Pub Date : 2017-12-01DOI: 10.1109/ROBIO.2017.8324588
Y. Tsunoda, Yuichiro Sueoka, K. Osuka
This paper is concerned with group navigation which utilizes strong interaction between two types of mobile agents, what we call sheepdog agent (dog agent) and sheep agent. Natural sheepdog system exhibits that one or a small number of sheepdog guides large population of sheep, up to a thousand, to a pre-determined goal position thanks to the characteristics of the sheep; they live in a flock and they hate a dog. From the viewpoint of multi-robots navigation, the sheepdog system will help us to grasp some key tricks for control strategies; sufficient and minimum number of controllers will manipulate many degree of freedoms. After deriving mathematical models of sheep flocks and a shepherd dog, we propose to conduct a statistical approach for understanding the navigation mechanism; we mainly focus on the interaction factor, flocking effect, and the dog performance. Firstly, we dare to run repeated simulations by adding statistical errors in the interaction vector between sheep flocks and the dog. Secondly, we examine the navigation performance by changing the flock characteristics: the size of individual attraction/alignment zone. Finally, we analyze the relation between the speed of dog and the sheepdog-like navigation performance.
{"title":"On statistical analysis for shepherd guidance system","authors":"Y. Tsunoda, Yuichiro Sueoka, K. Osuka","doi":"10.1109/ROBIO.2017.8324588","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324588","url":null,"abstract":"This paper is concerned with group navigation which utilizes strong interaction between two types of mobile agents, what we call sheepdog agent (dog agent) and sheep agent. Natural sheepdog system exhibits that one or a small number of sheepdog guides large population of sheep, up to a thousand, to a pre-determined goal position thanks to the characteristics of the sheep; they live in a flock and they hate a dog. From the viewpoint of multi-robots navigation, the sheepdog system will help us to grasp some key tricks for control strategies; sufficient and minimum number of controllers will manipulate many degree of freedoms. After deriving mathematical models of sheep flocks and a shepherd dog, we propose to conduct a statistical approach for understanding the navigation mechanism; we mainly focus on the interaction factor, flocking effect, and the dog performance. Firstly, we dare to run repeated simulations by adding statistical errors in the interaction vector between sheep flocks and the dog. Secondly, we examine the navigation performance by changing the flock characteristics: the size of individual attraction/alignment zone. Finally, we analyze the relation between the speed of dog and the sheepdog-like navigation performance.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"39 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":"116902326","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.2017.8324787
Sixiang Zuo, Zhiyang Wang, Xiaorui Zhu, Y. Ou
As a promising subfield of machine learning, Reinforcement Learning (RL) has drawn increasing attention among the academia as well as the public. However, the practical application of RL is still restricted by a variety of reasons. The two most significant challenges of RL are the large exploration domain and the difficulty to converge. Integrating RL with human expertise is technically an interesting way to accelerate the exploration and increase the stability. In this work, we propose a continuous reinforcement learning method which integrates Deep Deterministic Policy Gradient (DDPG) with human demonstrations. The proposed method uses a combined loss function for updating the actor and critic networks. In addition, the experience replay buffer is also drawn from different transition data samples to make the learning more stable. The proposed method is tested with a popular RL task, i.e. the autonomous driving, by simulations with TORCS environment. Experimental results not only show the effectiveness of our method in improving the learning stability, but also manifest the potential capability of our method in mastering human preferences.
{"title":"Continuous reinforcement learning from human demonstrations with integrated experience replay for autonomous driving","authors":"Sixiang Zuo, Zhiyang Wang, Xiaorui Zhu, Y. Ou","doi":"10.1109/ROBIO.2017.8324787","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324787","url":null,"abstract":"As a promising subfield of machine learning, Reinforcement Learning (RL) has drawn increasing attention among the academia as well as the public. However, the practical application of RL is still restricted by a variety of reasons. The two most significant challenges of RL are the large exploration domain and the difficulty to converge. Integrating RL with human expertise is technically an interesting way to accelerate the exploration and increase the stability. In this work, we propose a continuous reinforcement learning method which integrates Deep Deterministic Policy Gradient (DDPG) with human demonstrations. The proposed method uses a combined loss function for updating the actor and critic networks. In addition, the experience replay buffer is also drawn from different transition data samples to make the learning more stable. The proposed method is tested with a popular RL task, i.e. the autonomous driving, by simulations with TORCS environment. Experimental results not only show the effectiveness of our method in improving the learning stability, but also manifest the potential capability of our method in mastering human preferences.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"43 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":"116473795","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.2017.8324405
Changlong Lin, Guoliang Zhang, Jing Li, Yan Chen, Yiwen Zhang, Yiping Li
A common feature of unmanned vehicles is their complexity, which grows apace and provides its own challenges. Frameworks for managing this growing complexity have always been one of the key aspects of designing an unmanned vehicle. In our previous work, a generalized architecture is proposed to not only address the complexity in developing an unmanned vehicle, but also support the algorithm exchange and technology transfer for integrating efforts from different researchers. In this paper, we applied this architecture to the control system of a practical vehicle. In the development of the control system, object oriented method is adopted and the specialization process of element classes from abstract to detail is presented. Then standards for the architecture is discussed. Finally, field experiments are carried out to validate the effectiveness of this architecture.
{"title":"An application of a generalized architecture to an autonomous underwater vehicle","authors":"Changlong Lin, Guoliang Zhang, Jing Li, Yan Chen, Yiwen Zhang, Yiping Li","doi":"10.1109/ROBIO.2017.8324405","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324405","url":null,"abstract":"A common feature of unmanned vehicles is their complexity, which grows apace and provides its own challenges. Frameworks for managing this growing complexity have always been one of the key aspects of designing an unmanned vehicle. In our previous work, a generalized architecture is proposed to not only address the complexity in developing an unmanned vehicle, but also support the algorithm exchange and technology transfer for integrating efforts from different researchers. In this paper, we applied this architecture to the control system of a practical vehicle. In the development of the control system, object oriented method is adopted and the specialization process of element classes from abstract to detail is presented. Then standards for the architecture is discussed. Finally, field experiments are carried out to validate the effectiveness of this architecture.","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":"123687336","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.2017.8324811
Noel Maalouf, I. Elhajj, Elie A. Shammas, Daniel C. Asmar
This paper proposes a novel technique for designing humanoid gaits, inspired from human walking characteristics, in which roughly seventy percent of the required energy during walking is attributed to the exchange of kinetic and potential energies. We test our system by creating an energy-conscious gait for a Hoap2 simulated robot in Webots, and validate that with this gait energy exchange occurs as per our design. Finally, we analyze the energy expenditure for the Hoap2 during walking and compare it to that of human walking.
{"title":"Imitating humans: Humanoid gait design based on energy exchange","authors":"Noel Maalouf, I. Elhajj, Elie A. Shammas, Daniel C. Asmar","doi":"10.1109/ROBIO.2017.8324811","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324811","url":null,"abstract":"This paper proposes a novel technique for designing humanoid gaits, inspired from human walking characteristics, in which roughly seventy percent of the required energy during walking is attributed to the exchange of kinetic and potential energies. We test our system by creating an energy-conscious gait for a Hoap2 simulated robot in Webots, and validate that with this gait energy exchange occurs as per our design. Finally, we analyze the energy expenditure for the Hoap2 during walking and compare it to that of human walking.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"26 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":"122125103","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.2017.8324455
Luxuan Li, F. Sun, Bin Fang, Zhudong Huang, Chao Yang, Mingxuan Jing
As an important basis of stable grasping, slip detection plays a critical role on improving the operation level of robots. In this paper, a novel slip detection method that combines unsupervised learning and supervised learning is proposed. The window matching pursuit is used to extract features and then the SVM is applied to classify the slip and stable events. Superior to other methods, the proposed method has no restriction of grasped object and can be easily applied to other robot hands. In addition, a novel slip-tagging method based on infrared sensor that measures relative distance of object and robot hand is proposed. The platform consisting of Universal Robot, Barrett hand and the infrared sensor is setup. And experiments are implemented to prove effectiveness of the proposed methods.
{"title":"Learning to detect slip for stable grasping","authors":"Luxuan Li, F. Sun, Bin Fang, Zhudong Huang, Chao Yang, Mingxuan Jing","doi":"10.1109/ROBIO.2017.8324455","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324455","url":null,"abstract":"As an important basis of stable grasping, slip detection plays a critical role on improving the operation level of robots. In this paper, a novel slip detection method that combines unsupervised learning and supervised learning is proposed. The window matching pursuit is used to extract features and then the SVM is applied to classify the slip and stable events. Superior to other methods, the proposed method has no restriction of grasped object and can be easily applied to other robot hands. In addition, a novel slip-tagging method based on infrared sensor that measures relative distance of object and robot hand is proposed. The platform consisting of Universal Robot, Barrett hand and the infrared sensor is setup. And experiments are implemented to prove effectiveness of the proposed methods.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"58 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":"124668458","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.2017.8324654
Xia Zhang, Tianhong Luo, Atsushi Tsukahara, M. Hashimoto
The biologically-inspired motion control theory was introduced to ameliorate human-robot interaction flexibility and multi-joint autonomy in walking assist. A new type of human-robot interaction (HRI)-based coordination control method which combined a hip CPG (central pattern generator) control, a knee hierarchical impedance control and a hip-knee linkage control was explored. Firstly, the characteristics of CPGs self-oscillation and external communication were utilized to obtain the ideal master/slave hip joint trajectories, and CPG-units symmetrical inhibition were established to maintain anti-phase of the left and right hip joints. Secondly, according to the requirements of gait, a high and low hierarchical impedance control law was designed, and thus the knee joint torques during support stage and swing stage were obtained respectively. Finally, a hip-knee joints linkage mechanism was built to incorporate the hip joint CPG control with the knee-joint impedance control, and thus natural and relevant hip-knee joints trajectory was realized. The stability of the HRI-based coordination control method was researched by using Lyapunov stability theory. Walking experiments were carried out to certificate that the proposed control method was effective in generating nature hip-knee joints trajectory in walking.
{"title":"A coordination control for a wearable walking-assist robot","authors":"Xia Zhang, Tianhong Luo, Atsushi Tsukahara, M. Hashimoto","doi":"10.1109/ROBIO.2017.8324654","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324654","url":null,"abstract":"The biologically-inspired motion control theory was introduced to ameliorate human-robot interaction flexibility and multi-joint autonomy in walking assist. A new type of human-robot interaction (HRI)-based coordination control method which combined a hip CPG (central pattern generator) control, a knee hierarchical impedance control and a hip-knee linkage control was explored. Firstly, the characteristics of CPGs self-oscillation and external communication were utilized to obtain the ideal master/slave hip joint trajectories, and CPG-units symmetrical inhibition were established to maintain anti-phase of the left and right hip joints. Secondly, according to the requirements of gait, a high and low hierarchical impedance control law was designed, and thus the knee joint torques during support stage and swing stage were obtained respectively. Finally, a hip-knee joints linkage mechanism was built to incorporate the hip joint CPG control with the knee-joint impedance control, and thus natural and relevant hip-knee joints trajectory was realized. The stability of the HRI-based coordination control method was researched by using Lyapunov stability theory. Walking experiments were carried out to certificate that the proposed control method was effective in generating nature hip-knee joints trajectory in walking.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"14 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":"124696181","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.2017.8324658
Shouta Miyake, Shunsuke Nagahama, S. Sugano
Tendon-driven mechanisms have many advantages and researchers expect to apply these mechanisms across various fields. Conversely, tendon-driven mechanisms have some disadvantages such as difficulty of control and unsuitability for extended use applications due to the impact of wire wear on wire tension. Therefore, these mechanisms have issues in applications such as industrial and nursing robotics, which require precise movement over long time periods. In this study, we developed a new mechanism wherein wire wear resistance is high because of the use of liquid lubrication and the incorporation of an impurity removal process. This is similar to how the tendon-driven mechanisms in humans operate. In our experiment, we produced the proposed mechanism and evaluated the quantity of bending and stretching operations that could be achieved before wire breakage occurs. The results showed an improvement in wear resistance over conventional mechanisms.
{"title":"Development of a tendon-driven mechanism with liquid circulation system for improving wear resistance","authors":"Shouta Miyake, Shunsuke Nagahama, S. Sugano","doi":"10.1109/ROBIO.2017.8324658","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324658","url":null,"abstract":"Tendon-driven mechanisms have many advantages and researchers expect to apply these mechanisms across various fields. Conversely, tendon-driven mechanisms have some disadvantages such as difficulty of control and unsuitability for extended use applications due to the impact of wire wear on wire tension. Therefore, these mechanisms have issues in applications such as industrial and nursing robotics, which require precise movement over long time periods. In this study, we developed a new mechanism wherein wire wear resistance is high because of the use of liquid lubrication and the incorporation of an impurity removal process. This is similar to how the tendon-driven mechanisms in humans operate. In our experiment, we produced the proposed mechanism and evaluated the quantity of bending and stretching operations that could be achieved before wire breakage occurs. The results showed an improvement in wear resistance over conventional mechanisms.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"36 5 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":"129772820","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.2017.8324516
A. Savkin, A. Marzoughi
This paper addresses a problem of intruder interception on the boundary of a protected region through the use of a network of mobile robots. A necessary and sufficient condition for the existence of a solution of this problem is obtained. We propose a decentralized motion control algorithm for the mobile robots to intercept an intruder entering the protected region. The algorithm is developed based on some simple rules that are computationally efficient and easily implementable in real time.
{"title":"Distributed control of a robotic network for protection of a region from intruders","authors":"A. Savkin, A. Marzoughi","doi":"10.1109/ROBIO.2017.8324516","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324516","url":null,"abstract":"This paper addresses a problem of intruder interception on the boundary of a protected region through the use of a network of mobile robots. A necessary and sufficient condition for the existence of a solution of this problem is obtained. We propose a decentralized motion control algorithm for the mobile robots to intercept an intruder entering the protected region. The algorithm is developed based on some simple rules that are computationally efficient and easily implementable in real time.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"9 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":"128285010","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.2017.8324813
Jianbo Sun, J. Ren, Yinglian Jin, Binrui Wang, Dijian Chen
Hexapod robots have strong crawling abilities and complex gaits. Referring the configuration of ants, a hexapod robot is designed. Based on the DH parameters and the homogeneous transformation matrix, the direct and inverse kinematic models are built, and the workspace of the foot end is analyzed. For the tripod gait, the relationship between the rotation angle of the leg with respect to body and the foot movement is built. The foot end trajectories of the swing phase are designed by adopting sine and cosine functions, the stance phase by horizontal straight line function. The angle joint trajectories are obtained by evaluating the inverse kinematic equations. Finally, the tripod gaits, including straight, transvers and swivel gaits, are designed. The experimental results illustrate the effectiveness of the robot gait planning algorithms. The design method in this paper is easy to understand and calculate.
{"title":"Hexapod robot kinematics modeling and tripod gait design based on the foot end trajectory","authors":"Jianbo Sun, J. Ren, Yinglian Jin, Binrui Wang, Dijian Chen","doi":"10.1109/ROBIO.2017.8324813","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324813","url":null,"abstract":"Hexapod robots have strong crawling abilities and complex gaits. Referring the configuration of ants, a hexapod robot is designed. Based on the DH parameters and the homogeneous transformation matrix, the direct and inverse kinematic models are built, and the workspace of the foot end is analyzed. For the tripod gait, the relationship between the rotation angle of the leg with respect to body and the foot movement is built. The foot end trajectories of the swing phase are designed by adopting sine and cosine functions, the stance phase by horizontal straight line function. The angle joint trajectories are obtained by evaluating the inverse kinematic equations. Finally, the tripod gaits, including straight, transvers and swivel gaits, are designed. The experimental results illustrate the effectiveness of the robot gait planning algorithms. The design method in this paper is easy to understand and calculate.","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":"128339039","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.2017.8324537
A. Savkin, Chao Wang
A non-holonomic 3D robot or autonomous vehicle with a bounded control input travels in a complex unknown tunnel like 3D environment. We propose a 3D navigation strategy to move through a tunnel while keeping a safe distance from the tunnel wall. A mathematically rigorous analysis of the proposed 3D robot navigation algorithm is given. Computer simulation results confirm the applicability and performance of the proposed navigation approach. The navigation law can be applied to both underwater autonomous vehicles and unmanned aerial vehicles.
{"title":"A method for collision free navigation of non-holonomic 3D robots in unknown tunnel like environments","authors":"A. Savkin, Chao Wang","doi":"10.1109/ROBIO.2017.8324537","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324537","url":null,"abstract":"A non-holonomic 3D robot or autonomous vehicle with a bounded control input travels in a complex unknown tunnel like 3D environment. We propose a 3D navigation strategy to move through a tunnel while keeping a safe distance from the tunnel wall. A mathematically rigorous analysis of the proposed 3D robot navigation algorithm is given. Computer simulation results confirm the applicability and performance of the proposed navigation approach. The navigation law can be applied to both underwater autonomous vehicles and unmanned aerial vehicles.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"19 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":"127363461","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：