of cushioning material and servo gain on parachute landing impact using a small one-legged robot","authors":"T. Tsujita, Tadamasa Kitahara, R. Tahara, S. Abiko, A. Konno","doi":"10.1109/ROBIO.2017.8324791","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324791","url":null,"abstract":"To drop a humanoid robot with a parachute from an airplane is one of the promising ways of delivering robots to a disaster site, and this research has focused on how to absorb parachute landing shock. Two large impacts were observed in one drop test using a small one-legged robot in our previous experiment. The second peak could be reduced by the shock absorbing motion, but the first peak did not change dramatically even if the landing posture was changed. Therefore, this paper forces on how to reduce the first impact acceleration and discusses on effect of cushioning material and servo gain on the impact. It was found that the difference in the hardness of the cushioning material greatly influences the impact acceleration. There was a difference in impact acceleration more than twice between a soft cushion and a hard cushion. On the other hand, impact absorption effect by change of servo gain of robot's actuators was minor. Therefore, it is concluded that flexibility with hardware is also necessary for joints.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"21 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":"125638077","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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