Pub Date : 2015-12-01DOI: 10.1109/ROBIO.2015.7419000
Hao Chen, Panbing Wang, Ming Liu
Object co-segmentation aims to identify and segment the common objects among a set of similar images. Although various explorations have been done for the topic, two major problems still remain: (1) How to mitigate the influence of background disturbance of each image when we detect the common objects. (2) How to leverage common information of the image set optimally. To overcome the two problems, we resort to co-saliency detection and propose a novel framework, which utilizes multi-stage low-rank matrix recovery to eliminate the background and identify the common foregrounds. To address the first problem, we firstly use a conventional saliency detection model to get saliency maps of each image as initialization rather than directly dealing with all the images together; to address the second problem, we adopt low-rank matrix recovery to constrain the common foregrounds as the low-rank part, while the background interferences corresponds to the sparse noises. Besides, an effective refinement method is proposed to recover the spatial relationships among the segments. The extensive experiments show the proposed model can effectively leverage the homogeneous information among the image class and provide promising co-segmentation performance.
{"title":"From co-saliency detection to object co-segmentation: A unified multi-stage low-rank matrix recovery approach","authors":"Hao Chen, Panbing Wang, Ming Liu","doi":"10.1109/ROBIO.2015.7419000","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419000","url":null,"abstract":"Object co-segmentation aims to identify and segment the common objects among a set of similar images. Although various explorations have been done for the topic, two major problems still remain: (1) How to mitigate the influence of background disturbance of each image when we detect the common objects. (2) How to leverage common information of the image set optimally. To overcome the two problems, we resort to co-saliency detection and propose a novel framework, which utilizes multi-stage low-rank matrix recovery to eliminate the background and identify the common foregrounds. To address the first problem, we firstly use a conventional saliency detection model to get saliency maps of each image as initialization rather than directly dealing with all the images together; to address the second problem, we adopt low-rank matrix recovery to constrain the common foregrounds as the low-rank part, while the background interferences corresponds to the sparse noises. Besides, an effective refinement method is proposed to recover the spatial relationships among the segments. The extensive experiments show the proposed model can effectively leverage the homogeneous information among the image class and provide promising co-segmentation performance.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"30 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":"134574264","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.2015.7418830
Yonggen Ling, S. Shen
We propose a sliding window-based dense visual-inertial fusion method for real-time tracking of challenging aggressive motions. Our method combines recent advances in direct dense visual odometry, inertial measurement unit (IMU) preintegration, and graph-based optimization. At the front-end, direct dense visual odometry provides camera pose tracking that is resistant to motion blur. At the back-end, a sliding window optimization-based fusion framework with efficient IMU preintegration generates smooth and high-accuracy state estimates, even with occasional visual tracking failures. A local loop closure that is integrated into the back-end further eliminates drift after extremely aggressive motions. Our system runs real-time at 25 Hz on an off-the-shelf laptop. Experimental results show that our method is able to accurately track motions with angular velocities up to 1000 degrees/s and velocities up to 4 m/s. We also compare our method with state-of-the-art systems, such as Google Tango, and show superior performance during challenging motions. We show that our method achieves reliable tracking results, even if we throw the sensor suite during experiments.
{"title":"Dense visual-inertial odometry for tracking of aggressive motions","authors":"Yonggen Ling, S. Shen","doi":"10.1109/ROBIO.2015.7418830","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418830","url":null,"abstract":"We propose a sliding window-based dense visual-inertial fusion method for real-time tracking of challenging aggressive motions. Our method combines recent advances in direct dense visual odometry, inertial measurement unit (IMU) preintegration, and graph-based optimization. At the front-end, direct dense visual odometry provides camera pose tracking that is resistant to motion blur. At the back-end, a sliding window optimization-based fusion framework with efficient IMU preintegration generates smooth and high-accuracy state estimates, even with occasional visual tracking failures. A local loop closure that is integrated into the back-end further eliminates drift after extremely aggressive motions. Our system runs real-time at 25 Hz on an off-the-shelf laptop. Experimental results show that our method is able to accurately track motions with angular velocities up to 1000 degrees/s and velocities up to 4 m/s. We also compare our method with state-of-the-art systems, such as Google Tango, and show superior performance during challenging motions. We show that our method achieves reliable tracking results, even if we throw the sensor suite during experiments.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"63 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":"131611141","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.2015.7419721
Boru Xu, Xin Wang, Yanhuan Zhu, Huan Chen
In order to improve the ability of running and crossing obstacle smoothly, a novel obstacle-crossing mechanism of inspection robot is designed for high-voltage transmission line inspection. Modular obstacle-crossing mechanisms include rotating mechanisms, lifting mechanisms, driving mechanisms and clamping mechanisms. Through the interaction of the driving wheels and clamping wheels, the inspection robot can tightly hold high-voltage transmission line and climb the sloped line. Adams simulation experimental results show that the structure of the obstacle crossing mechanisms work well with the satisfactory performance.
{"title":"Design of obstacle crossing mechanism of high-voltage transmission line inspection robot","authors":"Boru Xu, Xin Wang, Yanhuan Zhu, Huan Chen","doi":"10.1109/ROBIO.2015.7419721","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419721","url":null,"abstract":"In order to improve the ability of running and crossing obstacle smoothly, a novel obstacle-crossing mechanism of inspection robot is designed for high-voltage transmission line inspection. Modular obstacle-crossing mechanisms include rotating mechanisms, lifting mechanisms, driving mechanisms and clamping mechanisms. Through the interaction of the driving wheels and clamping wheels, the inspection robot can tightly hold high-voltage transmission line and climb the sloped line. Adams simulation experimental results show that the structure of the obstacle crossing mechanisms work well with the satisfactory performance.","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":"130983239","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.2015.7418973
T. Yonezawa, E. Takeuchi, K. Ohno, S. Tadokoro
This paper proposes a path-creation method for flying robots to search for persons. The method is based on an appearance-based identification algorithm applied to the images obtained from the sky. A flying robot is a holonomic mobile; it can move in all directions, and the number of paths is infinite. The person identification was performed effectively by choosing the path suitable for the identification from within those combinations. The proposed method can create an efficient path to identify multiple persons accurately. All of the candidate paths that the flying robot can fly were estimated, then the evaluation scores of candidate paths were calculated by cumulating the identification results of multiple persons. The candidate path with the maximum evaluation score was selected. The effectiveness of the method was confirmed via simulation. The path for 1-3 persons who were within a zone of 50 m × 50 m was obtained. The time for one path segment was five seconds. Simulation of multiple path creations for the same persons was performed. Obtaining a result when there was a prior simulation was confirmed. In the simulation, the flying robot flew at a constant height of 3 m and moved at a constant speed of 30 km/h. During movement, the orientation of the camera mounted on the robot was assumed to be fixed. The camera was assumed to be a generic camera with VGA and 1 frame per second. One path creation required approximately one minute (Intel Core i7 CPU).
提出了一种用于飞行机器人寻人的路径创建方法。该方法基于一种基于外观的识别算法，应用于从天空获得的图像。飞行机器人是一个完整的移动机器人;它可以向各个方向移动，路径的数量是无限的。通过在这些组合中选择适合识别的路径，有效地进行了人员识别。该方法可以创建一个有效的路径来准确地识别多人。对飞行机器人能够飞行的所有候选路径进行估计，然后通过对多人识别结果的累加，计算候选路径的评价分数。选取评价分数最高的候选路径。通过仿真验证了该方法的有效性。得到了1-3人在50 m × 50 m区域内的路径。一个路径段的时间为5秒。对同一个人的多个路径创建进行了仿真。在事前模拟得到确认的情况下，得到了一个结果。在仿真中，飞行机器人以3 m的恒定高度飞行，以30 km/h的恒定速度移动。在运动过程中，假定安装在机器人上的摄像机的方向是固定的。摄像机被假定为具有VGA和每秒1帧的普通摄像机。创建一个路径大约需要一分钟(Intel Core i7 CPU)。
{"title":"Path-creation method to search for persons using a flying robot","authors":"T. Yonezawa, E. Takeuchi, K. Ohno, S. Tadokoro","doi":"10.1109/ROBIO.2015.7418973","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418973","url":null,"abstract":"This paper proposes a path-creation method for flying robots to search for persons. The method is based on an appearance-based identification algorithm applied to the images obtained from the sky. A flying robot is a holonomic mobile; it can move in all directions, and the number of paths is infinite. The person identification was performed effectively by choosing the path suitable for the identification from within those combinations. The proposed method can create an efficient path to identify multiple persons accurately. All of the candidate paths that the flying robot can fly were estimated, then the evaluation scores of candidate paths were calculated by cumulating the identification results of multiple persons. The candidate path with the maximum evaluation score was selected. The effectiveness of the method was confirmed via simulation. The path for 1-3 persons who were within a zone of 50 m × 50 m was obtained. The time for one path segment was five seconds. Simulation of multiple path creations for the same persons was performed. Obtaining a result when there was a prior simulation was confirmed. In the simulation, the flying robot flew at a constant height of 3 m and moved at a constant speed of 30 km/h. During movement, the orientation of the camera mounted on the robot was assumed to be fixed. The camera was assumed to be a generic camera with VGA and 1 frame per second. One path creation required approximately one minute (Intel Core i7 CPU).","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"21 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":"132885806","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.2015.7419727
Keqiang Bai, Minzhou Luo, Guanwu Jiang, Manlu Liu
A torque compensation method is proposed in this paper. Through theoretical analysis and experiments, a compensation strategy with tracking filter is designed for the control system of the industrial robot. This strategy can be used to suppress the time-varying nonlinear residual vibration of the end-effector which caused by the variation of the inertia in the serials robot. The main difference between this method and the method currently used is that it does not require the complex computation. Experimental results show that this torque compensation strategy can suppress the residual vibration to a level similar to that of the conventional method which has a complex computation of the estimation model. This strategy is an attractive method for the suppression of time varying nonlinear vibration in industrial robots which perform repetitive tasks because of the limit of computing power and memory space for their controllers.
{"title":"Research of the torque compensation method for the vibration suppression of the industrial robot","authors":"Keqiang Bai, Minzhou Luo, Guanwu Jiang, Manlu Liu","doi":"10.1109/ROBIO.2015.7419727","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419727","url":null,"abstract":"A torque compensation method is proposed in this paper. Through theoretical analysis and experiments, a compensation strategy with tracking filter is designed for the control system of the industrial robot. This strategy can be used to suppress the time-varying nonlinear residual vibration of the end-effector which caused by the variation of the inertia in the serials robot. The main difference between this method and the method currently used is that it does not require the complex computation. Experimental results show that this torque compensation strategy can suppress the residual vibration to a level similar to that of the conventional method which has a complex computation of the estimation model. This strategy is an attractive method for the suppression of time varying nonlinear vibration in industrial robots which perform repetitive tasks because of the limit of computing power and memory space for their controllers.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"10 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":"133290896","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.2015.7418948
R. R. Benrezki, M. Tadjine, F. Yacef, O. Kermia
In this paper a passive fault tolerant controller based on nonlinear PID backstepping is proposed for a quadrotor unmanned aerial vehicle. The proposed approach is able to ensure robustness and maintain performance in presence of both actuators faults and parameters changes. The nonlinear PID controller is applied for the problem of trajectories tracking. The proposed approach is compared with the classical backstepping tracking controller. Numerical simulation results are provided to show the effectiveness and the good tracking performance of the proposed approach.
{"title":"Passive fault tolerant control of quadrotor UAV using a nonlinear PID","authors":"R. R. Benrezki, M. Tadjine, F. Yacef, O. Kermia","doi":"10.1109/ROBIO.2015.7418948","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418948","url":null,"abstract":"In this paper a passive fault tolerant controller based on nonlinear PID backstepping is proposed for a quadrotor unmanned aerial vehicle. The proposed approach is able to ensure robustness and maintain performance in presence of both actuators faults and parameters changes. The nonlinear PID controller is applied for the problem of trajectories tracking. The proposed approach is compared with the classical backstepping tracking controller. Numerical simulation results are provided to show the effectiveness and the good tracking performance of the proposed approach.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"79 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":"132595069","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.2015.7418952
Christopher V. Meaclem, S. Gutschmidt, Xiaoqi Chen, R. Parker
A novel brachiating, biped mobility platform for tree to tree traversal is analyzed by its kinematics and dynamics. The machine performs brachiation in the horizontal plane. Firstly, the kinematic model is derived then used to investigate the workspace of the end effector. The optimal grasping location is identified through the Yoshikawa manipulability measure. Secondly, actuator performance and limitations are identified through dynamic analysis of joint torques. Pose optimization is identified and the coupling with inertia is determined.
{"title":"Kinematic and dynamic analysis of a brachiating tree-to-tree machine","authors":"Christopher V. Meaclem, S. Gutschmidt, Xiaoqi Chen, R. Parker","doi":"10.1109/ROBIO.2015.7418952","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418952","url":null,"abstract":"A novel brachiating, biped mobility platform for tree to tree traversal is analyzed by its kinematics and dynamics. The machine performs brachiation in the horizontal plane. Firstly, the kinematic model is derived then used to investigate the workspace of the end effector. The optimal grasping location is identified through the Yoshikawa manipulability measure. Secondly, actuator performance and limitations are identified through dynamic analysis of joint torques. Pose optimization is identified and the coupling with inertia is determined.","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":"128896583","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.2015.7419728
Huiwen Guo, Xinyu Wu, Ruiqing Fu, Wei Feng
This paper presents a robust vision-based localization system for an autonomous mower, which is significant for both the meadow map building and the successful area covering. Instead of setting the monocular camera toward the scene, which suffers from the disturbance of moving objects, less mark points or variation of illumination, we equip the camera toward the ground with constant illumination compensation. To achieve the localization of the mower, point features are extracted and matched between pairs of frames. Motion is incremental obtained by calculate the rotation and translation transformation of matched feature point pairs. As the angle accumulated error has greater contribution to the location error, angular acceleration sensor is adopted to compensate the angle error especially in the steep turning case. Experiments on meadow with our mowers demonstrate the robustness of our localization system.
{"title":"Robust localization system for an autonomous mower","authors":"Huiwen Guo, Xinyu Wu, Ruiqing Fu, Wei Feng","doi":"10.1109/ROBIO.2015.7419728","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419728","url":null,"abstract":"This paper presents a robust vision-based localization system for an autonomous mower, which is significant for both the meadow map building and the successful area covering. Instead of setting the monocular camera toward the scene, which suffers from the disturbance of moving objects, less mark points or variation of illumination, we equip the camera toward the ground with constant illumination compensation. To achieve the localization of the mower, point features are extracted and matched between pairs of frames. Motion is incremental obtained by calculate the rotation and translation transformation of matched feature point pairs. As the angle accumulated error has greater contribution to the location error, angular acceleration sensor is adopted to compensate the angle error especially in the steep turning case. Experiments on meadow with our mowers demonstrate the robustness of our localization system.","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":"128911542","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.2015.7419080
T. K. Bera, G. Ayala, R. Loureiro, R. Merzouki
This paper presents the modeling and real-time validation of an intelligent autonomous vehicle using the bond graph tool. Bond graph is a graphical and modular representation of systems residing in the different energy domains, and is a good tool for representing complex systems like heavy vehicle. The validated dynamics of the vehicle are the longitudinal and lateral ones. The model created from the bond graph modeling method is simulated with appropriate software. These two dynamics were validated by comparing its results with co-simulations obtained from professional real-time simulator of vehicle dynamics, named SCANeR Studio®. A circular path tracking was considered for the analysis of longitudinal and lateral dynamics of the considered Intelligent Autonomous Vehicle (IAV) in closed loop control.
{"title":"Graphical model-based design of intelligent autonomous vehicle","authors":"T. K. Bera, G. Ayala, R. Loureiro, R. Merzouki","doi":"10.1109/ROBIO.2015.7419080","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419080","url":null,"abstract":"This paper presents the modeling and real-time validation of an intelligent autonomous vehicle using the bond graph tool. Bond graph is a graphical and modular representation of systems residing in the different energy domains, and is a good tool for representing complex systems like heavy vehicle. The validated dynamics of the vehicle are the longitudinal and lateral ones. The model created from the bond graph modeling method is simulated with appropriate software. These two dynamics were validated by comparing its results with co-simulations obtained from professional real-time simulator of vehicle dynamics, named SCANeR Studio®. A circular path tracking was considered for the analysis of longitudinal and lateral dynamics of the considered Intelligent Autonomous Vehicle (IAV) in closed loop control.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"216 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":"133839069","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.2015.7419101
Hong-Cheol Choi, Gwang-Pil Jung, Kyu-Jin Cho
Small multi-legged animals that can climb vertical walls with a rough surface have inspired research on climbing locomotion. Most robots that can climb a rough vertical wall are large and heavy due to the large number of actuators required to produce the complex locomotion. This paper proposes a novel design for a small and lightweight climbing robot that uses a single actuator. To guarantee reliable wall climbing, the contact phase of two tripods should overlap. A quick return leg is designed to enable phase overlap without requiring an extra actuator. Alternating tripods are also designed, and small spines with compliance are modeled based on the pseudo-rigid-body model. Layer-based fabrication is used to reduce weight. The resulting biomimetic platform is 10cm long and 10.8g in weight and can climb up a near-vertical brick wall at a rate of 5.57mm/sec.
{"title":"Design of a milli-scale, biomimetic platform for climbing on a rough surface","authors":"Hong-Cheol Choi, Gwang-Pil Jung, Kyu-Jin Cho","doi":"10.1109/ROBIO.2015.7419101","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419101","url":null,"abstract":"Small multi-legged animals that can climb vertical walls with a rough surface have inspired research on climbing locomotion. Most robots that can climb a rough vertical wall are large and heavy due to the large number of actuators required to produce the complex locomotion. This paper proposes a novel design for a small and lightweight climbing robot that uses a single actuator. To guarantee reliable wall climbing, the contact phase of two tripods should overlap. A quick return leg is designed to enable phase overlap without requiring an extra actuator. Alternating tripods are also designed, and small spines with compliance are modeled based on the pseudo-rigid-body model. Layer-based fabrication is used to reduce weight. The resulting biomimetic platform is 10cm long and 10.8g in weight and can climb up a near-vertical brick wall at a rate of 5.57mm/sec.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"136 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":"124386673","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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