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2020 17th International Conference on Ubiquitous Robots (UR)最新文献

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Omni-Drone: on the Design of a Novel Aerial Manipulator with Omni-directional Workspace 全向无人机:一种新型全向工作空间航空机械臂的设计
Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144837
Salua Hamaza, M. Kovač
Aerial manipulation is a nascent research area that offers major impact for infrastructure monitoring and repair. While several design and control methods have been presented, there is still a need for new mechatronic solutions that are structurally optimised for aerial manipulation tasks. In this paper we present a novel design for a manipulator tailored for aerial applications with a high level of morphological integration with the robot frame. A hybrid system is presented that comprises a 5-bar linkage parallel robot with an additional active joint for the swirling motion about a pivotal point. The design offers an omnidirectional workspace about the aerial vehicle, enhancing the versatility of the aerial system and the tasks that can be accomplished. The mechanical design of the proposed robot, the analysis of the kinematics and the study of the workspace are presented. The novel manipulator represents the first of its kind, enabling aerial interaction with ceilings, curved surfaces and side interaction with facades.
空中操纵是一个新兴的研究领域,对基础设施的监测和维修具有重要影响。虽然已经提出了几种设计和控制方法,但仍然需要针对空中操纵任务进行结构优化的新型机电一体化解决方案。在本文中,我们提出了一种新颖的设计,为航空应用量身定制的机械臂,与机器人框架具有高度的形态集成。提出了一种混合系统,该系统由一个五杆并联机器人和一个附加的主动关节组成,用于绕点旋转运动。该设计提供了一个关于飞行器的全方位工作空间,增强了空中系统的多功能性和可以完成的任务。对该机器人进行了机械设计、运动学分析和工作空间研究。这种新颖的机械手是同类产品中的第一个,能够与天花板、曲面进行空中互动,并与立面进行侧面互动。
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引用次数: 8
Fuzzy Impedance Control of Upper Limb Rehabilitation Robot* 上肢康复机器人模糊阻抗控制*
Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144860
Daiyan Zhang, Ming-xing Lin, Chuanqi Ban, Boyang Lian
Aiming at the problem of human-computer interaction in the rehabilitation process of upper limb rehabilitation robots, a flexible surface pressure sensor was used to detect the human-computer contact force, and a position-based fuzzy impedance controller was used to adjust the human-computer interaction force. A dynamic model of the upper limb rehabilitation robot was established, a fuzzy impedance controller was designed, and a position-based fuzzy impedance control result was simulated. The experiment proves that the position-based fuzzy impedance control can ensure that the rehabilitation robot has good compliance, which not only ensures the safety of rehabilitation training, but also the effect of rehabilitation training.
针对上肢康复机器人康复过程中的人机交互问题,采用柔性表面压力传感器检测人机接触力,采用基于位置的模糊阻抗控制器调节人机交互力。建立了上肢康复机器人的动力学模型,设计了模糊阻抗控制器,仿真了基于位置的模糊阻抗控制结果。实验证明,基于位置的模糊阻抗控制能够保证康复机器人具有良好的顺应性,既保证了康复训练的安全性,又保证了康复训练的效果。
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引用次数: 0
Distributed Database of Cloud Platform for the Lower-limb Exoskeleton Robot 下肢外骨骼机器人云平台分布式数据库
Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144697
Yi Wu, G. Cao, Su-Dan Huang, Yeping Peng
A distributed database of cloud platform for the lower-limb exoskeleton robot is developed in this paper, which is to solve the problem of large data storage when long-term monitoring of multiple exoskeleton robots. The architecture of the cloud platform is present. In terms of the data information of the robot and human body, a distributed database is built by using MyCat and MySQL. The interface between the database and the front-end web page is developed. The experiment indicates that the database of the cloud platform is able to remotely collect the information such as the joint angles of the robot which is also displayed on the web page.
为了解决多台下肢外骨骼机器人长期监测时数据存储量大的问题,本文开发了一种面向下肢外骨骼机器人的分布式云平台数据库。给出了云平台的体系结构。针对机器人和人体的数据信息,利用MyCat和MySQL建立了分布式数据库。开发了数据库与前端网页之间的接口。实验表明,云平台数据库能够远程采集机器人关节角度等信息,并在网页上显示。
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引用次数: 0
Collaboration and Interventions on Urban Environment Mapping with Graph-based SLAM Algorithm 基于图的SLAM算法的城市环境制图协作与干预
Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144757
Haorui Peng, C. Recchiuto, A. Sgorbissa
The article describes the implementation of a collaborative approach for localization and mapping of large urban environments. This approach foresees the presence of multiple human operators, endowed with wearable sensors, whose outputs are processed in real-time in order to estimate human odometry. A Graph-based CLAM approach, generating a global map, is then applied: in order to improve the optimization phase of the algorithm, deterministic and probabilistic intervention approaches are proposed. More in detail, the loop closure procedure has been improved according to human sensing and the observations of external sensors. Experimental tests have been carried out in the historical center of Genova, proving that the proposed method overcomes classical multi-operator SLAM approaches.
本文描述了一种用于大型城市环境定位和绘图的协作方法的实现。这种方法预计会有多名操作员,配备可穿戴传感器,其输出被实时处理,以估计人类的里程数。然后应用基于图的CLAM方法,生成全局地图;为了改进算法的优化阶段,提出了确定性和概率干预方法。更详细地说,闭环程序已经根据人的感知和外部传感器的观察进行了改进。在热那亚历史中心进行了实验测试,证明了该方法克服了经典的多算子SLAM方法。
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引用次数: 0
Simulated Bilateral Motion Control of a Magneto-Tactic Bacterium via an Open Kinematic Chain 基于开放运动链的磁致细菌模拟双边运动控制
Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144834
A. Tabak
The medical micro-robotic applications are becoming more eminent by ever-flourishing possibilities presented by the robotics and biomedical communities in the past decade. Artificial and bio-hybrid designs started flooding the literature accompanied by fewer examples of closed-loop control of such systems until recently. The current focus is mainly on MRI systems and electromagnetic coil configurations as it has been long since they proliferated in mainstream medicine. In this paper, a closed-loop control approach to a rather rarely investigated robotic arrangement is proposed. A detailed mathematical model for the dynamics of an open kinematic chain and a single bacterium cell coupled with the help of a magnetic field is established, and a bilateral adaptive control is auspiciously fitted on top to maneuver the cell in a simulated environment.
在过去的十年中,机器人技术和生物医学界不断涌现出各种可能性,使得医疗微型机器人的应用变得更加突出。直到最近,人工和生物混合设计开始充斥着文献,伴随着这种系统的闭环控制的例子越来越少。目前的重点主要是核磁共振成像系统和电磁线圈配置,因为它们在主流医学中已经普及了很长时间。本文提出了一种很少被研究的机器人装置的闭环控制方法。建立了开放运动链和单个细菌细胞在磁场作用下的详细动力学数学模型,并在其上吉利地拟合了双边自适应控制,在模拟环境中对细菌细胞进行操纵。
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引用次数: 2
Is Whole Object Information Helpful for Scene Recognition? 整个对象信息对场景识别有帮助吗?
Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144930
Hongje Seong, Junhyuk Hyun, Euntai Kim
Scene recognition is one of the visual tasks, classifying a place category on an image. Scene images may contain various objects, and these objects tend to become clues to recognize the scene of the image. Therefore, many previous approaches for scene recognition use the object information that appeared in the image to improve the performance. Here, we raise a question of whether whole object information is helpful for scene recognition. To find the answer to the question, we conduct experiments on Places365, which is the largest scene recognition dataset consist of real-world images. To find the object classes which disturbed scene recognition, we utilize the Class Conversion Matrix, which is a deep learning approach. Finally, we found that some object classes may contribute to disturbing scene recognition. It indicates that not only making good use of object information, but also dropping disturbed object information is also important.
场景识别是一种视觉任务,对图像上的地点类别进行分类。场景图像可能包含各种各样的物体,这些物体往往成为识别图像中场景的线索。因此,以前的许多场景识别方法都是利用图像中出现的物体信息来提高性能。在这里,我们提出了一个问题,即整个物体信息是否有助于场景识别。为了找到这个问题的答案,我们在Places365上进行了实验,这是由真实世界图像组成的最大的场景识别数据集。为了找到干扰场景识别的对象类别,我们使用了类转换矩阵,这是一种深度学习方法。最后,我们发现一些对象类可能有助于干扰场景识别。这表明,不仅要充分利用目标信息,而且要消除干扰的目标信息。
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引用次数: 0
Design, Control and Experiment of a Snake-like Robot with Gripper 带夹持器的蛇形机器人的设计、控制与实验
Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144815
Yongjiang Xue, Ye Zhang, Wenxiong Zheng, Chuanli Jiang, Xuan Xiao
In this paper, a novel snake-like robot is proposed by attaching a gripper on its head to enhance the exploration and operation abilities of the snake-like robots. First, the mechanical structures of the snake-like robot and the gripper are designed. Second, the physical prototype and its control system are built. Finally, the serpenoid, sidewinding, rolling gaits of our robot are designed based on the kinematics model, and the moving and gripping functions are verified through physical experiments. As a result, our robot has a high potential on moving in complex environments and performing a variety of tasks.
本文提出了一种新型蛇形机器人,通过在蛇形机器人的头部加装抓手,增强了蛇形机器人的探索和操作能力。首先,设计了蛇形机器人的机械结构和夹持器。其次,建立了物理样机及其控制系统。最后,根据运动学模型设计了机器人的蛇形、侧绕、滚动步态,并通过物理实验验证了机器人的运动和抓取功能。因此,我们的机器人在复杂环境中移动和执行各种任务方面具有很高的潜力。
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引用次数: 6
Robot Agreeableness and User Engagement in Verbal Human-Robot Interaction 人机口头交互中的机器人亲和性和用户参与
Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144864
Luca Garello, Francesco Grella, Stefano Castagnetta, Barbara Bruno, C. Recchiuto, A. Sgorbissa
It is a well-established fact in the field of Human-Robot Interaction that the personality a social robot is endowed with (i.e., the one it expresses by its gestures and words) plays a key role towards the engagement experienced by any person interacting with it. In this article, we address the problem of designing the conversational style of a social robot to convey different degrees of Agreeableness, which is one of the Big Five personality traits, and investigate the relation between the person’s engagement and the robot’s degree of agreeableness.We propose to use subjective perception of time elapsed as an indicator for engagement and design two robot behaviours, one making the robot always agree with the person’s opinion on topics of discussion (the compliant behaviour) and one making the robot always disagree (the contrasting behaviour). In an experiment involving 14 participants, we assess whether the robot adopting the contrasting behaviour is perceived as more engaging than the one adopting the compliant behaviour, and use participants’ previous interactions with vocal assistants as a reference for estimating the naturalness, enjoyability and politeness of the conversation with the robot. Results suggest that designing social robots that are able to disagree with the person they’re interacting with might be key to make them more engaging and entertaining.
在人机交互领域,一个公认的事实是,社交机器人被赋予的个性(即它通过手势和语言表达的个性)对任何与它互动的人的参与度起着关键作用。在本文中,我们解决了设计一个社交机器人的会话风格,以传达不同程度的宜人性(五大人格特征之一)的问题,并研究了人的参与与机器人的宜人性之间的关系。我们建议使用对时间流逝的主观感知作为参与的指标,并设计两种机器人行为,一种使机器人总是同意人对讨论主题的意见(顺从行为),另一种使机器人总是不同意(对比行为)。在一项涉及14名参与者的实验中,我们评估了采用对比行为的机器人是否被认为比采用顺从行为的机器人更有吸引力,并使用参与者之前与语音助手的互动作为参考,以估计与机器人对话的自然度、愉快度和礼貌度。研究结果表明,设计出能够与与之互动的人持不同意见的社交机器人,可能是让它们更具吸引力和娱乐性的关键。
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引用次数: 3
Development of Mobile Module Ver.5.2 in reconfigurable intelligent space* 可重构智能空间中移动模块Ver.5.2的开发
Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144897
Tatsuki Satooka, H. Yamazoe, Joo-Ho Lee
In recent years, technology in the IoT field has been actively researched, and our lives have become more convenient. Among them, The Reconfigurable Intelligent Space (R+iSpace). In the R+iSpace has been proposed, all the devices in the environment can be relocated according to the current situation. Therefore, a mobile module called MoMo that can move on the walls and ceilings is utilized in the R + iSpace. However, since prototypes that have been developed have problems such as low moving speed, we need to newly devise a mechanism to solve it. This time, we developed a mechanism using protruding objects and rail. As the result, we achieved measuring the moving speed and stability of the new prototype and, also comparing it with the previous prototypes, and showed the superiority of the newly devised MoMo.
近年来,物联网领域的技术得到了积极的研究,我们的生活变得更加便利。其中,可重构智能空间(R+iSpace)。在R+iSpace中,环境中的所有设备都可以根据当前情况进行重新安置。因此,在R + iSpace中使用了可以在墙壁和天花板上移动的移动模块MoMo。然而,由于已经开发的原型存在移动速度低等问题,我们需要设计一种新的机制来解决它。这一次,我们开发了一个使用突出物体和轨道的机制。结果,我们测量了新原型的移动速度和稳定性,并将其与以前的原型进行了比较,显示了新设计的MoMo的优越性。
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引用次数: 1
Conservative Data Exchange for Decentralized Cooperative Localization 分散协同定位的保守数据交换
Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144913
Tetsuya Idota, Kyungim Baek
Cooperative localization by multiple robots, performing decentralized navigation, is a challenging task in an enclosed environment due to the lack of access to the external facilities. If there is a cyclic update, they suffer from inconsistent estimates with higher confidence, namely overconfidence. This paper proposes a conservative data exchange approach for the cooperative localization, in which a fractional exponent is applied to each robot’s estimate before passing the information to the other robots. This method preserves the amplitude of the original information so that they can avoid falling into a wrong estimated state by cyclic updates. We also show that, when the local estimates are assumed to follow normal distributions, the proposed method behaves similarly to the covariance intersection (CI). A simulation has been conducted in a two-dimensional space to evaluate the proposed method by comparing it with other approaches – the naive and the CI-based methods. The results show that the proposed conservative data exchange approach outperforms the other methods.
由于缺乏外部设施,在封闭环境中,由多个机器人进行分散导航的协作定位是一项具有挑战性的任务。如果有一个循环更新,他们就会遭受高置信度的不一致估计,即过度自信。本文提出了一种保守的协同定位数据交换方法,该方法在将信息传递给其他机器人之前,对每个机器人的估计值应用分数指数。该方法保留了原始信息的幅值,避免了通过循环更新使其落入错误的估计状态。我们还表明,当假设局部估计遵循正态分布时,所提出的方法的行为类似于协方差交集(CI)。在二维空间中进行了仿真,通过将其与其他方法(朴素方法和基于ci的方法)进行比较来评估所提出的方法。结果表明,所提出的保守数据交换方法优于其他方法。
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引用次数: 0
期刊
2020 17th International Conference on Ubiquitous Robots (UR)
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