Pub Date : 2015-12-01DOI: 10.1109/ROBIO.2015.7419713
Yuki Itotani, Tomoya Kikuno, Ryuma Niiyama, Y. Kuniyoshi
We propose a simple compact pneumatic actuator that can be embedded in the joints of 3D articulated robotic objects and is scalable to the size of the joints. The main advantages of the proposed actuator are its enablement of interactive flopping movement control of real 3D robotic objects, and its simple design, fabrication method, and control process. The design process is facilitated by computer-aided joint detection, the fabrication method is simplified by digital fabrication such as 3D printing, and the control utilizes readily available modularized pneumatic control components and an interactive graphical user interface. We used the example of a cat to demonstrate the simple workflow for fabricating a robotic animal that uses the proposed actuator. The created robotic cat had five joints and used 10 actuators.
{"title":"Scalable pneumatic actuator for easy creation of animated animal-shaped objects","authors":"Yuki Itotani, Tomoya Kikuno, Ryuma Niiyama, Y. Kuniyoshi","doi":"10.1109/ROBIO.2015.7419713","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419713","url":null,"abstract":"We propose a simple compact pneumatic actuator that can be embedded in the joints of 3D articulated robotic objects and is scalable to the size of the joints. The main advantages of the proposed actuator are its enablement of interactive flopping movement control of real 3D robotic objects, and its simple design, fabrication method, and control process. The design process is facilitated by computer-aided joint detection, the fabrication method is simplified by digital fabrication such as 3D printing, and the control utilizes readily available modularized pneumatic control components and an interactive graphical user interface. We used the example of a cat to demonstrate the simple workflow for fabricating a robotic animal that uses the proposed actuator. The created robotic cat had five joints and used 10 actuators.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117178129","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 : 2015-12-01DOI: 10.1109/ROBIO.2015.7418833
P. Kiddee, Zaojun Fang, M. Tan
Structured light calibration is one of the most crucial parts in a visual sensing system of welding robots. And the main aspect of the structured light calibration is the accuracy. Besides, a practical and simplistic calibration approach is preferable. In this paper, we propose a simple technique for structured light calibration. The vertical and horizontal lines are added to the planar object to facilitate points detection. The information from the camera calibration is fully used to detect the points on the light stripe. Then parameters of the structured light plane are estimated based on three non-collinear points definition. It could be said that the computation in this study is straight forward. Furthermore, it does not require any additional equipment. Thus, it is a truly simple and practical calibration method. According to the experimental results, the calibration errors are less than 0.2 mm. It shows that our proposed method is acceptable to measurement system of welding robots.
{"title":"A simple technique for structured light calibration in welding robots","authors":"P. Kiddee, Zaojun Fang, M. Tan","doi":"10.1109/ROBIO.2015.7418833","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418833","url":null,"abstract":"Structured light calibration is one of the most crucial parts in a visual sensing system of welding robots. And the main aspect of the structured light calibration is the accuracy. Besides, a practical and simplistic calibration approach is preferable. In this paper, we propose a simple technique for structured light calibration. The vertical and horizontal lines are added to the planar object to facilitate points detection. The information from the camera calibration is fully used to detect the points on the light stripe. Then parameters of the structured light plane are estimated based on three non-collinear points definition. It could be said that the computation in this study is straight forward. Furthermore, it does not require any additional equipment. Thus, it is a truly simple and practical calibration method. According to the experimental results, the calibration errors are less than 0.2 mm. It shows that our proposed method is acceptable to measurement system of welding robots.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115795377","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 : 2015-12-01DOI: 10.1109/ROBIO.2015.7419045
A. Rönnau, G. Heppner, Sebastian Klemm, R. Dillmann
Increasing computational power and efficient physics engines make robotic simulations popular and applied in more and more domains and scenarios. Well established simulators like GAZEBO have become an important part in robotics research. Nevertheless, non of the popular simulators addresses the needs of multi-legged walking robots. In this work, we develop an efficient and precise simulation system for multi-legged robots: RoaDS. The requirements, architecture and distributed design are presented. A series of experiments with the six-legged walking robot LAURON evaluates and confirms its high accuracy and good performance. RoaDS is a great tool to compare designs of bio-inspired robots, analyze walking patterns and improve robot walking skills.
{"title":"RoaDS — Robot and dynamics simulation for biologically-inspired multi-legged walking robots","authors":"A. Rönnau, G. Heppner, Sebastian Klemm, R. Dillmann","doi":"10.1109/ROBIO.2015.7419045","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419045","url":null,"abstract":"Increasing computational power and efficient physics engines make robotic simulations popular and applied in more and more domains and scenarios. Well established simulators like GAZEBO have become an important part in robotics research. Nevertheless, non of the popular simulators addresses the needs of multi-legged walking robots. In this work, we develop an efficient and precise simulation system for multi-legged robots: RoaDS. The requirements, architecture and distributed design are presented. A series of experiments with the six-legged walking robot LAURON evaluates and confirms its high accuracy and good performance. RoaDS is a great tool to compare designs of bio-inspired robots, analyze walking patterns and improve robot walking skills.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123319526","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents a collision detection algorithm based on generalized momentum to improve the safety reaction of robots. According to the decoupling performance of generalized momentum and external torque of the manipulator, the impact force can be obtained which determine the position where collision occurred. In this paper, a performance-regulating function is introduced to improve the dynamic response characteristics of the algorithm. The algorithm can effectively depress the influence of acceleration and deceleration process. Moreover, it exhibits good real-time performance, and satisfies the expected requirements. The algorithm provides an approximate position and direction of the impact force, which are important for further security reaction control.
{"title":"A momentum-based collision detection algorithm for industrial robots","authors":"Sumei He, Jinhua Ye, Zhijing Li, Shi-Yue Li, Guokui Wu, Haibin Wu","doi":"10.1109/ROBIO.2015.7418943","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418943","url":null,"abstract":"This paper presents a collision detection algorithm based on generalized momentum to improve the safety reaction of robots. According to the decoupling performance of generalized momentum and external torque of the manipulator, the impact force can be obtained which determine the position where collision occurred. In this paper, a performance-regulating function is introduced to improve the dynamic response characteristics of the algorithm. The algorithm can effectively depress the influence of acceleration and deceleration process. Moreover, it exhibits good real-time performance, and satisfies the expected requirements. The algorithm provides an approximate position and direction of the impact force, which are important for further security reaction control.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"326 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121839428","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 : 2015-12-01DOI: 10.1109/ROBIO.2015.7419120
Zeyu Wang, J. Min, G. Xiong
Cardiovascular disease (CVD) is the leading cause of death in the United States. 3D printing technology has increasingly paved its way into cardiovascular applications, in particular for manufacturing cardiac therapeutic devices. However, currently available commercial 3D printers and those under development exclusively work by successively depositing layers of material using axis-aligned slicing methods, thus need unacceptably high demand of support materials and even fail fabricating for some complex cardiovascular structures, not to mention printing for the purpose of repairing an existing abnormal strictures. To solve this problem, we propose and develop a novel and robust robotics-driven printing system, consisting of a robotic arm and an extruder tool to allow printing along trajectories on any curved surface. Given the target structure, a new set of algorithms for robot toolpath planning was implemented, which include mesh parameterization, distance transform, contouring and smooth interpolation. Using both simulation and actual physical testing, we showed our system can successfully print layers of the target structure on curved geometry by following planned tool paths and depositing materials. In this paper, we describe our methodology and algorithm pipeline, compare and analyze the printing results of different techniques, and most importantly, envision the promising future extension of our robotics-driven printing system in manufacturing cardiac therapeutic devices.
{"title":"Robotics-driven printing of curved 3D structures for manufacturing cardiac therapeutic devices","authors":"Zeyu Wang, J. Min, G. Xiong","doi":"10.1109/ROBIO.2015.7419120","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419120","url":null,"abstract":"Cardiovascular disease (CVD) is the leading cause of death in the United States. 3D printing technology has increasingly paved its way into cardiovascular applications, in particular for manufacturing cardiac therapeutic devices. However, currently available commercial 3D printers and those under development exclusively work by successively depositing layers of material using axis-aligned slicing methods, thus need unacceptably high demand of support materials and even fail fabricating for some complex cardiovascular structures, not to mention printing for the purpose of repairing an existing abnormal strictures. To solve this problem, we propose and develop a novel and robust robotics-driven printing system, consisting of a robotic arm and an extruder tool to allow printing along trajectories on any curved surface. Given the target structure, a new set of algorithms for robot toolpath planning was implemented, which include mesh parameterization, distance transform, contouring and smooth interpolation. Using both simulation and actual physical testing, we showed our system can successfully print layers of the target structure on curved geometry by following planned tool paths and depositing materials. In this paper, we describe our methodology and algorithm pipeline, compare and analyze the printing results of different techniques, and most importantly, envision the promising future extension of our robotics-driven printing system in manufacturing cardiac therapeutic devices.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"260 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122684977","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 : 2015-12-01DOI: 10.1109/ROBIO.2015.7418999
A. Kakogawa, Taiju Yamagami, Yang Tian, Shugen Ma
In-pipe inspection is critical for using a pipeline safely. In recent times, the efficiency of inspection via the use of in-pipe robots has been emphasized in the literature. Inspection efficiency can be significantly improved if the in-pipe robot can move autonomously in the pipe. To do this, recognizing the pathway in front of the robot is a key factor. One method to recognize the pathway using the combination of a laser spot array (LSA) and a camera has been proposed long time ago. However, in this paper, the pathway direction is calculated with different way. The most different point is that the central vector of the pipe (the pathway direction) is estimated by Nonlinear least squares method with a constraint on the pipe radius. At last, their performances between our method and the existing method is compared in terms of accuracy and computation time.
{"title":"Recognition of pathway directions based on nonlinear least squares method","authors":"A. Kakogawa, Taiju Yamagami, Yang Tian, Shugen Ma","doi":"10.1109/ROBIO.2015.7418999","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418999","url":null,"abstract":"In-pipe inspection is critical for using a pipeline safely. In recent times, the efficiency of inspection via the use of in-pipe robots has been emphasized in the literature. Inspection efficiency can be significantly improved if the in-pipe robot can move autonomously in the pipe. To do this, recognizing the pathway in front of the robot is a key factor. One method to recognize the pathway using the combination of a laser spot array (LSA) and a camera has been proposed long time ago. However, in this paper, the pathway direction is calculated with different way. The most different point is that the central vector of the pipe (the pathway direction) is estimated by Nonlinear least squares method with a constraint on the pipe radius. At last, their performances between our method and the existing method is compared in terms of accuracy and computation time.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125561627","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 : 2015-12-01DOI: 10.1109/ROBIO.2015.7419068
A. Perzylo, Sascha S. Griffiths, Reinhard Lafrenz, A. Knoll
Many applications in the fields of Service Robotics and Industrial Human-Robot Collaboration, require interaction with a human in a potentially unstructured environment. In many cases, a natural language interface can be helpful, but it requires powerful means of knowledge representation and processing, e.g., using ontologies and reasoning. In this paper we present a framework for the automatic generation of natural language grammars from ontological descriptions of robot tasks and interaction objects, and their use in a natural language interface. Robots can use it locally or even share this interface component through the RoboEarth framework in order to benefit from features such as referent grounding, ambiguity resolution, task identification, and task assignment.
{"title":"Generating grammars for natural language understanding from knowledge about actions and objects","authors":"A. Perzylo, Sascha S. Griffiths, Reinhard Lafrenz, A. Knoll","doi":"10.1109/ROBIO.2015.7419068","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419068","url":null,"abstract":"Many applications in the fields of Service Robotics and Industrial Human-Robot Collaboration, require interaction with a human in a potentially unstructured environment. In many cases, a natural language interface can be helpful, but it requires powerful means of knowledge representation and processing, e.g., using ontologies and reasoning. In this paper we present a framework for the automatic generation of natural language grammars from ontological descriptions of robot tasks and interaction objects, and their use in a natural language interface. Robots can use it locally or even share this interface component through the RoboEarth framework in order to benefit from features such as referent grounding, ambiguity resolution, task identification, and task assignment.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125592337","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 : 2015-12-01DOI: 10.1109/ROBIO.2015.7418871
Chang Liu, Ding Yuan, Hongwei Zhao
Denoising numerous large scale noise and preserving fine features simultaneously remains a challenge to point-cloud-related multiple view stereo (MVS) reconstruction approaches. The proposed algorithm reuses the sparse point cloud which is often discarded after the structure form motion (SfM) procedure in image based modeling to guide the dense point cloud denoising. Furthermore, the utilization of the octree division provides an efficient and simple denoising mechanism. Experiments show that the proposed method successfully removes the large scale noise points and presents a satisfactory denoising result with detailed information preserved. In addition, the normal of each point can be estimated fast and accurately as a by-product of the denoising algorithm.
{"title":"3D point cloud denoising and normal estimation for 3D surface reconstruction","authors":"Chang Liu, Ding Yuan, Hongwei Zhao","doi":"10.1109/ROBIO.2015.7418871","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418871","url":null,"abstract":"Denoising numerous large scale noise and preserving fine features simultaneously remains a challenge to point-cloud-related multiple view stereo (MVS) reconstruction approaches. The proposed algorithm reuses the sparse point cloud which is often discarded after the structure form motion (SfM) procedure in image based modeling to guide the dense point cloud denoising. Furthermore, the utilization of the octree division provides an efficient and simple denoising mechanism. Experiments show that the proposed method successfully removes the large scale noise points and presents a satisfactory denoising result with detailed information preserved. In addition, the normal of each point can be estimated fast and accurately as a by-product of the denoising algorithm.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126191487","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 : 2015-12-01DOI: 10.1109/ROBIO.2015.7418862
Xin Liu, I. Poulakakis
Switchable Parallel Elastic Actuators (S-PEAs) represent a novel way for introducing compliant elements in legged robots. This paper investigates the energetic effects of a S-PEA design on running gaits in the context of the monopedal robot SPEAR, which has its knee driven by a S-PEA. In our implementation of the S-PEA concept, a mechanical switch located at the foot engages the spring during stance to store energy and disengages it during flight to allow for precise control of the leg's configuration without interfering with the spring. Parameter optimization indicates that the S-PEA configuration outperforms common Parallel Elastic Actuator (PEA) designs by 10 - 20% in both hopping-in-place and hopping-forward gaits, and this advantage increases to about 40% at higher running velocities. It is deduced that the ability of SPEAR to adjust the effective stiffness of the leg without requiring additional energy, by simply changing the knee angle prior touchdown, explains part of this advantage.
{"title":"On the energetics of a switchable parallel elastic actuator design for monopedal running","authors":"Xin Liu, I. Poulakakis","doi":"10.1109/ROBIO.2015.7418862","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418862","url":null,"abstract":"Switchable Parallel Elastic Actuators (S-PEAs) represent a novel way for introducing compliant elements in legged robots. This paper investigates the energetic effects of a S-PEA design on running gaits in the context of the monopedal robot SPEAR, which has its knee driven by a S-PEA. In our implementation of the S-PEA concept, a mechanical switch located at the foot engages the spring during stance to store energy and disengages it during flight to allow for precise control of the leg's configuration without interfering with the spring. Parameter optimization indicates that the S-PEA configuration outperforms common Parallel Elastic Actuator (PEA) designs by 10 - 20% in both hopping-in-place and hopping-forward gaits, and this advantage increases to about 40% at higher running velocities. It is deduced that the ability of SPEAR to adjust the effective stiffness of the leg without requiring additional energy, by simply changing the knee angle prior touchdown, explains part of this advantage.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125936070","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 : 2015-12-01DOI: 10.1109/ROBIO.2015.7418866
Xuefeng Zhu, Jianhui Wang, Xiaofeng Wang
This paper focus on the nonlinear and uncertainty problems in the upper limb rehabilitation robot trajectory tracking control. Considering that the rehabilitation robot system need to be performed a repetitive task and the properties of iterative learning control, we introduce a class of nonlinear saturation function and put forward a nonlinear iterative learning control algorithm. This algorithm improved the commonly used linear PID robot dynamics control. It gained the good control quality under the condition of the model information is not accurate and only the position feedback can be measured. It realized the asymptotic stability tracking of the periodic reference input. Combined with rehabilitation robot dynamics model characteristics, applying Lyapunov stability theory to prove the global asymptotic stability of the closed-loop system. The simulation results of five degrees of freedom of rehabilitation robot system show that the proposed nonlinear iterative learning control has good control performance.
{"title":"Nonlinear iterative learning control of 5 DOF upper-limb rehabilitation robot","authors":"Xuefeng Zhu, Jianhui Wang, Xiaofeng Wang","doi":"10.1109/ROBIO.2015.7418866","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418866","url":null,"abstract":"This paper focus on the nonlinear and uncertainty problems in the upper limb rehabilitation robot trajectory tracking control. Considering that the rehabilitation robot system need to be performed a repetitive task and the properties of iterative learning control, we introduce a class of nonlinear saturation function and put forward a nonlinear iterative learning control algorithm. This algorithm improved the commonly used linear PID robot dynamics control. It gained the good control quality under the condition of the model information is not accurate and only the position feedback can be measured. It realized the asymptotic stability tracking of the periodic reference input. Combined with rehabilitation robot dynamics model characteristics, applying Lyapunov stability theory to prove the global asymptotic stability of the closed-loop system. The simulation results of five degrees of freedom of rehabilitation robot system show that the proposed nonlinear iterative learning control has good control performance.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125949202","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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