Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739740
Weiyuan Xu, Yangmin Li, Xiao Xiao
In this paper, a novel 6-PSS parallel manipulator is designed and the three dimensional structure model is obtained with the Solidworks. The inverse kinematics analysis is performed based on the designed geometric parameters. And according to this analysis, we obtain the theoretical simulation results of virtual structures with different positions and orientations by using MATLAB software. These simulation structures verify the feasibility of this novel 6-PSS parallel manipulator. With a given orientation, a numerical search method is adopted in finding the reachable workspace with the judgment conditions of physical constraints, and the relationship between the reachable workspace and the size of the structure is studied in virtual simulation. Therefore, the range including the largest reachable workspace is achieved and a possible further application of this novel 6-PSS parallel manipulator is proposed, especially in some fields of different structure size requirements.
{"title":"Kinematics and workspace analysis for a novel 6-PSS parallel manipulator","authors":"Weiyuan Xu, Yangmin Li, Xiao Xiao","doi":"10.1109/ROBIO.2013.6739740","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739740","url":null,"abstract":"In this paper, a novel 6-PSS parallel manipulator is designed and the three dimensional structure model is obtained with the Solidworks. The inverse kinematics analysis is performed based on the designed geometric parameters. And according to this analysis, we obtain the theoretical simulation results of virtual structures with different positions and orientations by using MATLAB software. These simulation structures verify the feasibility of this novel 6-PSS parallel manipulator. With a given orientation, a numerical search method is adopted in finding the reachable workspace with the judgment conditions of physical constraints, and the relationship between the reachable workspace and the size of the structure is studied in virtual simulation. Therefore, the range including the largest reachable workspace is achieved and a possible further application of this novel 6-PSS parallel manipulator is proposed, especially in some fields of different structure size requirements.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121515289","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 : 2013-12-01DOI: 10.1109/ROBIO.2013.6739474
N. Karavas, A. Ajoudani, N. Tsagarakis, D. Caldwell
As the impedance profiles of the human joints vary substantially during motion, the employment of variable impedance systems into exoskeletons, orthoses and prostheses that will be able to produce human-like mechanics could have significant benefits. In this direction, this manuscript presents a generic technique to estimate active joint stiffness based on an EMG-driven musculoskeletal model whose parameters are adjusted using experimental data obtained from common perturbation methods. In addition, a human balancing experiment was carried out to investigate correlations between the anteroposterior excursions of the center of pressure (CoP) with kinematic, kinetic, electromyographic measurements as well as the model stiffness of the knee joint. Motivated by the results of the cross-correlation analysis we present a human-inspired balancing assistance control for lower limb exoskeletons that permits for volitional stiffness regulation. Preliminary experimental evaluation is conducted using an assistive knee exoskeleton. The results indicate that the proposed control technique can be generalized to command a whole lower limb exoskeleton in order to provide effective balancing assistance to the user.
{"title":"Human-inspired balancing assistance: Application to a knee exoskeleton","authors":"N. Karavas, A. Ajoudani, N. Tsagarakis, D. Caldwell","doi":"10.1109/ROBIO.2013.6739474","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739474","url":null,"abstract":"As the impedance profiles of the human joints vary substantially during motion, the employment of variable impedance systems into exoskeletons, orthoses and prostheses that will be able to produce human-like mechanics could have significant benefits. In this direction, this manuscript presents a generic technique to estimate active joint stiffness based on an EMG-driven musculoskeletal model whose parameters are adjusted using experimental data obtained from common perturbation methods. In addition, a human balancing experiment was carried out to investigate correlations between the anteroposterior excursions of the center of pressure (CoP) with kinematic, kinetic, electromyographic measurements as well as the model stiffness of the knee joint. Motivated by the results of the cross-correlation analysis we present a human-inspired balancing assistance control for lower limb exoskeletons that permits for volitional stiffness regulation. Preliminary experimental evaluation is conducted using an assistive knee exoskeleton. The results indicate that the proposed control technique can be generalized to command a whole lower limb exoskeleton in order to provide effective balancing assistance to the user.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114821512","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 : 2013-12-01DOI: 10.1109/ROBIO.2013.6739832
Qingsong Zhu, P. Heng, Ling Shao, Xuelong Li
This paper presents a novel image haze removal approach from single image. In the algorithm, the constant albedo and dark channel prior methods are combined to represent the transmission model of hazed image. And then, the watershed segmentation approach is introduced to decompose the input image into some gray level consistent areas. Compared with traditional fixed image partition schemes, better estimation of the atmospheric light can be obtained as well as to avoid the problem of halo artifacts. With the improved haze image modeling approach and atmospheric light estimation, the dehazed image with better visual quality can be achieved.
{"title":"A novel segmentation guided approach for single image dehazing","authors":"Qingsong Zhu, P. Heng, Ling Shao, Xuelong Li","doi":"10.1109/ROBIO.2013.6739832","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739832","url":null,"abstract":"This paper presents a novel image haze removal approach from single image. In the algorithm, the constant albedo and dark channel prior methods are combined to represent the transmission model of hazed image. And then, the watershed segmentation approach is introduced to decompose the input image into some gray level consistent areas. Compared with traditional fixed image partition schemes, better estimation of the atmospheric light can be obtained as well as to avoid the problem of halo artifacts. With the improved haze image modeling approach and atmospheric light estimation, the dehazed image with better visual quality can be achieved.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127666295","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 : 2013-12-01DOI: 10.1109/ROBIO.2013.6739787
M. Charest, R. Dubay, Scott Everett
A prediction adjustment parameter η for model predictive control algorithms to enhance complex trajectory tracking is introduced. The η methodology is tested in simulation and on an experimental setup using DMC and GPC algorithms.
{"title":"Complex trajectory tracking using MPC with prediction adjustment","authors":"M. Charest, R. Dubay, Scott Everett","doi":"10.1109/ROBIO.2013.6739787","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739787","url":null,"abstract":"A prediction adjustment parameter η for model predictive control algorithms to enhance complex trajectory tracking is introduced. The η methodology is tested in simulation and on an experimental setup using DMC and GPC algorithms.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127749214","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 : 2013-12-01DOI: 10.1109/ROBIO.2013.6739719
Dawei Dai, Guolai Jiang, Junbo Xin, Xiang Gao, Liangliang Cui, Y. Ou, Guoqiang Fu
Crossing a door is usually a necessary action for autonomous patrol of an indoor surveillance robot. However, it is difficult for a large robot to cross narrow doors. In this paper, a method for detecting, locating and crossing a door for an indoor surveillance robot with Kinect is presented. Firstly, doors are detected and located based on RGB-D data collected form Kinect. Then, the conversion between robot coordinate system and world coordinate system is discussed. Thirdly, a nonlinear adaptive controller is designed for the robot to move perpendicularly through the door. Experiments were taken on a surveillance robot and the results illustrated the effectiveness of this method.
{"title":"Detecting, locating and crossing a door for a wide indoor surveillance robot","authors":"Dawei Dai, Guolai Jiang, Junbo Xin, Xiang Gao, Liangliang Cui, Y. Ou, Guoqiang Fu","doi":"10.1109/ROBIO.2013.6739719","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739719","url":null,"abstract":"Crossing a door is usually a necessary action for autonomous patrol of an indoor surveillance robot. However, it is difficult for a large robot to cross narrow doors. In this paper, a method for detecting, locating and crossing a door for an indoor surveillance robot with Kinect is presented. Firstly, doors are detected and located based on RGB-D data collected form Kinect. Then, the conversion between robot coordinate system and world coordinate system is discussed. Thirdly, a nonlinear adaptive controller is designed for the robot to move perpendicularly through the door. Experiments were taken on a surveillance robot and the results illustrated the effectiveness of this method.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115753179","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 : 2013-12-01DOI: 10.1109/ROBIO.2013.6739777
I. Rañó, I. Iossifidis
Movement generation in robotics is an old problem with many excellent solutions. Most of them, however, look for optimality according to some metrics, but have no biological inspiration or cannot be used to imitate biological motion. For a human these techniques behave in a non-naturalistic way. This poses a problem for instance in human-robot interaction and, in general, for a good acceptance of robots in society. The present work presents a new analysis of the attractor dynamics approach to movement generation used in an anthropomorphic robot arm. Our analysis points to the possibility of using this approach to generate human-like arm trajectories in robots. One key property of human trajectories in pick-and-place tasks is the planarity of the trajectory of the end effector in 3D space. We show that this feature is also displayed by the attractor dynamic approach and, therefore, is a good candidate to the generation of naturalistic arm movements.
{"title":"Modelling human arm motion through the attractor dynamics approach","authors":"I. Rañó, I. Iossifidis","doi":"10.1109/ROBIO.2013.6739777","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739777","url":null,"abstract":"Movement generation in robotics is an old problem with many excellent solutions. Most of them, however, look for optimality according to some metrics, but have no biological inspiration or cannot be used to imitate biological motion. For a human these techniques behave in a non-naturalistic way. This poses a problem for instance in human-robot interaction and, in general, for a good acceptance of robots in society. The present work presents a new analysis of the attractor dynamics approach to movement generation used in an anthropomorphic robot arm. Our analysis points to the possibility of using this approach to generate human-like arm trajectories in robots. One key property of human trajectories in pick-and-place tasks is the planarity of the trajectory of the end effector in 3D space. We show that this feature is also displayed by the attractor dynamic approach and, therefore, is a good candidate to the generation of naturalistic arm movements.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132059096","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 : 2013-12-01DOI: 10.1109/ROBIO.2013.6739513
Cheng Fang, Xilun Ding
When abundant humanoid robots are springing up in many application fields, the anthropomorphic arm, which is the most important part of the humanoid robot, is facing numerous complicated manipulation tasks. In order to address two diversity issues of anthropomorphic arm platforms and manipulation tasks, a unified "language", a novel task-motion planning method, for different anthropomorphic arms is developed to describe and plan their motion in this paper for the first time. Firstly, six principal rules of human arm motion are extracted from a lot of literature in Neurophysiology. According to these rules, a general library of movement primitives and a well-defined set of motion grammar rules are designed to form a complete motion language for anthropomorphic arms. The movement primitives in the library can be divided into two categories in terms of different spaces: movement primitives described in the operational space to control the position and orientation of the wrist and primitives described in the human arm triangle space to control the configuration of the whole anthropomorphic arm. Movement primitives are the fundamental motion elements of the motion language. Then, according to the motion grammar, goal tasks can be constituted by some movement primitives and movements in terms of a " movement primitive-movement-task" three-level structure. As the operational space and the human arm triangle space are independent of the structure and dimension of the anthropomorphic arm, the designed primitives in the two spaces exist in all anthropomorphic arms. An interface between the motion language and the anthropomorphic arm is developed to solve for joint trajectories of every movement primitive for a specific arm. Finally, by comparing with a traditional method, the proposed motion language is demonstrated to have several advantages including comprehensive control of motion process, replication of motion, and large range of motion planning.
{"title":"A unified language for anthropomorphic arm motion","authors":"Cheng Fang, Xilun Ding","doi":"10.1109/ROBIO.2013.6739513","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739513","url":null,"abstract":"When abundant humanoid robots are springing up in many application fields, the anthropomorphic arm, which is the most important part of the humanoid robot, is facing numerous complicated manipulation tasks. In order to address two diversity issues of anthropomorphic arm platforms and manipulation tasks, a unified \"language\", a novel task-motion planning method, for different anthropomorphic arms is developed to describe and plan their motion in this paper for the first time. Firstly, six principal rules of human arm motion are extracted from a lot of literature in Neurophysiology. According to these rules, a general library of movement primitives and a well-defined set of motion grammar rules are designed to form a complete motion language for anthropomorphic arms. The movement primitives in the library can be divided into two categories in terms of different spaces: movement primitives described in the operational space to control the position and orientation of the wrist and primitives described in the human arm triangle space to control the configuration of the whole anthropomorphic arm. Movement primitives are the fundamental motion elements of the motion language. Then, according to the motion grammar, goal tasks can be constituted by some movement primitives and movements in terms of a \" movement primitive-movement-task\" three-level structure. As the operational space and the human arm triangle space are independent of the structure and dimension of the anthropomorphic arm, the designed primitives in the two spaces exist in all anthropomorphic arms. An interface between the motion language and the anthropomorphic arm is developed to solve for joint trajectories of every movement primitive for a specific arm. Finally, by comparing with a traditional method, the proposed motion language is demonstrated to have several advantages including comprehensive control of motion process, replication of motion, and large range of motion planning.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132306561","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 : 2013-12-01DOI: 10.1109/ROBIO.2013.6739647
Yong Yu, H. Iwashita, K. Kawahira, R. Hayashi
This paper develops a motor function recovery exercise device to perform intensive repetition of facilitation exercise for motor functional recovery of the hemiplegic fingers. On the facilitation exercise, active finger expansion can be realized and facilitated by stretch reflex. When the figer is being flexed passively, a stimulation tapping is applied instantaneously on the finger for making strech reflex and active finger expansion. Then, resistance forces are applied on the expanding finger for maintaining the strech reflex. In this paper, novel parallel mechanisms, force sensing system with high sensitivity and resistance accompanying cooperation control method are proposed for sensing, controlling and realizing the passive finger flexion, stimulation tapping, stretch reflex, active finger expansion, resistance forces and repetition facilitation exercise. The effectivities and performances of the device are shown by some experiments.
{"title":"Development of rehabilitation device for hemiplegic fingers by finger-expansion facilitation exercise with stretch reflex","authors":"Yong Yu, H. Iwashita, K. Kawahira, R. Hayashi","doi":"10.1109/ROBIO.2013.6739647","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739647","url":null,"abstract":"This paper develops a motor function recovery exercise device to perform intensive repetition of facilitation exercise for motor functional recovery of the hemiplegic fingers. On the facilitation exercise, active finger expansion can be realized and facilitated by stretch reflex. When the figer is being flexed passively, a stimulation tapping is applied instantaneously on the finger for making strech reflex and active finger expansion. Then, resistance forces are applied on the expanding finger for maintaining the strech reflex. In this paper, novel parallel mechanisms, force sensing system with high sensitivity and resistance accompanying cooperation control method are proposed for sensing, controlling and realizing the passive finger flexion, stimulation tapping, stretch reflex, active finger expansion, resistance forces and repetition facilitation exercise. The effectivities and performances of the device are shown by some experiments.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132391298","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 : 2013-12-01DOI: 10.1109/ROBIO.2013.6739460
Chunjie Chen, Duan Zheng, Ansi Peng, Can Wang, Xingyu Wu
Wearable exoskeleton robot is a kind of humanoid service robot to help the elderly and the patients with walking dysfunction, it is also an effective medical rehabilitation method to help patients who have walking disorders due to central neural system damage. This paper focuses on the flexible mechanism design of wearable lower limb exoskeleton robot. A wearable exoskeleton robot prototype was developed which can assist human walking. This paper analyzes the role of the major joints of walking human by experimental studies based on bionic design methods from human anatomy and bone surgery. We first analyze parameters of joint movements in a gait cycle, then we design a preliminary bionic model, finally we proposed a control strategy including a pair of electric crutches for the exoskeleton robot.
{"title":"Flexible design of a wearable lower limb exoskeleton robot","authors":"Chunjie Chen, Duan Zheng, Ansi Peng, Can Wang, Xingyu Wu","doi":"10.1109/ROBIO.2013.6739460","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739460","url":null,"abstract":"Wearable exoskeleton robot is a kind of humanoid service robot to help the elderly and the patients with walking dysfunction, it is also an effective medical rehabilitation method to help patients who have walking disorders due to central neural system damage. This paper focuses on the flexible mechanism design of wearable lower limb exoskeleton robot. A wearable exoskeleton robot prototype was developed which can assist human walking. This paper analyzes the role of the major joints of walking human by experimental studies based on bionic design methods from human anatomy and bone surgery. We first analyze parameters of joint movements in a gait cycle, then we design a preliminary bionic model, finally we proposed a control strategy including a pair of electric crutches for the exoskeleton robot.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130102188","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 : 2013-12-01DOI: 10.1109/ROBIO.2013.6739752
Jianhua Zhang, Lingyu Sun, Ping Peng, Xiaojun Zhang, Jinjie Li
In the complex unstructured road, mobile robots' ability to resist overturning is crucial. In this paper, a tracked mobile robot with passive deformation is developed based on the request of unstructured environment to the robots' movement. The robot can improve stability and the ability to resist overturning by the deformation of passive adaptive mechanisms. A comprehensive judge was made on the tilting of the robot by a standard method of Normalized Dynamic Energy Stability Margin and stability index. The dynamic stability of the robot with road disturbance and inertia force was analyzed and simulated. Theoretical analysis and simulation research offer a reference for the application and design of the robot's control system.
{"title":"Simulation analysis of passive adaptive robot's tip-over stability","authors":"Jianhua Zhang, Lingyu Sun, Ping Peng, Xiaojun Zhang, Jinjie Li","doi":"10.1109/ROBIO.2013.6739752","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739752","url":null,"abstract":"In the complex unstructured road, mobile robots' ability to resist overturning is crucial. In this paper, a tracked mobile robot with passive deformation is developed based on the request of unstructured environment to the robots' movement. The robot can improve stability and the ability to resist overturning by the deformation of passive adaptive mechanisms. A comprehensive judge was made on the tilting of the robot by a standard method of Normalized Dynamic Energy Stability Margin and stability index. The dynamic stability of the robot with road disturbance and inertia force was analyzed and simulated. Theoretical analysis and simulation research offer a reference for the application and design of the robot's control system.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130140134","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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