Pub Date : 2016-12-01DOI: 10.1109/CDC.2016.7798371
Yoshiro Fukui, T. Wada
Human-machine systems, such as those for rehabilitation, are required to be safe for human use when performing a given operating task. Passivity-based controllers such as passive velocity field control have an advantage to realizing the safe operation of human-machine systems. However, active behavior toward the external environment, including human bodies, is required to realize a given task. Such active behavior is difficult for passivity-based controllers. This study focused on ensuring that a manipulator behaves passively toward an external force when the kinetic energy is greater than or equal to a given threshold and actively otherwise. A velocity field control method with an energy compensation mechanism was developed. Numerical simulations demonstrated that the closed-loop system generally behaved passively toward external forces, and the proposed method inhibited the decrease in the kinetic energy of the closed-loop system from a dissipative external force.
{"title":"Velocity field control with energy compensation toward therapeutic exercise","authors":"Yoshiro Fukui, T. Wada","doi":"10.1109/CDC.2016.7798371","DOIUrl":"https://doi.org/10.1109/CDC.2016.7798371","url":null,"abstract":"Human-machine systems, such as those for rehabilitation, are required to be safe for human use when performing a given operating task. Passivity-based controllers such as passive velocity field control have an advantage to realizing the safe operation of human-machine systems. However, active behavior toward the external environment, including human bodies, is required to realize a given task. Such active behavior is difficult for passivity-based controllers. This study focused on ensuring that a manipulator behaves passively toward an external force when the kinetic energy is greater than or equal to a given threshold and actively otherwise. A velocity field control method with an energy compensation mechanism was developed. Numerical simulations demonstrated that the closed-loop system generally behaved passively toward external forces, and the proposed method inhibited the decrease in the kinetic energy of the closed-loop system from a dissipative external force.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127143468","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 : 2015-09-01DOI: 10.1109/CCA.2015.7320836
Anna M. Kohl, E. Kelasidi, K. Pettersen, J. Gravdahl
In this paper we consider swimming underwater snake robots that are fully immersed in water and moving in a virtual horizontal plane. The main objective of the paper is to develop a model that is well suited for control design and stability analysis for swimming snake robots. The proposed model is notably less complex than the existing models, while significant parameters such as added mass effects, linear drag forces, torques due to the added mass and linear drag forces, are all taken into account in the modeling. An extensive analysis of a previously proposed complex model of underwater snake robots ([1]) is presented, and from this analysis a set of essential properties that characterize the overall motion of underwater snake robots is derived. The proposed control-oriented modeling approach captures these essential properties, resulting in a less complex model that is well suited for control design, and at the same time has the same essential properties as the complex model. A qualitative validation of this is given by simulations that present a comparison of representative parameters of the complex and the control-oriented models for lateral undulation and eel-like motion.
{"title":"A control-oriented model of underwater snake robots","authors":"Anna M. Kohl, E. Kelasidi, K. Pettersen, J. Gravdahl","doi":"10.1109/CCA.2015.7320836","DOIUrl":"https://doi.org/10.1109/CCA.2015.7320836","url":null,"abstract":"In this paper we consider swimming underwater snake robots that are fully immersed in water and moving in a virtual horizontal plane. The main objective of the paper is to develop a model that is well suited for control design and stability analysis for swimming snake robots. The proposed model is notably less complex than the existing models, while significant parameters such as added mass effects, linear drag forces, torques due to the added mass and linear drag forces, are all taken into account in the modeling. An extensive analysis of a previously proposed complex model of underwater snake robots ([1]) is presented, and from this analysis a set of essential properties that characterize the overall motion of underwater snake robots is derived. The proposed control-oriented modeling approach captures these essential properties, resulting in a less complex model that is well suited for control design, and at the same time has the same essential properties as the complex model. A qualitative validation of this is given by simulations that present a comparison of representative parameters of the complex and the control-oriented models for lateral undulation and eel-like motion.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115862406","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 : 2014-12-10DOI: 10.1109/ROBIO.2014.7090425
A. Rosendo, Shogo Nakatsu, Xiangxiao Liu, M. Shimizu, K. Hosoda
Cyclical locomotion, such as walking, hopping and running, is known to be generated at the spinal cord, guiding human and animal strides over different gaits. Over the last years, many researchers concentrated their study on the origin of such signals, replicating them by either controlling joint angles or torques. In this work, we use a quadruped pneumatic robot to reproduce stable walking on a treadmill through a muscular activation pattern. Unlike previous studies, neither angles or torques are taken into consideration. Similarly to biological morphology, with variating moment arms, muscles contract rhythmically and their inherent compliance adapts to the floor. Proportional feedback upon touching the floor (stretch-reflex) is also tested, and its effects are explained. In the future, this methodology can be used to produce adaptive gait and improve current robotic by exploring interaction between control and soft bodies.
{"title":"Quadrupedal locomotion based on a muscular activation pattern with stretch-reflex","authors":"A. Rosendo, Shogo Nakatsu, Xiangxiao Liu, M. Shimizu, K. Hosoda","doi":"10.1109/ROBIO.2014.7090425","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090425","url":null,"abstract":"Cyclical locomotion, such as walking, hopping and running, is known to be generated at the spinal cord, guiding human and animal strides over different gaits. Over the last years, many researchers concentrated their study on the origin of such signals, replicating them by either controlling joint angles or torques. In this work, we use a quadruped pneumatic robot to reproduce stable walking on a treadmill through a muscular activation pattern. Unlike previous studies, neither angles or torques are taken into consideration. Similarly to biological morphology, with variating moment arms, muscles contract rhythmically and their inherent compliance adapts to the floor. Proportional feedback upon touching the floor (stretch-reflex) is also tested, and its effects are explained. In the future, this methodology can be used to produce adaptive gait and improve current robotic by exploring interaction between control and soft bodies.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121616724","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 : 2014-12-05DOI: 10.1109/ROBIO.2014.7090496
Gautham P. Das, T. Mcginnity, S. Coleman
Most multi-robot task allocation algorithms are concerned with the allocation of individual tasks to single robots. However certain types of tasks require a team of robots for their execution, and for the allocation of such tasks non-conflicting robot teams have to be formed. Most of the existing allocation algorithms for such tasks mainly address the robot-team formation and the tasks are allocated sequentially. However, allocating multiple tasks simultaneously will result in a more balanced distribution of robots into teams. A market based algorithm for simultaneous allocation of multiple tightly couple multi-robot tasks to coalitions of heterogeneous robots are proposed in this paper. The simultaneous allocations are deadlock-free and significant improvement in overall execution time is achieved as demonstrated by empirical evaluations.
{"title":"Simultaneous allocations of multiple tightly-coupled multi-robot tasks to coalitions of heterogeneous robots","authors":"Gautham P. Das, T. Mcginnity, S. Coleman","doi":"10.1109/ROBIO.2014.7090496","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090496","url":null,"abstract":"Most multi-robot task allocation algorithms are concerned with the allocation of individual tasks to single robots. However certain types of tasks require a team of robots for their execution, and for the allocation of such tasks non-conflicting robot teams have to be formed. Most of the existing allocation algorithms for such tasks mainly address the robot-team formation and the tasks are allocated sequentially. However, allocating multiple tasks simultaneously will result in a more balanced distribution of robots into teams. A market based algorithm for simultaneous allocation of multiple tightly couple multi-robot tasks to coalitions of heterogeneous robots are proposed in this paper. The simultaneous allocations are deadlock-free and significant improvement in overall execution time is achieved as demonstrated by empirical evaluations.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129730235","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 : 2014-12-05DOI: 10.1109/ROBIO.2014.7090653
A. Stelzer, Elmar Mair, M. Suppa
Small mobile robots often have very limited computational resources, but should still be able to navigate robustly in spacious unknown environments. While local navigation already requires high-resolution maps for obstacle avoidance and path planning, the global navigation task should aim to consume as little resources as possible but still enable the robot to robustly find the way to important places. Inspired by models of insect navigation, Augustine et al. [1] recently introduced the LT-Map, a scalable data structure for homing based on bearing-only landmark measurements. The robot memorizes landmark configurations during its first traversal of a path and uses them to navigate the same route again. The LT-Map uses a tree structure to store the landmark views in the order of their translation invariance. This paper introduces an improvement of the LT-Map, the Translation Invariance Level Map (Trail-Map). This novel data structure also stores the landmark views in a hierarchical order of translation invariance, but is based on lists of landmark views. Thus, it avoids redundancies that could arise in the LT-Map and leads to a more consistent hierarchy. The Trail-Map achieves significant memory savings and can be created and pruned very efficiently what makes it attractive to mobile robots with limited computational power. Simulation results show that the Trail-Map data structure can save more than 80% of memory compared to the LT-Map while achieving the same path accuracy.
{"title":"Trail-Map: A scalable landmark data structure for biologically inspired range-free navigation","authors":"A. Stelzer, Elmar Mair, M. Suppa","doi":"10.1109/ROBIO.2014.7090653","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090653","url":null,"abstract":"Small mobile robots often have very limited computational resources, but should still be able to navigate robustly in spacious unknown environments. While local navigation already requires high-resolution maps for obstacle avoidance and path planning, the global navigation task should aim to consume as little resources as possible but still enable the robot to robustly find the way to important places. Inspired by models of insect navigation, Augustine et al. [1] recently introduced the LT-Map, a scalable data structure for homing based on bearing-only landmark measurements. The robot memorizes landmark configurations during its first traversal of a path and uses them to navigate the same route again. The LT-Map uses a tree structure to store the landmark views in the order of their translation invariance. This paper introduces an improvement of the LT-Map, the Translation Invariance Level Map (Trail-Map). This novel data structure also stores the landmark views in a hierarchical order of translation invariance, but is based on lists of landmark views. Thus, it avoids redundancies that could arise in the LT-Map and leads to a more consistent hierarchy. The Trail-Map achieves significant memory savings and can be created and pruned very efficiently what makes it attractive to mobile robots with limited computational power. Simulation results show that the Trail-Map data structure can save more than 80% of memory compared to the LT-Map while achieving the same path accuracy.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133410461","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 : 2014-12-05DOI: 10.1109/ROBIO.2014.7090608
P. Vance, Gautham P. Das, T. Mcginnity, S. Coleman, L. Maguire
Current approaches to networked robot systems (or ecology of robots and sensors) in ambient assisted living applications (AAL) rely on pre-programmed models of the environment and do not evolve to address novel states of the environment. Envisaged as part of a robotic ecology in an AAL environment to provide different services based on the events and user activities, a Markov based approach to establishing a user behavioural model through the use of a cognitive memory module is presented in this paper. Upon detecting changes in the normal user behavioural pattern, the ecology tries to adapt its response to these changes in an intelligent manner. The approach is evaluated with physical robots and an experimental evaluation is presented in this paper. A major challenge associated with data storage in a sensor rich environment is the expanding memory requirements. In order to address this, a bio-inspired data retention strategy is also proposed. These contributions can enable a robotic ecology to adapt to evolving environmental states while efficiently managing the memory footprint.
{"title":"Novelty detection in user behavioural models within ambient assisted living applications: An experimental evaluation","authors":"P. Vance, Gautham P. Das, T. Mcginnity, S. Coleman, L. Maguire","doi":"10.1109/ROBIO.2014.7090608","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090608","url":null,"abstract":"Current approaches to networked robot systems (or ecology of robots and sensors) in ambient assisted living applications (AAL) rely on pre-programmed models of the environment and do not evolve to address novel states of the environment. Envisaged as part of a robotic ecology in an AAL environment to provide different services based on the events and user activities, a Markov based approach to establishing a user behavioural model through the use of a cognitive memory module is presented in this paper. Upon detecting changes in the normal user behavioural pattern, the ecology tries to adapt its response to these changes in an intelligent manner. The approach is evaluated with physical robots and an experimental evaluation is presented in this paper. A major challenge associated with data storage in a sensor rich environment is the expanding memory requirements. In order to address this, a bio-inspired data retention strategy is also proposed. These contributions can enable a robotic ecology to adapt to evolving environmental states while efficiently managing the memory footprint.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115004139","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 : 2014-12-01DOI: 10.1109/ROBIO.2014.7090731
W. Ai, Qingsong Xu
The design and evaluation of a new compliant microgripper is reported in this paper on the basis of a dissymmetric mechanism. This structure has two parallelogram mechanisms which enable the generation of purely translational motion of the gripper tips. It is desirable for micromanipulation and microassembly tasks. Unlike the traditional pure-translation grippers, the presented one has a simple architecture and compact size because the in-plane area is used fully. Benefiting from an amplification ratio of the structure and, the microgripper achieves a large displacement. The kinematic and dynamic models of the gripper structure are developed and finite element analysis (FEA) simulations are performed to validate the mechanism design. The results exhibit the effectiveness of the reported gripper design.
{"title":"New structure design of a flexure-based compliant microgripper","authors":"W. Ai, Qingsong Xu","doi":"10.1109/ROBIO.2014.7090731","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090731","url":null,"abstract":"The design and evaluation of a new compliant microgripper is reported in this paper on the basis of a dissymmetric mechanism. This structure has two parallelogram mechanisms which enable the generation of purely translational motion of the gripper tips. It is desirable for micromanipulation and microassembly tasks. Unlike the traditional pure-translation grippers, the presented one has a simple architecture and compact size because the in-plane area is used fully. Benefiting from an amplification ratio of the structure and, the microgripper achieves a large displacement. The kinematic and dynamic models of the gripper structure are developed and finite element analysis (FEA) simulations are performed to validate the mechanism design. The results exhibit the effectiveness of the reported gripper design.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115268404","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 : 2014-12-01DOI: 10.1109/ROBIO.2014.7090519
Bin Yang, Yuqing He, Jianda Han, Guangjun Liu
Rotor flying manipulator (RFM) is a system composed of a rotorcraft and a manipulator. RFM possesses great potential applications and thus has got much concern of the researchers all over the world. However, controller design of the RFM is challenging because of the dynamical coupling between the rotorcraft and the manipulator perplexes the whole system model structure, so the flight performance of the system is more sensitive to some uncertainty factors. Generally, the rotorcraft system of the RFM can be a main-tail-rotor helicopter or multi-rotor aircrafts, which are of completely different flight characteristics. Thus, it is valuable to conduct quantitative coupling analysis of the RFM with different flight platforms. This paper is aimed at this problem. We first construct the dynamics model of the RFM system with respect to different flight platforms, respectively. Then, coupling force and moment are computed quantitatively, and the comparative analysis on the influence of the motion state on them is conducted. Finally, some conclusions are given to show different performances of different kinds of RFM systems.
{"title":"Dynamics modeling and performance comparisons of two different rotor flying manipulators: Main-tail-rotor vs eight-rotor","authors":"Bin Yang, Yuqing He, Jianda Han, Guangjun Liu","doi":"10.1109/ROBIO.2014.7090519","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090519","url":null,"abstract":"Rotor flying manipulator (RFM) is a system composed of a rotorcraft and a manipulator. RFM possesses great potential applications and thus has got much concern of the researchers all over the world. However, controller design of the RFM is challenging because of the dynamical coupling between the rotorcraft and the manipulator perplexes the whole system model structure, so the flight performance of the system is more sensitive to some uncertainty factors. Generally, the rotorcraft system of the RFM can be a main-tail-rotor helicopter or multi-rotor aircrafts, which are of completely different flight characteristics. Thus, it is valuable to conduct quantitative coupling analysis of the RFM with different flight platforms. This paper is aimed at this problem. We first construct the dynamics model of the RFM system with respect to different flight platforms, respectively. Then, coupling force and moment are computed quantitatively, and the comparative analysis on the influence of the motion state on them is conducted. Finally, some conclusions are given to show different performances of different kinds of RFM systems.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"67 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115674843","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 : 2014-12-01DOI: 10.1109/ROBIO.2014.7090379
Xiang Li, C. Cheah, Sayyed Omar Kamal Al-Jufry
Current robotic manipulation techniques for optical tweezers assume that the trapping stiffness of optical trap is constant and exactly known. In addition, the dynamic interaction between the cell and the manipulator of laser source is usually ignored in the analysis of the optical manipulation problem. In this paper, a control scheme is proposed for optical manipulation of biological cell with unknown trapping stiffness, which allows the laser beam to automatically trap and manipulate the cell to a desired position. The requirement on the model of the trapping stiffness is eliminated in the proposed formulation and thus system identification and calibration are not needed. The stability of the overall system is analyzed by using Lyapunov-like method, with consideration of the dynamics of both the cell and the manipulator of laser source. Experimental results are presented to illustrate the performance of the proposed cell manipulation method.
{"title":"Vision based optical manipulation of biological cell with unknown trapping stiffness","authors":"Xiang Li, C. Cheah, Sayyed Omar Kamal Al-Jufry","doi":"10.1109/ROBIO.2014.7090379","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090379","url":null,"abstract":"Current robotic manipulation techniques for optical tweezers assume that the trapping stiffness of optical trap is constant and exactly known. In addition, the dynamic interaction between the cell and the manipulator of laser source is usually ignored in the analysis of the optical manipulation problem. In this paper, a control scheme is proposed for optical manipulation of biological cell with unknown trapping stiffness, which allows the laser beam to automatically trap and manipulate the cell to a desired position. The requirement on the model of the trapping stiffness is eliminated in the proposed formulation and thus system identification and calibration are not needed. The stability of the overall system is analyzed by using Lyapunov-like method, with consideration of the dynamics of both the cell and the manipulator of laser source. Experimental results are presented to illustrate the performance of the proposed cell manipulation method.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117213347","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 : 2014-12-01DOI: 10.1109/ROBIO.2014.7090751
Yi Ning, Lili Han, Zhao Xiao, Baoguo Liu
Robotic technology is enhancing surgery through improved precision, stability, and dexterity. In manual MIS, the surgeon is separated from the operation area, which is reached by long instruments. In image-guided procedures, image prediction technique based on visual reality technology has solved time-delay problem of image information between master and slave manipulator of teleoperation system effectively in many application fields. However, time-delay of force feedback information which is transmitted from communication link is also inconvenient to the operator's working and makes a bad influences on the system's stability and transparency. In this paper, the start and stop time of feedback force torque can be predicted by using RBF neural network technology when the slave manipulator is interacting with the environment, such that the force feedback information can synchronize with the predictive image. Simulation results show excellence of the proposed scheme.
{"title":"Force feedback time prediction based on neural network of MIS Robot with time delay","authors":"Yi Ning, Lili Han, Zhao Xiao, Baoguo Liu","doi":"10.1109/ROBIO.2014.7090751","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090751","url":null,"abstract":"Robotic technology is enhancing surgery through improved precision, stability, and dexterity. In manual MIS, the surgeon is separated from the operation area, which is reached by long instruments. In image-guided procedures, image prediction technique based on visual reality technology has solved time-delay problem of image information between master and slave manipulator of teleoperation system effectively in many application fields. However, time-delay of force feedback information which is transmitted from communication link is also inconvenient to the operator's working and makes a bad influences on the system's stability and transparency. In this paper, the start and stop time of feedback force torque can be predicted by using RBF neural network technology when the slave manipulator is interacting with the environment, such that the force feedback information can synchronize with the predictive image. Simulation results show excellence of the proposed scheme.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121051124","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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