Pub Date : 2016-12-01DOI: 10.1109/IROS.2016.7759387
Krittin Pachtrachai, M. Allan, V. Pawar, S. Hailes, D. Stoyanov
In a robot mounted camera arrangement, hand-eye calibration estimates the rigid relationship between the robot and camera coordinate frames. Most hand-eye calibration techniques use a calibration object to estimate the relative transformation of the camera in several views of the calibration object and link these to the forward kinematics of the robot to compute the hand-eye transformation. Such approaches achieve good accuracy for general use but for applications such as robotic assisted minimally invasive surgery, acquiring a calibration sequence multiple times during a procedure is not practical. In this paper, we present a new approach to tackle the problem by using the robotic surgical instruments as the calibration object with well known geometry from CAD models used for manufacturing. Our approach removes the requirement of a custom sterile calibration object to be used in the operating room and it simplifies the process of acquiring calibration data when the laparoscope is constrained to move around a remote centre of motion. This is the first demonstration of the feasibility to perform hand-eye calibration using components of the robotic system itself and we show promising validation results on synthetic data as well as data acquired with the da Vinci Research Kit.
{"title":"Hand-eye calibration for robotic assisted minimally invasive surgery without a calibration object","authors":"Krittin Pachtrachai, M. Allan, V. Pawar, S. Hailes, D. Stoyanov","doi":"10.1109/IROS.2016.7759387","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759387","url":null,"abstract":"In a robot mounted camera arrangement, hand-eye calibration estimates the rigid relationship between the robot and camera coordinate frames. Most hand-eye calibration techniques use a calibration object to estimate the relative transformation of the camera in several views of the calibration object and link these to the forward kinematics of the robot to compute the hand-eye transformation. Such approaches achieve good accuracy for general use but for applications such as robotic assisted minimally invasive surgery, acquiring a calibration sequence multiple times during a procedure is not practical. In this paper, we present a new approach to tackle the problem by using the robotic surgical instruments as the calibration object with well known geometry from CAD models used for manufacturing. Our approach removes the requirement of a custom sterile calibration object to be used in the operating room and it simplifies the process of acquiring calibration data when the laparoscope is constrained to move around a remote centre of motion. This is the first demonstration of the feasibility to perform hand-eye calibration using components of the robotic system itself and we show promising validation results on synthetic data as well as data acquired with the da Vinci Research Kit.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"29 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":"121958762","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 : 2016-12-01DOI: 10.1109/IROS.2016.7759552
Okan Koç, Guilherme J. Maeda, Jan Peters
In highly dynamic tasks that involve moving targets, planning is necessary to figure out when, where and how to intercept the target. In robotic table tennis in particular, motion planning can be very challenging due to time constraints, dimension of the search space and modelling uncertainties. To simplify the problem, conventional planning algorithms often rely on a fixed virtual hitting plane to construct robot striking trajectories. These algorithms however generate restrictive strokes and can result in unnatural strategies when compared with human playing. In this paper, we introduce a new trajectory generation framework for robotic table tennis. We use a free-time optimal control approach to construct a novel planning algorithm that does not involve a fixed hitting plane. Furthermore, we estimate the parameters of our prediction models using human demonstrations. The resulting trajectories have lower accelerations while the joint constraints are enforced at all times. Our algorithm returns the balls with a higher probability to the opponent's court in our realistic simulation environment when compared with a virtual hitting plane based method.
{"title":"A new trajectory generation framework in robotic table tennis","authors":"Okan Koç, Guilherme J. Maeda, Jan Peters","doi":"10.1109/IROS.2016.7759552","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759552","url":null,"abstract":"In highly dynamic tasks that involve moving targets, planning is necessary to figure out when, where and how to intercept the target. In robotic table tennis in particular, motion planning can be very challenging due to time constraints, dimension of the search space and modelling uncertainties. To simplify the problem, conventional planning algorithms often rely on a fixed virtual hitting plane to construct robot striking trajectories. These algorithms however generate restrictive strokes and can result in unnatural strategies when compared with human playing. In this paper, we introduce a new trajectory generation framework for robotic table tennis. We use a free-time optimal control approach to construct a novel planning algorithm that does not involve a fixed hitting plane. Furthermore, we estimate the parameters of our prediction models using human demonstrations. The resulting trajectories have lower accelerations while the joint constraints are enforced at all times. Our algorithm returns the balls with a higher probability to the opponent's court in our realistic simulation environment when compared with a virtual hitting plane based method.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"1 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":"130843564","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 : 2016-12-01DOI: 10.1109/IROS.2016.7759634
Nima Enayati, Eva C. Alves Costa, G. Ferrigno, E. Momi
Haptically enabled hands-on or tele-operated surgical robotic systems provide a unique opportunity to integrate pre- and intra-operative information into physical actions through active constraints (also known as virtual fixtures). In many surgical procedures, including cardiac interventions, where physiological motion complicates tissue manipulation, dynamic active constraints can improve the performance of the intervention in terms of safety and accuracy. The non-energy-storing class of dynamic guidance constraints attempt to assist the clinician in following a reference path, while guaranteeing that the control system will not generate undesired motion due to stored potential energy. An important aspect that has not received much attention from the researchers is that while these methods help increase the performance, they should by no means distract the user systematically. In this paper, a viscosity-based dynamic guidance constraint is introduced that continuously redirects the tool's motion towards the reference path. The proportionality and continuity of generated forces make the method less distracting and subjectively appealing. The performance is validated and compared with two existing non-energy-storing methods through extensive experimentation.
{"title":"A dynamic non-energy-storing guidance constraint with motion redirection for robot-assisted surgery","authors":"Nima Enayati, Eva C. Alves Costa, G. Ferrigno, E. Momi","doi":"10.1109/IROS.2016.7759634","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759634","url":null,"abstract":"Haptically enabled hands-on or tele-operated surgical robotic systems provide a unique opportunity to integrate pre- and intra-operative information into physical actions through active constraints (also known as virtual fixtures). In many surgical procedures, including cardiac interventions, where physiological motion complicates tissue manipulation, dynamic active constraints can improve the performance of the intervention in terms of safety and accuracy. The non-energy-storing class of dynamic guidance constraints attempt to assist the clinician in following a reference path, while guaranteeing that the control system will not generate undesired motion due to stored potential energy. An important aspect that has not received much attention from the researchers is that while these methods help increase the performance, they should by no means distract the user systematically. In this paper, a viscosity-based dynamic guidance constraint is introduced that continuously redirects the tool's motion towards the reference path. The proportionality and continuity of generated forces make the method less distracting and subjectively appealing. The performance is validated and compared with two existing non-energy-storing methods through extensive experimentation.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"41 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":"127414748","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 : 2016-12-01DOI: 10.1109/IROS.2016.7759333
Junghwan Back, L. Lindenroth, R. Karim, K. Althoefer, K. Rhode, Hongbin Liu
Contact force play is a significant role in success of the cardiac ablation. However, it is still challenging to estimate contact force when a catheter is under large bending and multiple contacts. This paper develops a new multi-section static model of the tendon-driven catheters for both real-time intrinsic force sensing and interaction control. The model allows estimating the catheter shape by the external force at arbitrary location. Also, an algorithm is developed for the contact force estimation using the shape estimation with the catheter end-position tracking and tension feedback. In this study, we validated the contact force and shape estimation using a robotic platform, which steers a catheter consisting of 4 tendons with tension feedback. The shape estimation results show that the model can accurately predict the catheter shape; the position difference between measured and estimated was 2.5mm. The results of the contact force estimation show that 3-dimensional contact forces can be estimated accurately using the proposed method. The magnitude of contact force error was 0.0117N with 350Hz update rate.
{"title":"New kinematic multi-section model for catheter contact force estimation and steering","authors":"Junghwan Back, L. Lindenroth, R. Karim, K. Althoefer, K. Rhode, Hongbin Liu","doi":"10.1109/IROS.2016.7759333","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759333","url":null,"abstract":"Contact force play is a significant role in success of the cardiac ablation. However, it is still challenging to estimate contact force when a catheter is under large bending and multiple contacts. This paper develops a new multi-section static model of the tendon-driven catheters for both real-time intrinsic force sensing and interaction control. The model allows estimating the catheter shape by the external force at arbitrary location. Also, an algorithm is developed for the contact force estimation using the shape estimation with the catheter end-position tracking and tension feedback. In this study, we validated the contact force and shape estimation using a robotic platform, which steers a catheter consisting of 4 tendons with tension feedback. The shape estimation results show that the model can accurately predict the catheter shape; the position difference between measured and estimated was 2.5mm. The results of the contact force estimation show that 3-dimensional contact forces can be estimated accurately using the proposed method. The magnitude of contact force error was 0.0117N with 350Hz update rate.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"30 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":"126581443","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 : 2016-12-01DOI: 10.1109/IROS.2016.7759158
E. AmirM.Ghalamzan, Nikos Mavrakis, Marek Kopicki, R. Stolkin, A. Leonardis
This paper addresses the problem of jointly planning both grasps and subsequent manipulative actions. Previously, these two problems have typically been studied in isolation, however joint reasoning is essential to enable robots to complete real manipulative tasks. In this paper, the two problems are addressed jointly and a solution that takes both into consideration is proposed. To do so, a manipulation capability index is defined, which is a function of both the task execution waypoints and the object grasping contact points. We build on recent state-of-the-art grasp-learning methods, to show how this index can be combined with a likelihood function computed by a probabilistic model of grasp selection, enabling the planning of grasps which have a high likelihood of being stable, but which also maximise the robot's capability to deliver a desired post-grasp task trajectory. We also show how this paradigm can be extended, from a single arm and hand, to enable efficient grasping and manipulation with a bi-manual robot. We demonstrate the effectiveness of the approach using experiments on a simulated as well as a real robot.
{"title":"Task-relevant grasp selection: A joint solution to planning grasps and manipulative motion trajectories","authors":"E. AmirM.Ghalamzan, Nikos Mavrakis, Marek Kopicki, R. Stolkin, A. Leonardis","doi":"10.1109/IROS.2016.7759158","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759158","url":null,"abstract":"This paper addresses the problem of jointly planning both grasps and subsequent manipulative actions. Previously, these two problems have typically been studied in isolation, however joint reasoning is essential to enable robots to complete real manipulative tasks. In this paper, the two problems are addressed jointly and a solution that takes both into consideration is proposed. To do so, a manipulation capability index is defined, which is a function of both the task execution waypoints and the object grasping contact points. We build on recent state-of-the-art grasp-learning methods, to show how this index can be combined with a likelihood function computed by a probabilistic model of grasp selection, enabling the planning of grasps which have a high likelihood of being stable, but which also maximise the robot's capability to deliver a desired post-grasp task trajectory. We also show how this paradigm can be extended, from a single arm and hand, to enable efficient grasping and manipulation with a bi-manual robot. We demonstrate the effectiveness of the approach using experiments on a simulated as well as a real robot.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"21 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":"128106889","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 : 2016-12-01DOI: 10.1109/IROS.2016.7759823
Sara-Adela Abad, Nantachai Sornkarn, D. Nanayakkara
The remarkable ability of goats to maintain stability during climbing cliffs or trees provides a valuable opportunity to understand some of the secrets of stable legged locomotion on unstructured terrains. This paper, for the first time, presents analytical and experimental explanations as to how the morphological computation at the goat hoof makes a significant contribution to slip reduction on both smooth and rough surfaces. We conducted experiments using a laboratory made hoof and compared its dynamic behavior against a rounded foot. We recorded forces and position of the hoof to analyze the effect of its shape and the individual contributions from 3-joints in the hoof on the work required to slip. Results state that the work required to move the hoof is more than 3 times that required to move a rounded foot. Additionally, the variables in the transient state are affected not only by the number and type of joints but also by the interaction with the environment. These findings promote the development of new types of feet for robots for all terrain conditions with greater stability and less control complexity.
{"title":"The role of morphological computation of the goat hoof in slip reduction","authors":"Sara-Adela Abad, Nantachai Sornkarn, D. Nanayakkara","doi":"10.1109/IROS.2016.7759823","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759823","url":null,"abstract":"The remarkable ability of goats to maintain stability during climbing cliffs or trees provides a valuable opportunity to understand some of the secrets of stable legged locomotion on unstructured terrains. This paper, for the first time, presents analytical and experimental explanations as to how the morphological computation at the goat hoof makes a significant contribution to slip reduction on both smooth and rough surfaces. We conducted experiments using a laboratory made hoof and compared its dynamic behavior against a rounded foot. We recorded forces and position of the hoof to analyze the effect of its shape and the individual contributions from 3-joints in the hoof on the work required to slip. Results state that the work required to move the hoof is more than 3 times that required to move a rounded foot. Additionally, the variables in the transient state are affected not only by the number and type of joints but also by the interaction with the environment. These findings promote the development of new types of feet for robots for all terrain conditions with greater stability and less control complexity.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"27 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":"129759230","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 : 2016-12-01DOI: 10.1109/IROS.2016.7759635
M. Grammatikopoulou, K. Leibrandt, Guang-Zhong Yang
Motor channelling is a concept to provide navigation and sensory feedback to operators in master-slave surgical setups. It is beneficial since the introduction of robotic surgery creates a physical separation between the surgeon and patient anatomy. Active Constraints/Virtual Fixtures are proposed which integrate Guidance and Forbidden Region Constraints into a unified control framework. The developed approach provides guidance and safe manipulation to improve precision and reduce the risk of inadvertent tissue damage. Online three-degree-of-freedom motion prediction and compensation of the target anatomy is performed to complement the master constraints. The presented Active Constraints concept is applied to two clinical scenarios; surface scanning for in situ medical imaging and vessel manipulation in cardiac surgery. The proposed motor channelling control strategy is implemented on the da Vinci Surgical System using the da Vinci Research Kit (dVRK) and its effectiveness is demonstrated through a detailed user study.
{"title":"Motor channelling for safe and effective dynamic constraints in Minimally Invasive Surgery","authors":"M. Grammatikopoulou, K. Leibrandt, Guang-Zhong Yang","doi":"10.1109/IROS.2016.7759635","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759635","url":null,"abstract":"Motor channelling is a concept to provide navigation and sensory feedback to operators in master-slave surgical setups. It is beneficial since the introduction of robotic surgery creates a physical separation between the surgeon and patient anatomy. Active Constraints/Virtual Fixtures are proposed which integrate Guidance and Forbidden Region Constraints into a unified control framework. The developed approach provides guidance and safe manipulation to improve precision and reduce the risk of inadvertent tissue damage. Online three-degree-of-freedom motion prediction and compensation of the target anatomy is performed to complement the master constraints. The presented Active Constraints concept is applied to two clinical scenarios; surface scanning for in situ medical imaging and vessel manipulation in cardiac surgery. The proposed motor channelling control strategy is implemented on the da Vinci Surgical System using the da Vinci Research Kit (dVRK) and its effectiveness is demonstrated through a detailed user study.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"75 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":"124083914","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 : 2016-11-28DOI: 10.1109/IROS.2016.7759070
Yang Bai, M. Svinin, Motoji Yamamoto
This paper deals with a trajectory tracking problem for the ball-pendulum system, a spherical rolling robot driven by a two degree of freedom pendulum. The backstepping technique is applied and first tested on the hoop-pendulum system, a planar case of the ball-pendulum. By mimicking the backstepping process of the planar case, a feedback controller for the ball-pendulum system is then proposed, tracking motion trajectories for both the position and orientation of the spherical shell of the rolling robot. The validity of the constructed tracking controller is demonstrated by establishing the asymptotic stability of the error dynamics for the closed-loop system. The performance of the controller is verified under simulations for tracking linear and circular motions.
{"title":"Backstepping trajectory tracking control for a spherical rolling robot","authors":"Yang Bai, M. Svinin, Motoji Yamamoto","doi":"10.1109/IROS.2016.7759070","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759070","url":null,"abstract":"This paper deals with a trajectory tracking problem for the ball-pendulum system, a spherical rolling robot driven by a two degree of freedom pendulum. The backstepping technique is applied and first tested on the hoop-pendulum system, a planar case of the ball-pendulum. By mimicking the backstepping process of the planar case, a feedback controller for the ball-pendulum system is then proposed, tracking motion trajectories for both the position and orientation of the spherical shell of the rolling robot. The validity of the constructed tracking controller is demonstrated by establishing the asymptotic stability of the error dynamics for the closed-loop system. The performance of the controller is verified under simulations for tracking linear and circular motions.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115140863","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 : 2016-11-28DOI: 10.1109/IROS.2016.7759711
M. Fumagalli, S. Stramigioli, R. Carloni
The paper focuses on the mechatronic design of a robotic manipulator that is meant to be mounted on an Unmanned Aerial Vehicle (UAV) and to be used in industrial applications, for both aerial inspection by contact and aerial manipulation. The combination of an UAV and the robotic manipulator realizes the aerial manipulator. The robotic manipulator is designed to be versatile so that the aerial manipulator can perform both trajectory tracking in free flight and physical interaction. Moreover, the robotic manipulator can be mounted on commercially available UAVs a modular way without interfering with the existing onboard control architecture. Experimental test are validating the overall mechatronic design.
{"title":"Mechatronic design of a robotic manipulator for Unmanned Aerial Vehicles","authors":"M. Fumagalli, S. Stramigioli, R. Carloni","doi":"10.1109/IROS.2016.7759711","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759711","url":null,"abstract":"The paper focuses on the mechatronic design of a robotic manipulator that is meant to be mounted on an Unmanned Aerial Vehicle (UAV) and to be used in industrial applications, for both aerial inspection by contact and aerial manipulation. The combination of an UAV and the robotic manipulator realizes the aerial manipulator. The robotic manipulator is designed to be versatile so that the aerial manipulator can perform both trajectory tracking in free flight and physical interaction. Moreover, the robotic manipulator can be mounted on commercially available UAVs a modular way without interfering with the existing onboard control architecture. Experimental test are validating the overall mechatronic design.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"143 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115700609","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 : 2016-11-28DOI: 10.1109/IROS.2016.7759378
Huaxin Liu, Qiang Huang, Weimin Zhang, Xuechao Chen, Zhangguo Yu, Libo Meng, Lei Bao, A. Ming, Yan Huang, K. Hashimoto, A. Takanishi
Cats have protractible claws to fold their tips to keep them sharp. They protract claws while hunting and pawing on slippery surfaces. Protracted claws by tendons and muscles of toes can help cats anchoring themselves steady while their locomotion trends to slip and releasing the hold while they retract claws intentionally. This research proposes a kind of modularized self-adaptive toe mechanism inspired by cat claws to improve the extremities' contact performance for legged robot. The mechanism is constructed with four-bar linkage actuated by contact reaction force and retracted by applied spring tension. A feasible mechanical design based on several essential parameters is introduced and an integrated Sole-Toe prototype is built for experimental evaluation. Mechanical self-adaption and actual contact performance on specific surface have been evaluated respectively on a biped walking platform and a bench-top mechanical testing.
{"title":"Cat-inspired mechanical design of self-adaptive toes for a legged robot","authors":"Huaxin Liu, Qiang Huang, Weimin Zhang, Xuechao Chen, Zhangguo Yu, Libo Meng, Lei Bao, A. Ming, Yan Huang, K. Hashimoto, A. Takanishi","doi":"10.1109/IROS.2016.7759378","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759378","url":null,"abstract":"Cats have protractible claws to fold their tips to keep them sharp. They protract claws while hunting and pawing on slippery surfaces. Protracted claws by tendons and muscles of toes can help cats anchoring themselves steady while their locomotion trends to slip and releasing the hold while they retract claws intentionally. This research proposes a kind of modularized self-adaptive toe mechanism inspired by cat claws to improve the extremities' contact performance for legged robot. The mechanism is constructed with four-bar linkage actuated by contact reaction force and retracted by applied spring tension. A feasible mechanical design based on several essential parameters is introduced and an integrated Sole-Toe prototype is built for experimental evaluation. Mechanical self-adaption and actual contact performance on specific surface have been evaluated respectively on a biped walking platform and a bench-top mechanical testing.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114589401","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：