Pub Date : 2015-12-01DOI: 10.1109/ROBIO.2015.7419703
Ping Li, M. Garratt, A. Lambert
This paper aims at estimating the metric state of a quadrotor using a monocular camera and an Inertial Measurement Unit (IMU) based on a homography model. Angular velocities are obtained from the on-board IMU and subtracted from the homography matrix. The reshaped vector from the homography matrix is directly fused with acceleration measurements using an Extended Kalman Filter. The visual inertial fusion framework is capable of estimating distance to the plane, speed, acceleration biases and surface normal. The feasibility of our method is proven using simulation and on real sensory data recorded from our quadrotor platform. It is shown that our approach is superior over traditional method that decomposes the homography matrix for the estimation of surface normal.
{"title":"Inertial-aided state and slope estimation using a monocular camera","authors":"Ping Li, M. Garratt, A. Lambert","doi":"10.1109/ROBIO.2015.7419703","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419703","url":null,"abstract":"This paper aims at estimating the metric state of a quadrotor using a monocular camera and an Inertial Measurement Unit (IMU) based on a homography model. Angular velocities are obtained from the on-board IMU and subtracted from the homography matrix. The reshaped vector from the homography matrix is directly fused with acceleration measurements using an Extended Kalman Filter. The visual inertial fusion framework is capable of estimating distance to the plane, speed, acceleration biases and surface normal. The feasibility of our method is proven using simulation and on real sensory data recorded from our quadrotor platform. It is shown that our approach is superior over traditional method that decomposes the homography matrix for the estimation of surface normal.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"4 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":"114438291","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.2015.7418889
Jie Zhao, Xiaolu Wang, Yanhe Zhu
Chain-type self-reconfigurable robot (SRR), as a category of modular robots, is more suitable to implement whole body locomotion task, e.g. snake-like configuration squeezing through a narrow hole, legged-robot crossing over a rugged terrain. As SRR could construct diverse configurations and they are mostly super-redundant, it is challenging to plan these configurations' controller, especially for non-typical configurations. To resolve this problem, evolutionary computing paradigm is frequently used. However, the controller structure or expressions should be designed before evolving the parameters. Some researchers use fully connected CPG network as the default controller, but the parameter space is too large. Few scholars try to automatic generate reduced controller by topology and symmetry analysis, but their method is only applicable for limb-type configurations. In this paper, we propose a framework for automatic generating both controller expressions and locomotion, which combines topology analysis, functional substructure mapping, and isomorphic substructures constraints. This method can fit a large amount of configurations with different type of substructures. Taking UBot SRR as the instance, we realize and integrate the framework to the self-develop UBotSim software. The effectiveness is validated by extensive simulations/off-line optimizations of typical and non-typical configurations.
{"title":"Automatic generating controller expressions and locomotion for UBot modular self-reconfigurable robot","authors":"Jie Zhao, Xiaolu Wang, Yanhe Zhu","doi":"10.1109/ROBIO.2015.7418889","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418889","url":null,"abstract":"Chain-type self-reconfigurable robot (SRR), as a category of modular robots, is more suitable to implement whole body locomotion task, e.g. snake-like configuration squeezing through a narrow hole, legged-robot crossing over a rugged terrain. As SRR could construct diverse configurations and they are mostly super-redundant, it is challenging to plan these configurations' controller, especially for non-typical configurations. To resolve this problem, evolutionary computing paradigm is frequently used. However, the controller structure or expressions should be designed before evolving the parameters. Some researchers use fully connected CPG network as the default controller, but the parameter space is too large. Few scholars try to automatic generate reduced controller by topology and symmetry analysis, but their method is only applicable for limb-type configurations. In this paper, we propose a framework for automatic generating both controller expressions and locomotion, which combines topology analysis, functional substructure mapping, and isomorphic substructures constraints. This method can fit a large amount of configurations with different type of substructures. Taking UBot SRR as the instance, we realize and integrate the framework to the self-develop UBotSim software. The effectiveness is validated by extensive simulations/off-line optimizations of typical and non-typical configurations.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"2015 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":"114601085","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.2015.7419085
Tang Dewei, Z. Weiwei, Jiang Shengyuan, Shen Yi, Chen Hua-zhi
This paper proposes a novel Inchworm Boring Robot(IBR) for implementing investigations of scientific targets such as geothermal gradient, chemical composition, mechanical properties of regolith in the planetary subsurface. The IBR consists of three modules: a drilling module, a discharging module and a propulsion module. Drilling module and discharging module were respectively used to break and transport the regolith. Propulsion module can make linear motion between drilling module and discharging module. Therefore, IBR can achieve inchworm movement according to the timing motion of above three modules. In this paper, the two key tools, drill and auger, were elaborately designed and tested to figure out its load characteristics for future prototype of IBR. Next, the prototype of IBR was developed based on the tools design and a novel proposed transmission scheme. Finally, boring experiments for IBR were conducted on the test platform. In these boring experiments, IBR successfully access to 510mm depth in the regolith simulant and these results show that it is feasible for IBR to make borehole and carry out the planetary subsurface exploration.
{"title":"Development of an Inchworm Boring Robot(IBR) for planetary subsurface exploration","authors":"Tang Dewei, Z. Weiwei, Jiang Shengyuan, Shen Yi, Chen Hua-zhi","doi":"10.1109/ROBIO.2015.7419085","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419085","url":null,"abstract":"This paper proposes a novel Inchworm Boring Robot(IBR) for implementing investigations of scientific targets such as geothermal gradient, chemical composition, mechanical properties of regolith in the planetary subsurface. The IBR consists of three modules: a drilling module, a discharging module and a propulsion module. Drilling module and discharging module were respectively used to break and transport the regolith. Propulsion module can make linear motion between drilling module and discharging module. Therefore, IBR can achieve inchworm movement according to the timing motion of above three modules. In this paper, the two key tools, drill and auger, were elaborately designed and tested to figure out its load characteristics for future prototype of IBR. Next, the prototype of IBR was developed based on the tools design and a novel proposed transmission scheme. Finally, boring experiments for IBR were conducted on the test platform. In these boring experiments, IBR successfully access to 510mm depth in the regolith simulant and these results show that it is feasible for IBR to make borehole and carry out the planetary subsurface exploration.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"13 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":"123926965","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.2015.7418755
Joachim F. Kreutzer, Florian Kosch, Stefan Ramesberger, Samuel M. F. Reimer, T. Lüth
This contribution presents different concepts for base stations complementing a fluid intake monitoring system. The motivation behind this research is the high amount of dehydration diagnoses in hospitals. Affected patients are almost exclusively elderly people. Therefore a monitoring system is needed that is able to detect insufficient fluid intake, especially designed for this demographic group. The foundation of this system is based on smart sensor cups which are able to deduce fluid intake by detecting the filling level. This paper focuses on complementary devices for these cups which are necessary in order to build an exhaustive monitoring system. Depending on the intended scenario, the primary functions are charging the sensor cups and receiving and displaying data. This data is either displayed for an immediate feedback or subsequently transferred to a central server for storage in a database or further processing. This contribution presents three different concepts: a simple multi charging station for up to four cups simultaneously, a stand-alone base station able to charge and display informations gathered by one sensor cup and a network-compatible base station for several cups. The system mentioned last is also able to transfer their data via Ethernet to a server. The interface between sensor cup and system as well as their intended use are presented in detail for each concept. The evaluation concentrates on the reliability of a system build on scenarios around the network-compatible base station.
{"title":"Base station concepts of an automatic fluid intake monitoring system","authors":"Joachim F. Kreutzer, Florian Kosch, Stefan Ramesberger, Samuel M. F. Reimer, T. Lüth","doi":"10.1109/ROBIO.2015.7418755","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418755","url":null,"abstract":"This contribution presents different concepts for base stations complementing a fluid intake monitoring system. The motivation behind this research is the high amount of dehydration diagnoses in hospitals. Affected patients are almost exclusively elderly people. Therefore a monitoring system is needed that is able to detect insufficient fluid intake, especially designed for this demographic group. The foundation of this system is based on smart sensor cups which are able to deduce fluid intake by detecting the filling level. This paper focuses on complementary devices for these cups which are necessary in order to build an exhaustive monitoring system. Depending on the intended scenario, the primary functions are charging the sensor cups and receiving and displaying data. This data is either displayed for an immediate feedback or subsequently transferred to a central server for storage in a database or further processing. This contribution presents three different concepts: a simple multi charging station for up to four cups simultaneously, a stand-alone base station able to charge and display informations gathered by one sensor cup and a network-compatible base station for several cups. The system mentioned last is also able to transfer their data via Ethernet to a server. The interface between sensor cup and system as well as their intended use are presented in detail for each concept. The evaluation concentrates on the reliability of a system build on scenarios around the network-compatible base station.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"5 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":"124478019","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.2015.7419086
T. Do, Ran Liu, C. Yuen, U-Xuan Tan
There has been an increasing demand for localization for personnel like firemen, and soldiers for various reasons ranging from safety to strategy planning and coordination. There is also a need for the localization system to be free from infrastructure. For example, it is not practical to place various transmitters in a building before the users enter the building. Many of the current methods involving inertial measurement unit (IMU) utilize step detection and step counting to estimate the displacement. This does not account for the various legs length and step sizes though. Some groups have proposed algorithm that involves placing the IMU on the foot to estimate the step size. However, users have commented that it affects their walking. Hence, this paper presents a new method to estimate both the forward displacement and orientation. In this paper, the sensor unit is placed at the pedestrians ankles for greater ease of usage. The 2D displacement is then computed based on the estimations of pitch angle, yaw angle and pedestrians leg length. The advantage of this method is that the pedestrians leg length is automatically estimated during walking by exploiting the motion equation of a simple pendulum model and hence, no prior measurement or training is required. The proposed method also employs the quaternion-based indirect Kalman filter to estimate the Euler angles containing the yaw angle (heading), the pitch angle and the roll angle. The heading (yaw angle) is corrected by updating the reading data of magnetometer an estimated magnetometer bias. The real-time localization system has been implemented and experiments involving various subjects are conducted. The experimental results demonstrates the accuracy with the averaged displacement error less than 3%.
{"title":"Design of an infrastructureless in-door localization device using an IMU sensor","authors":"T. Do, Ran Liu, C. Yuen, U-Xuan Tan","doi":"10.1109/ROBIO.2015.7419086","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419086","url":null,"abstract":"There has been an increasing demand for localization for personnel like firemen, and soldiers for various reasons ranging from safety to strategy planning and coordination. There is also a need for the localization system to be free from infrastructure. For example, it is not practical to place various transmitters in a building before the users enter the building. Many of the current methods involving inertial measurement unit (IMU) utilize step detection and step counting to estimate the displacement. This does not account for the various legs length and step sizes though. Some groups have proposed algorithm that involves placing the IMU on the foot to estimate the step size. However, users have commented that it affects their walking. Hence, this paper presents a new method to estimate both the forward displacement and orientation. In this paper, the sensor unit is placed at the pedestrians ankles for greater ease of usage. The 2D displacement is then computed based on the estimations of pitch angle, yaw angle and pedestrians leg length. The advantage of this method is that the pedestrians leg length is automatically estimated during walking by exploiting the motion equation of a simple pendulum model and hence, no prior measurement or training is required. The proposed method also employs the quaternion-based indirect Kalman filter to estimate the Euler angles containing the yaw angle (heading), the pitch angle and the roll angle. The heading (yaw angle) is corrected by updating the reading data of magnetometer an estimated magnetometer bias. The real-time localization system has been implemented and experiments involving various subjects are conducted. The experimental results demonstrates the accuracy with the averaged displacement error less than 3%.","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":"128339450","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.2015.7418847
Shengxin Wang, Yongsheng Gao, F. Xiao, Wei Xin, Jie Zhao
Tremor with a roughly sinusoidal profile impacts the individuals' living activities. Recently, Functional Electric Stimulation (FES) was intensively applied to activate the antagonist muscles with the anti-phase stimulation patterns for compensating the tremor. Considering the similarity between the rhythmic movements and the central neural oscillator, the Matsuoka model is introduced to reciprocally modulate the stimulations intensity of the antagonistic muscles. However, the nonlinear threshold function of the Matsuoka model complicates the system and limits the analysis. In this study, the linearly approximated method is employed to develop the explicit relationship between the model parameters and the frequency/amplitude of the sustained oscillation. The simulation results demonstrate that the output of roughly approximated oscillator is in accordance with that of the original oscillator. Besides, this study brings insight on the effect of the sensory feedback on the neural oscillator. Further, the treatment of tremor with the Matsuoka model as the feed-forward controller and the kinematic signals as the feedback is feasible.
{"title":"Analysis and simulation of the neural oscillator for tremor suppression by FES","authors":"Shengxin Wang, Yongsheng Gao, F. Xiao, Wei Xin, Jie Zhao","doi":"10.1109/ROBIO.2015.7418847","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418847","url":null,"abstract":"Tremor with a roughly sinusoidal profile impacts the individuals' living activities. Recently, Functional Electric Stimulation (FES) was intensively applied to activate the antagonist muscles with the anti-phase stimulation patterns for compensating the tremor. Considering the similarity between the rhythmic movements and the central neural oscillator, the Matsuoka model is introduced to reciprocally modulate the stimulations intensity of the antagonistic muscles. However, the nonlinear threshold function of the Matsuoka model complicates the system and limits the analysis. In this study, the linearly approximated method is employed to develop the explicit relationship between the model parameters and the frequency/amplitude of the sustained oscillation. The simulation results demonstrate that the output of roughly approximated oscillator is in accordance with that of the original oscillator. Besides, this study brings insight on the effect of the sensory feedback on the neural oscillator. Further, the treatment of tremor with the Matsuoka model as the feed-forward controller and the kinematic signals as the feedback is feasible.","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":"128533925","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.2015.7418842
Takahiro Mori, G. Enriquez, Huei Ee Yap, S. Hashimoto
The analysis of movements has been applied to various fields. However, they are typically only in the form of visual or analytical data from a motion analyzer. Users are unable to feel these types of analysis directly on their bodies. In some fields, such as sports and rehabilitation, it is more efficient to feel a motion than to see the image or numerical data in order to acquire skills. Therefore we propose a device to teach users a desired motion directly using force produced by a Control Moment Gyroscope (CMG). In particular, we focus on a swing motion in golf, baseball, or tennis. This paper introduces the developed CMG prototype and its validation in the control of pendulum movement.
{"title":"Control moment gyroscope for swing motion control","authors":"Takahiro Mori, G. Enriquez, Huei Ee Yap, S. Hashimoto","doi":"10.1109/ROBIO.2015.7418842","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418842","url":null,"abstract":"The analysis of movements has been applied to various fields. However, they are typically only in the form of visual or analytical data from a motion analyzer. Users are unable to feel these types of analysis directly on their bodies. In some fields, such as sports and rehabilitation, it is more efficient to feel a motion than to see the image or numerical data in order to acquire skills. Therefore we propose a device to teach users a desired motion directly using force produced by a Control Moment Gyroscope (CMG). In particular, we focus on a swing motion in golf, baseball, or tennis. This paper introduces the developed CMG prototype and its validation in the control of pendulum movement.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"126 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":"128206657","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.2015.7419062
Hongliang Shi, Yongsik Kim, Y. She
The purpose of this research is to design a novel parallel kinematic micro-electro-mechanical systems (MEMS) XY nanopositioner. It is challenging to design a MEMS XY positioner because of the limitations of fabrication, material property and actuation. The XY nanopositioner proposed in this manuscript is featured for decoupled motions, large stroke, compact size and large out-of-plane stiffness. This positioner includes three parts: thermal actuator, displacement amplifier and guide mechanism. The thermal actuator is applied to create a large electrothermal force for the in-plane motion. The lever based displacement amplifier is designed to increase the in-plane stroke. The symmetrical parallel guide mechanism is used to decouple the motions in the x and y directions while increasing the out-of-plane stiffness. Based on the Screw Theory, we derive an analytical model for the actuation and control of the stage. Furthermore, a Finite Element (FE) model is proposed to analyze the analytical model. By means of MEMS fabrication, the footprint of the XY nanopositioner is only 5 mm × 5 mm. However, the nanopositioner is capable of reaching a stroke of 83 μm × 83 μm. Compared with other designs, this parallel XY positioner has a large work space with a compact size.
{"title":"Design of a parallel kinematic MEMS XY nanopositioner","authors":"Hongliang Shi, Yongsik Kim, Y. She","doi":"10.1109/ROBIO.2015.7419062","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419062","url":null,"abstract":"The purpose of this research is to design a novel parallel kinematic micro-electro-mechanical systems (MEMS) XY nanopositioner. It is challenging to design a MEMS XY positioner because of the limitations of fabrication, material property and actuation. The XY nanopositioner proposed in this manuscript is featured for decoupled motions, large stroke, compact size and large out-of-plane stiffness. This positioner includes three parts: thermal actuator, displacement amplifier and guide mechanism. The thermal actuator is applied to create a large electrothermal force for the in-plane motion. The lever based displacement amplifier is designed to increase the in-plane stroke. The symmetrical parallel guide mechanism is used to decouple the motions in the x and y directions while increasing the out-of-plane stiffness. Based on the Screw Theory, we derive an analytical model for the actuation and control of the stage. Furthermore, a Finite Element (FE) model is proposed to analyze the analytical model. By means of MEMS fabrication, the footprint of the XY nanopositioner is only 5 mm × 5 mm. However, the nanopositioner is capable of reaching a stroke of 83 μm × 83 μm. Compared with other designs, this parallel XY positioner has a large work space with a compact size.","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":"129371922","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.2015.7419017
Eric M. Orendt, D. Henrich
Robot applications are located more and more often in highly dynamic environments. In contrast to well known, structured environments, this leads to the challenging problem of keeping the robot programs robust. One aspect of robustness is the ability to detect and handle unexpected events, e.g. a dropped object or a storage place, which should be free, but is already occupied. In this work we call such events deviations. The contribution of this paper is to show, that we can design robot programs more robust, when we regard these deviations. We propose an approach that provides the detection and classification of deviations occurring during the execution of a robot program. Furthermore we show that the classified deviations can be used to develop a customized deviation management. For this purpose, an Entity-Component-System (ECS) is used to describe any relevant resources in the workspace of the robot. With such a resource model we are able to detect whether there is a difference between the expected state and the actual state of the relevant robot environment. Based on that monitoring our approach provides a statement about the presence and type of a deviation. The advantages of these approach including a unified detection and classification principle and a base for recovering from failures.
{"title":"Design of robust robot programs: Deviation detection and classification using entity-based resources","authors":"Eric M. Orendt, D. Henrich","doi":"10.1109/ROBIO.2015.7419017","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419017","url":null,"abstract":"Robot applications are located more and more often in highly dynamic environments. In contrast to well known, structured environments, this leads to the challenging problem of keeping the robot programs robust. One aspect of robustness is the ability to detect and handle unexpected events, e.g. a dropped object or a storage place, which should be free, but is already occupied. In this work we call such events deviations. The contribution of this paper is to show, that we can design robot programs more robust, when we regard these deviations. We propose an approach that provides the detection and classification of deviations occurring during the execution of a robot program. Furthermore we show that the classified deviations can be used to develop a customized deviation management. For this purpose, an Entity-Component-System (ECS) is used to describe any relevant resources in the workspace of the robot. With such a resource model we are able to detect whether there is a difference between the expected state and the actual state of the relevant robot environment. Based on that monitoring our approach provides a statement about the presence and type of a deviation. The advantages of these approach including a unified detection and classification principle and a base for recovering from failures.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"49 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":"129569412","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.2015.7419732
Yangyang Ma, Ying Huang, L. Mao, Ping Liu, Caixia Liu, Y. Ge
Tactile sensor provides plenty of critical information vision sensor can't offer, such as force or vibration. In robot grasping task, pre-sliding detection is critical to grasp object steadily and safely. In this paper, a flexible slip-tactile sensor for a dexterous robot hand and a corresponding decouple algorithm aiming at the sensor are presented. The sensor is designed to be integrated in the surface of robot as e-skin, which can detect normal force and tangential force simultaneously. The main components of slip-tactile sensor consist of arbon black (CB), graphene nanoplatelets (GNPs) and PDMS. Additionally, the simplified decouple algorithm is embedded into the CPU, which makes the designed sensor capable to detect the pre-sliding with the help of the contact model dynamically. The manufacture and construction of the sensor and the decouple algorithm will be explained firstly, the contact model and the results will be discussed next.
{"title":"Pre-sliding detection in robot hand grasping based on slip-tactile sensor","authors":"Yangyang Ma, Ying Huang, L. Mao, Ping Liu, Caixia Liu, Y. Ge","doi":"10.1109/ROBIO.2015.7419732","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419732","url":null,"abstract":"Tactile sensor provides plenty of critical information vision sensor can't offer, such as force or vibration. In robot grasping task, pre-sliding detection is critical to grasp object steadily and safely. In this paper, a flexible slip-tactile sensor for a dexterous robot hand and a corresponding decouple algorithm aiming at the sensor are presented. The sensor is designed to be integrated in the surface of robot as e-skin, which can detect normal force and tangential force simultaneously. The main components of slip-tactile sensor consist of arbon black (CB), graphene nanoplatelets (GNPs) and PDMS. Additionally, the simplified decouple algorithm is embedded into the CPU, which makes the designed sensor capable to detect the pre-sliding with the help of the contact model dynamically. The manufacture and construction of the sensor and the decouple algorithm will be explained firstly, the contact model and the results will be discussed next.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"20 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":"131958347","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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