Pub Date : 2017-07-01DOI: 10.1109/ICAR.2017.8023635
M. Lavaei, M. Mahjoob, A. Behjat
Using semi-sphere rigid feet in legged robots reduces the sinking of a foot into soft terrains. However, since the foot rolls on the ground during the stance phase, the assumption of fixed contact points with the ground is no longer valid. Therefore, the rolling effect must be accounted for in the kinematics. We present a method here to derive the constraint equations in the kinematic model of the robot in presence of pure rolling. The position of the contact point in the initial configuration changes as the foot rolls. First, we obtain its new position in terms of the generalized coordinates of body and the support leg. Then, we formulate the constraint equations in a similar way to the case of fixed contact point. The method is not limited to a particular design of the leg or the number of leg joints. Both prismatic and revolute joints can exist with arbitrary arrangement. A kinematic simulation of a quadruped robot in stance phase is provided to demonstrate the application of the proposed method.
{"title":"Derivation of the constraint equations in the kinematic modeling of legged robots with rigid semi-spherical feet","authors":"M. Lavaei, M. Mahjoob, A. Behjat","doi":"10.1109/ICAR.2017.8023635","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023635","url":null,"abstract":"Using semi-sphere rigid feet in legged robots reduces the sinking of a foot into soft terrains. However, since the foot rolls on the ground during the stance phase, the assumption of fixed contact points with the ground is no longer valid. Therefore, the rolling effect must be accounted for in the kinematics. We present a method here to derive the constraint equations in the kinematic model of the robot in presence of pure rolling. The position of the contact point in the initial configuration changes as the foot rolls. First, we obtain its new position in terms of the generalized coordinates of body and the support leg. Then, we formulate the constraint equations in a similar way to the case of fixed contact point. The method is not limited to a particular design of the leg or the number of leg joints. Both prismatic and revolute joints can exist with arbitrary arrangement. A kinematic simulation of a quadruped robot in stance phase is provided to demonstrate the application of the proposed method.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129804592","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 : 2017-07-01DOI: 10.1109/ICAR.2017.8023668
Li Wang, Ruifeng Li, Lijun Zhao, Zhenghua Hou, Xiaoyu Li, Zhenye Sun
An indoor service robot can establish a 3D map of the environment by a visual sensor. When the robot uses the established map again, there is a situation that the robot's view is in a new position and the relative position of the map can not be obtained. A relocalization algorithm based on multi-dimensional map information is proposed to solve the problem. Based on the established 3D environment map, the algorithm samples a 2D map and matches the map with the 2D observation information of the current frame based on the particle filter algorithm to obtain the robot's initial position. Then, the target point cloud corresponding to the current frame is segmented in the 3D map, and the exact pose relationship between the current frame cloud and the target point cloud is calculated by the iterative closest point algorithm. The SVD decomposition and g2o optimization are used in the method to improve the computational efficiency and accuracy. Finally, the relocalization experiments under the wide range of robot perspective are carried out in the indoor environment. The results verify the effectiveness and robustness of the algorithm.
{"title":"Research on service robots robust relocalization algorithm based on 2D/3D map of indoor environment","authors":"Li Wang, Ruifeng Li, Lijun Zhao, Zhenghua Hou, Xiaoyu Li, Zhenye Sun","doi":"10.1109/ICAR.2017.8023668","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023668","url":null,"abstract":"An indoor service robot can establish a 3D map of the environment by a visual sensor. When the robot uses the established map again, there is a situation that the robot's view is in a new position and the relative position of the map can not be obtained. A relocalization algorithm based on multi-dimensional map information is proposed to solve the problem. Based on the established 3D environment map, the algorithm samples a 2D map and matches the map with the 2D observation information of the current frame based on the particle filter algorithm to obtain the robot's initial position. Then, the target point cloud corresponding to the current frame is segmented in the 3D map, and the exact pose relationship between the current frame cloud and the target point cloud is calculated by the iterative closest point algorithm. The SVD decomposition and g2o optimization are used in the method to improve the computational efficiency and accuracy. Finally, the relocalization experiments under the wide range of robot perspective are carried out in the indoor environment. The results verify the effectiveness and robustness of the algorithm.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131757751","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 : 2017-07-01DOI: 10.1109/ICAR.2017.8023649
Atip Rientsuvong, Somnida Bhatranand, W. Charoensuk
Telerehabilitation is a new technology, which connects the patients and physicians or therapists via internet. This paper represents the systems that proposed for the combination of diagnostic devices and Telemedical system, including plantar pressure measuring devices that use during rehabilitation process. The parameters, determined by the devices, can be sent automatically from patient's computer to their physician's computer via the internet. That is, the results of the development are used to reduce the communication and distance between the patients and the therapists; they can directly communicate together from their places by using the internet. In the future, pressure measuring devices will be adapted with walking robots.
{"title":"Development of plantar pressure measurement using in telerehabilitation system for patient movement rehabilitation","authors":"Atip Rientsuvong, Somnida Bhatranand, W. Charoensuk","doi":"10.1109/ICAR.2017.8023649","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023649","url":null,"abstract":"Telerehabilitation is a new technology, which connects the patients and physicians or therapists via internet. This paper represents the systems that proposed for the combination of diagnostic devices and Telemedical system, including plantar pressure measuring devices that use during rehabilitation process. The parameters, determined by the devices, can be sent automatically from patient's computer to their physician's computer via the internet. That is, the results of the development are used to reduce the communication and distance between the patients and the therapists; they can directly communicate together from their places by using the internet. In the future, pressure measuring devices will be adapted with walking robots.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128112782","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 : 2017-07-01DOI: 10.1109/ICAR.2017.8023508
Yinghao Ning, Peng Gao, Yu Sun, Xiaozhi Qi, Ying Hu
Surgery robot for pedicle screw placement is explored based on parallel manipulator. To improve the accuracy of parallel manipulator, a practical calibration algorithm is mainly discussed. At the beginning, a novel measurement scheme for calibration is proposed. In order to construct the error model, the propagation of error is analyzed and the procedures for constructing error model are particularly developed. A new algorithm for identifications of parameters is proposed based on particle swarm method. Finally, experiment for calibration is conducted to verify the effectiveness of calibration algorithm. Experiment of pedicle screw placement with spine of pig is carried out to confirm the precision of manipulator after calibration.
{"title":"A practical calibration method for spinal surgery robot","authors":"Yinghao Ning, Peng Gao, Yu Sun, Xiaozhi Qi, Ying Hu","doi":"10.1109/ICAR.2017.8023508","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023508","url":null,"abstract":"Surgery robot for pedicle screw placement is explored based on parallel manipulator. To improve the accuracy of parallel manipulator, a practical calibration algorithm is mainly discussed. At the beginning, a novel measurement scheme for calibration is proposed. In order to construct the error model, the propagation of error is analyzed and the procedures for constructing error model are particularly developed. A new algorithm for identifications of parameters is proposed based on particle swarm method. Finally, experiment for calibration is conducted to verify the effectiveness of calibration algorithm. Experiment of pedicle screw placement with spine of pig is carried out to confirm the precision of manipulator after calibration.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123174591","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 : 2017-07-01DOI: 10.1109/ICAR.2017.8023628
Dong-Chul Han, Panfeng Huang
The trajectory tracking and prediction of space non-cooperative target has been the key technique in on-orbit capturing tasks of space intelligent robot. The difficulty of long-term prediction not only because visual measuring equipment may be obstructed by robotic arm but the noise statistics unknown in complex space environment. This paper proposes a robust hybrid Time/Frequency domain algorithm based on vision system. An Extended Finite Impulse Response (EFIR) filter estimates the states related to rotation and the Discrete Fourier Transform (DFT) filter estimates the dynamics parameters related to translation. Subsequently, we apply the estimated states and parameters to dynamic equations of free-floating object and then achieve the long-term prediction of the motion. An experiment with ground robot is presented to verify the correctness and effectiveness of the proposed method. The results show that the motion of space non-cooperative target can be predicted rapidly and accurately.
{"title":"Trajectory prediction of space robot for capturing non-cooperative target","authors":"Dong-Chul Han, Panfeng Huang","doi":"10.1109/ICAR.2017.8023628","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023628","url":null,"abstract":"The trajectory tracking and prediction of space non-cooperative target has been the key technique in on-orbit capturing tasks of space intelligent robot. The difficulty of long-term prediction not only because visual measuring equipment may be obstructed by robotic arm but the noise statistics unknown in complex space environment. This paper proposes a robust hybrid Time/Frequency domain algorithm based on vision system. An Extended Finite Impulse Response (EFIR) filter estimates the states related to rotation and the Discrete Fourier Transform (DFT) filter estimates the dynamics parameters related to translation. Subsequently, we apply the estimated states and parameters to dynamic equations of free-floating object and then achieve the long-term prediction of the motion. An experiment with ground robot is presented to verify the correctness and effectiveness of the proposed method. The results show that the motion of space non-cooperative target can be predicted rapidly and accurately.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125618794","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 : 2017-07-01DOI: 10.1109/ICAR.2017.8023641
Toyomi Fujita, Wataru Segawa
A tracked mobile robot with multiple robotic arms is useful for working in a disaster area because it can perform handling tasks such as object gripping and carrying by the use of the arms. To reduce burden of remote control on an operator for such tasks, this study presents a method for detecting gripping positions of an object for the two arms using an RGB-D sensor. The method is based on plane detection of a polyhedron object. Plane information of an object is detected by the depth sensor, and two planes having opposing normal vectors are selected as a set of candidate for gripping planes. Joint angles of both arms to grip the planes are calculated with position and posture of the robot using inverse kinematics. If the robot can grip the planes by both arms, they are selected as the gripping planes, then the robot moves to the obtained gripping position and performs gripping and lifting up the object. Several experimental results for the tracked mobile robot with two manipulators developed by the authors verified the validity of this method.
{"title":"Object gripping and lifting based on plane detection by tracked mobile robot with two manipulators","authors":"Toyomi Fujita, Wataru Segawa","doi":"10.1109/ICAR.2017.8023641","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023641","url":null,"abstract":"A tracked mobile robot with multiple robotic arms is useful for working in a disaster area because it can perform handling tasks such as object gripping and carrying by the use of the arms. To reduce burden of remote control on an operator for such tasks, this study presents a method for detecting gripping positions of an object for the two arms using an RGB-D sensor. The method is based on plane detection of a polyhedron object. Plane information of an object is detected by the depth sensor, and two planes having opposing normal vectors are selected as a set of candidate for gripping planes. Joint angles of both arms to grip the planes are calculated with position and posture of the robot using inverse kinematics. If the robot can grip the planes by both arms, they are selected as the gripping planes, then the robot moves to the obtained gripping position and performs gripping and lifting up the object. Several experimental results for the tracked mobile robot with two manipulators developed by the authors verified the validity of this method.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129282762","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 : 2017-07-01DOI: 10.1109/ICAR.2017.8023624
Jhih-Yuan Huang, Wei-Po Lee, Tsung-Hsien Yang, Chiang-Sen Ko
Cloud robotics is proposed to describe a new approach that takes advantage of “internet as a resource” for real-time sharing of various resources and massively parallel computation. This study is to investigate how different kinds of internet resources can be located on the Internet for sharing among robots. It focuses on the sharing of robot services created by different developers and the building of a more complete environment map from the partial maps constructed by different robots. To verify our work, we perform a set of experiments and the results show the promise of the presented approach.
{"title":"Resource sharing for cloud robots: Service reuse and collective map building","authors":"Jhih-Yuan Huang, Wei-Po Lee, Tsung-Hsien Yang, Chiang-Sen Ko","doi":"10.1109/ICAR.2017.8023624","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023624","url":null,"abstract":"Cloud robotics is proposed to describe a new approach that takes advantage of “internet as a resource” for real-time sharing of various resources and massively parallel computation. This study is to investigate how different kinds of internet resources can be located on the Internet for sharing among robots. It focuses on the sharing of robot services created by different developers and the building of a more complete environment map from the partial maps constructed by different robots. To verify our work, we perform a set of experiments and the results show the promise of the presented approach.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127957960","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 : 2017-07-01DOI: 10.1109/ICAR.2017.8023529
Latifah Nurahmi, Mochamad Solichin, D. Harnany, Ari Kurniawan
This paper deals with the development and dimension synthesis of the 3-RPS parallel manipulator for ankle rehabilitation device. The architecture of the 3-RPS parallel manipulator was achieved through novel methodology introduced in [1]. Three revolute axes intersect at one point. This point being the center of rotation of the ankle rehabilitation device and it will be placed as close as possible to the ankle joint. By using the Euler parametrization, the dimension of the base and the platform will be synthesized by considering its orientation capability. The singularities will be the constraint of the synthesis process. Using the synthesis method introduced in this paper, the novel 3-RPS parallel manipulator is provided.
{"title":"Dimension synthesis of 3-RPS parallel manipulator with intersecting R-axes for ankle rehabilitation device","authors":"Latifah Nurahmi, Mochamad Solichin, D. Harnany, Ari Kurniawan","doi":"10.1109/ICAR.2017.8023529","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023529","url":null,"abstract":"This paper deals with the development and dimension synthesis of the 3-RPS parallel manipulator for ankle rehabilitation device. The architecture of the 3-RPS parallel manipulator was achieved through novel methodology introduced in [1]. Three revolute axes intersect at one point. This point being the center of rotation of the ankle rehabilitation device and it will be placed as close as possible to the ankle joint. By using the Euler parametrization, the dimension of the base and the platform will be synthesized by considering its orientation capability. The singularities will be the constraint of the synthesis process. Using the synthesis method introduced in this paper, the novel 3-RPS parallel manipulator is provided.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132865027","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 : 2017-07-01DOI: 10.1109/ICAR.2017.8023494
Miha Deniša, B. Nemec, A. Ude
The paper tackles the problem of synthesizing robot movements for human robot collaboration. The proposed approach employs a dual hierarchical database, which encodes multiple demonstrated human-robot collaborative movements. The primary database encodes demonstrated human movements and is enhanced with a directed weighted graph. It is used for human movement recognition. After recognition, the secondary database, encoding corresponding robot demonstrations, is used to synthesize appropriate collaborative movement. The proposed approach is evaluated through comparison to Interactive Primitives, a popular approach for synthesizing human robot collaborative tasks. Different sets from a database of two-dimensional human movements are used as example sets for evaluation.
{"title":"Cooperative movements through hierarchical database search","authors":"Miha Deniša, B. Nemec, A. Ude","doi":"10.1109/ICAR.2017.8023494","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023494","url":null,"abstract":"The paper tackles the problem of synthesizing robot movements for human robot collaboration. The proposed approach employs a dual hierarchical database, which encodes multiple demonstrated human-robot collaborative movements. The primary database encodes demonstrated human movements and is enhanced with a directed weighted graph. It is used for human movement recognition. After recognition, the secondary database, encoding corresponding robot demonstrations, is used to synthesize appropriate collaborative movement. The proposed approach is evaluated through comparison to Interactive Primitives, a popular approach for synthesizing human robot collaborative tasks. Different sets from a database of two-dimensional human movements are used as example sets for evaluation.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133992592","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 : 2017-07-01DOI: 10.1109/ICAR.2017.8023655
Asma Ayari, Sadok Bouamama
One of the main areas of artificial intelligence is the field of robotics, where Multiple Robot Systems (MRS) are one of the most advanced artificial intelligence resolutions to the problems faced by humans. However, the control of the MRS becomes unreliable and even infeasible if the number of robots augments. This paper tries to find a solution for the problem of multi robots path planning considering the collision risks. A new Dynamic Distributed Particle Swarm Optimization (D2PSO) algorithm is proposed. It consists in calculating two Local Optima Detectors. We apply a restriction rule for particles that are not contributing in optimization process and so causing a stagnation issue. Experiments of the strategy on the motion and evaluation of the results will be presented to prove the efficacy of such approach.
{"title":"Collision-free optimal paths for multiple robot systems using a new dynamic distributed particle swarm optimization algorithm","authors":"Asma Ayari, Sadok Bouamama","doi":"10.1109/ICAR.2017.8023655","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023655","url":null,"abstract":"One of the main areas of artificial intelligence is the field of robotics, where Multiple Robot Systems (MRS) are one of the most advanced artificial intelligence resolutions to the problems faced by humans. However, the control of the MRS becomes unreliable and even infeasible if the number of robots augments. This paper tries to find a solution for the problem of multi robots path planning considering the collision risks. A new Dynamic Distributed Particle Swarm Optimization (D2PSO) algorithm is proposed. It consists in calculating two Local Optima Detectors. We apply a restriction rule for particles that are not contributing in optimization process and so causing a stagnation issue. Experiments of the strategy on the motion and evaluation of the results will be presented to prove the efficacy of such approach.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130479449","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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