Pub Date : 2015-12-01DOI: 10.1109/ROBIO.2015.7418980
Minqing Lin, Peijiang Yuan, H. Tan, Yuanwei Liu, Qiancheng Zhu, Yong Li
The low accuracy of Autonomous Drilling Robot System (ADRS) has precluded their usage in aircraft assembly. Aiming at improving the accuracy of ADRS, three efforts are made in this paper. Firstly, a novel surface normal measurement and attitude adjusting method are proposed to guarantee the perpendicularity of holes. Secondly, an improvement compensation method is made for absolute positioning accuracy of industrial robot by using Gauss-Newton method. Thirdly, during the calibration of tool center point(TCP), which is one of the key technologies of offline programming control system, two balls are used in this method to solve the problem of low accuracy and inefficiency of traditional method using pointed end. Finally, both simulations and experiments are conducted to test the effect of the improvements and the results prove the improvements are effective.
{"title":"Improvements of robot positioning accuracy and drilling perpendicularity for autonomous drilling robot system","authors":"Minqing Lin, Peijiang Yuan, H. Tan, Yuanwei Liu, Qiancheng Zhu, Yong Li","doi":"10.1109/ROBIO.2015.7418980","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418980","url":null,"abstract":"The low accuracy of Autonomous Drilling Robot System (ADRS) has precluded their usage in aircraft assembly. Aiming at improving the accuracy of ADRS, three efforts are made in this paper. Firstly, a novel surface normal measurement and attitude adjusting method are proposed to guarantee the perpendicularity of holes. Secondly, an improvement compensation method is made for absolute positioning accuracy of industrial robot by using Gauss-Newton method. Thirdly, during the calibration of tool center point(TCP), which is one of the key technologies of offline programming control system, two balls are used in this method to solve the problem of low accuracy and inefficiency of traditional method using pointed end. Finally, both simulations and experiments are conducted to test the effect of the improvements and the results prove the improvements are effective.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"61 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":"121142186","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.2015.7418789
Satoki Tsuichihara, Akihiko Yamaguchi, J. Takamatsu, T. Ogasawara
With an an aging society, service robots are expected to help elderly people with self-support. Service robots working in daily live must handle modifications of the environment, which naturally happens and still finish tasks quickly to satisfy people. In this research, we described a dual arm inverse kinematics with visual feedback mechanism. We solve the issue in a certain quickness using a weighted pseudo inverse matrix and pipeline calculation originated from OpenRTM. The weight helps the stability in standing, while not paying much calculation time. We verified the effectiveness of the proposed method by evaluating stability from divergence of the ZMP.
{"title":"Using a weighted pseudo-inverse matrix to generate upper body motion for a humanoid robot doing household tasks","authors":"Satoki Tsuichihara, Akihiko Yamaguchi, J. Takamatsu, T. Ogasawara","doi":"10.1109/ROBIO.2015.7418789","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418789","url":null,"abstract":"With an an aging society, service robots are expected to help elderly people with self-support. Service robots working in daily live must handle modifications of the environment, which naturally happens and still finish tasks quickly to satisfy people. In this research, we described a dual arm inverse kinematics with visual feedback mechanism. We solve the issue in a certain quickness using a weighted pseudo inverse matrix and pipeline calculation originated from OpenRTM. The weight helps the stability in standing, while not paying much calculation time. We verified the effectiveness of the proposed method by evaluating stability from divergence of the ZMP.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"2 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":"121657643","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.2015.7418977
Rulin Huang, Huawei Liang, Jiajia Chen, Pan Zhao, Mingbo Du
In this paper, a novel intent inference based dynamic obstacle avoidance method is described that is effective for both normal moving obstacles and maneuvering obstacles, therefore taking advantages of information from different sensors and electronic map. Unlike many of the methods discussed in literature our approach is based on inferring the intent of moving obstacles. It avoids the prediction of accurate maneuvering trajectories which usually fails as the motion is nonlinear and difficult to be modeled. With this method, the performance of dynamic obstacle avoidance is improved which enables the intelligent vehicle to navigate autonomously among moving obstacles. A linear model is used when no maneuver intent is detected and, otherwise, the intent of changing lane is inferred by combing its dynamic features and the road structure when the obstacle is maneuvering. Then a potential collision point will be worked out and avoided to ensure the intelligent vehicle collision free. Experiments show that our method bears significant performance.
{"title":"An intent inference based dynamic obstacle avoidance method for intelligent vehicle in structured environment","authors":"Rulin Huang, Huawei Liang, Jiajia Chen, Pan Zhao, Mingbo Du","doi":"10.1109/ROBIO.2015.7418977","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418977","url":null,"abstract":"In this paper, a novel intent inference based dynamic obstacle avoidance method is described that is effective for both normal moving obstacles and maneuvering obstacles, therefore taking advantages of information from different sensors and electronic map. Unlike many of the methods discussed in literature our approach is based on inferring the intent of moving obstacles. It avoids the prediction of accurate maneuvering trajectories which usually fails as the motion is nonlinear and difficult to be modeled. With this method, the performance of dynamic obstacle avoidance is improved which enables the intelligent vehicle to navigate autonomously among moving obstacles. A linear model is used when no maneuver intent is detected and, otherwise, the intent of changing lane is inferred by combing its dynamic features and the road structure when the obstacle is maneuvering. Then a potential collision point will be worked out and avoided to ensure the intelligent vehicle collision free. Experiments show that our method bears significant performance.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"29 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114026635","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.2015.7419102
Xiang Yue, Hongguang Wang, Yong Jiang, N. Xi, J. Xu
A novel mechanism for power transmission line inspection robot is presented according to the requirements of inspection tasks and characteristics of obstacles on power lines. Its configuration is introduced, and the kinematics equations and statics model are established. Then, the motion sequences for crossing the strain clamp are planned. Furthermore, the simulation of the navigation of the strain clamp has been carried out. The simulation results demonstrate that the mechanism has such characteristics as good motion stability, strong loading capacity and excellent obstacle negotiation capability.
{"title":"Research on a novel inspection robot mechanism for power transmission lines","authors":"Xiang Yue, Hongguang Wang, Yong Jiang, N. Xi, J. Xu","doi":"10.1109/ROBIO.2015.7419102","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419102","url":null,"abstract":"A novel mechanism for power transmission line inspection robot is presented according to the requirements of inspection tasks and characteristics of obstacles on power lines. Its configuration is introduced, and the kinematics equations and statics model are established. Then, the motion sequences for crossing the strain clamp are planned. Furthermore, the simulation of the navigation of the strain clamp has been carried out. The simulation results demonstrate that the mechanism has such characteristics as good motion stability, strong loading capacity and excellent obstacle negotiation capability.","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":"114695029","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.2015.7418822
Kaisheng Yang, Guilin Yang, Jun Wang, Tianjiang Zheng, Wei Yang
Variable-stiffness manipulators can produce intrinsically-safe motions, which are essential for next generation service robots. In this paper, the design analysis of a 3-DOF cable-driven joint module with variable stiffness is proposed. To achieve significant change of the stiffness, a flexure-based variable-stiffness device is serially connected to each of the cables. Due to the existence of redundant actuation, the stiffness of the joint module is controlled by regulating the cable tensions. To this end, the relationship between the stiffness matrix of the joint module and the cable tensions has been formulated and analyzed. Simulation examples are provided to illustrate the effectiveness of the proposed stiffness evaluation algorithm.
{"title":"Design analysis of a 3-DOF cable-driven variable-stiffness joint module","authors":"Kaisheng Yang, Guilin Yang, Jun Wang, Tianjiang Zheng, Wei Yang","doi":"10.1109/ROBIO.2015.7418822","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418822","url":null,"abstract":"Variable-stiffness manipulators can produce intrinsically-safe motions, which are essential for next generation service robots. In this paper, the design analysis of a 3-DOF cable-driven joint module with variable stiffness is proposed. To achieve significant change of the stiffness, a flexure-based variable-stiffness device is serially connected to each of the cables. Due to the existence of redundant actuation, the stiffness of the joint module is controlled by regulating the cable tensions. To this end, the relationship between the stiffness matrix of the joint module and the cable tensions has been formulated and analyzed. Simulation examples are provided to illustrate the effectiveness of the proposed stiffness evaluation algorithm.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"31 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":"127786975","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.2015.7418768
Tingting Liu, Jiaole Wang, M. Meng
To effectively facilitate human robot cooperation, human intention should be recognized by robot accurately and effectively. Teaching the robot human intentions in advance could be well suitable for a static environment with limited tasks. Nevertheless, in an dynamic environment that requires task update, the pre-teaching approach cannot satisfy the evolving knowledge of human intention. The unknown human intentions which have not been taught in advance, will not be understood by robot. This problem limits the human robot cooperation in a real dynamic environment. In this paper, we proposed a human intention learning and inference method to improve the intuitive cooperative capability of the robot. An evolving hidden Markov model (EHMM) approach has been developed to learn and infer human intentions according to the observation. Assembly tasks with ten different configurations have been designed and simulation experiments were carried out. Four assembly configurations have been used for known human intention recognition experiment and six configurations have been used for unknown human intention learning and inference experiment. The accurate and robust results obtained from the experiments have shown the feasibility of the proposed EHMM for human intention learning and inference.
{"title":"Evolving hidden Markov model based human intention learning and inference","authors":"Tingting Liu, Jiaole Wang, M. Meng","doi":"10.1109/ROBIO.2015.7418768","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418768","url":null,"abstract":"To effectively facilitate human robot cooperation, human intention should be recognized by robot accurately and effectively. Teaching the robot human intentions in advance could be well suitable for a static environment with limited tasks. Nevertheless, in an dynamic environment that requires task update, the pre-teaching approach cannot satisfy the evolving knowledge of human intention. The unknown human intentions which have not been taught in advance, will not be understood by robot. This problem limits the human robot cooperation in a real dynamic environment. In this paper, we proposed a human intention learning and inference method to improve the intuitive cooperative capability of the robot. An evolving hidden Markov model (EHMM) approach has been developed to learn and infer human intentions according to the observation. Assembly tasks with ten different configurations have been designed and simulation experiments were carried out. Four assembly configurations have been used for known human intention recognition experiment and six configurations have been used for unknown human intention learning and inference experiment. The accurate and robust results obtained from the experiments have shown the feasibility of the proposed EHMM for human intention learning and inference.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"PP 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":"126533197","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.2015.7419109
Zhichao Cui, Yuehu Liu, Xinzhao Li
The extrinsic calibration for robotic systems with structured light sensor is fundamental to accomplish the tasks of 3D measurement, reverse engineering and quality inspection. In this paper, we proposed a cuboid calibration target with nicks on the surfaces which is easy to extract the control points. In the calibration process, both least square method and the nonlinear optimization based on maximum likelihood criterion are utilized. The degenerate configuration is discussed for non-singularity solution. Both simulation and real data are utilized for robustness test of the algorithm and the experiment shows that the proposed method has 0.6 mm RMS errors of control points. Compared to the existed methods, the proposed method has the advantages of small error, simple operation and high flexibility.
{"title":"A novel extrinsic calibration method for robotic systems with structured light sensors","authors":"Zhichao Cui, Yuehu Liu, Xinzhao Li","doi":"10.1109/ROBIO.2015.7419109","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419109","url":null,"abstract":"The extrinsic calibration for robotic systems with structured light sensor is fundamental to accomplish the tasks of 3D measurement, reverse engineering and quality inspection. In this paper, we proposed a cuboid calibration target with nicks on the surfaces which is easy to extract the control points. In the calibration process, both least square method and the nonlinear optimization based on maximum likelihood criterion are utilized. The degenerate configuration is discussed for non-singularity solution. Both simulation and real data are utilized for robustness test of the algorithm and the experiment shows that the proposed method has 0.6 mm RMS errors of control points. Compared to the existed methods, the proposed method has the advantages of small error, simple operation and high flexibility.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"43 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":"126536997","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.2015.7418950
Kai Wang, Penghong Lin
The visual servoing based regulation of quadrotors has been an attractive topic over the past decade, and a lot of controllers are proposed for this challenging problem. The regulation controller proposed in this paper follows the Position Based Visual Servoing (PBVS) paradigm. Most of the PBVS controllers, if not all, are implemented assuming the position of the quadrotor with reference to the marker has been accurately recovered with an independent observer/estimator. Therefore the rigorous regulation stability cannot be promised due to the separation principle does not hold for the general nonlinear systems. Accordingly, a new PBVS controller is proposed in this paper for the regulation of quadrotors by embedding a novel adaptive estimator into this new controller to estimate the position of the quadrotor online. It is proved by Lyapunov theory that the proposed adaptive PBVS controller gives rise to the asymptotic regulation and the convergence of the estimated position to the actual one. An experiment is conducted to validate the effectiveness of the proposed controller.
{"title":"Kinematic visual servoing based regulation of quadrotors on a predefined marker","authors":"Kai Wang, Penghong Lin","doi":"10.1109/ROBIO.2015.7418950","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418950","url":null,"abstract":"The visual servoing based regulation of quadrotors has been an attractive topic over the past decade, and a lot of controllers are proposed for this challenging problem. The regulation controller proposed in this paper follows the Position Based Visual Servoing (PBVS) paradigm. Most of the PBVS controllers, if not all, are implemented assuming the position of the quadrotor with reference to the marker has been accurately recovered with an independent observer/estimator. Therefore the rigorous regulation stability cannot be promised due to the separation principle does not hold for the general nonlinear systems. Accordingly, a new PBVS controller is proposed in this paper for the regulation of quadrotors by embedding a novel adaptive estimator into this new controller to estimate the position of the quadrotor online. It is proved by Lyapunov theory that the proposed adaptive PBVS controller gives rise to the asymptotic regulation and the convergence of the estimated position to the actual one. An experiment is conducted to validate the effectiveness of the proposed controller.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"2 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":"115797945","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.2015.7418786
Yixin Wang, Wenzeng Zhang
Force and touch telepresence has an important effect on robot hand controlling. When controlling humanoid robotic hand has data glove, the movement of robot hand appeared to be rigid because of the lack of touch telepresence. The movement of humanoid robot hand would be more flexible if tactile equipment was installed on data glove. There are two important requirements in tactile equipment of data glove, that is to say the structure of equipment must be compact. Too much complexity would lower the reliability of data glove, on the other hand, and the equipment must simulate the touch telepresence as actual as possible, which would influence the realness of the operation directly. In order to balance the structure of the data glove and the realness of tactile simulation, a new system that could build tactile telepresence between robot hand and human hand has been designed and manufactured, including a data glove and a humanoid robot hand. The data glove has 12 attitude transducers on the back and 14 groups of silica gel electrodes to irritate human hand by electrical pulses and simulate the touch telepresence. The humanoid robot hand use cord to transmit the motion which has 13 servo to control the movement of each joint accurately and 14 accurate pressure sensor to assess the grab situation.
{"title":"Data glove control of robot hand with force telepresence","authors":"Yixin Wang, Wenzeng Zhang","doi":"10.1109/ROBIO.2015.7418786","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418786","url":null,"abstract":"Force and touch telepresence has an important effect on robot hand controlling. When controlling humanoid robotic hand has data glove, the movement of robot hand appeared to be rigid because of the lack of touch telepresence. The movement of humanoid robot hand would be more flexible if tactile equipment was installed on data glove. There are two important requirements in tactile equipment of data glove, that is to say the structure of equipment must be compact. Too much complexity would lower the reliability of data glove, on the other hand, and the equipment must simulate the touch telepresence as actual as possible, which would influence the realness of the operation directly. In order to balance the structure of the data glove and the realness of tactile simulation, a new system that could build tactile telepresence between robot hand and human hand has been designed and manufactured, including a data glove and a humanoid robot hand. The data glove has 12 attitude transducers on the back and 14 groups of silica gel electrodes to irritate human hand by electrical pulses and simulate the touch telepresence. The humanoid robot hand use cord to transmit the motion which has 13 servo to control the movement of each joint accurately and 14 accurate pressure sensor to assess the grab situation.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"17 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":"132344952","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.2015.7418930
Bo Shen, Shuoyu Wang
To provide support for the lower-limb handicapped and elderly with lower-limb weakness, an Independent Life Support Robot (ILSR) has been under development in our laboratory. In this study, we first introduce the kinematics model of the ILSR. Second, we provide a brief introduction to Activities of Daily Life (ADLs) that require support for lower limb handicapped and elderly. Third, we propose an ILSR identification method for task intention in daily life and an assistive-motion-planning ILSR method to provide complementary mobility functions for the lower-limb handicapped and elderly. Finally, we discuss the effectiveness of our proposed method as demonstrated in experiments in which a series of cleaning tasks were performed.
{"title":"An independent life support robot for the lower-limb handicapped and elderly: Task-intention-identification and assistive-motion-planning algorithms","authors":"Bo Shen, Shuoyu Wang","doi":"10.1109/ROBIO.2015.7418930","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418930","url":null,"abstract":"To provide support for the lower-limb handicapped and elderly with lower-limb weakness, an Independent Life Support Robot (ILSR) has been under development in our laboratory. In this study, we first introduce the kinematics model of the ILSR. Second, we provide a brief introduction to Activities of Daily Life (ADLs) that require support for lower limb handicapped and elderly. Third, we propose an ILSR identification method for task intention in daily life and an assistive-motion-planning ILSR method to provide complementary mobility functions for the lower-limb handicapped and elderly. Finally, we discuss the effectiveness of our proposed method as demonstrated in experiments in which a series of cleaning tasks were performed.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"59 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":"129964016","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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