Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739706
Zenan Wang, Su Zhao, W. T. Ang
Various designs of piezo-assisted Intracytoplasmic sperm injection (ICSI) has been developed, which achieved higher success rate than conventional ICSI. A common issue is that lateral oscillation of the injection pipette tip is always excited by the intended axial actuation. Researchers hold different opinions on which oscillation, axial or lateral, has more dominate effects on the piercing process. In this paper, different functionalities of the axial and lateral oscillations during cell injection are investigated. A novel vibration-assisted injector is developed, which uses a piezoelectric shear actuator with free stroke of 10 μm in two axes. Different from previous designs, axial and lateral oscillations are generated separately. For axial vibration experiment, a short pipette (450 μm in length, 30 μm in diameter) with high first bending and longitudinal natural frequencies (137.6 kHz and 1.08 MHz) is fabricated. While driven in axial direction at frequency below 40 kHz, the pipette can be considered as a rigid body. In lateral case, a 51 mm long micropipette is driven in the transverse direction at the thicker end to excite bending modes. Experimental results obtained using zebrafish embryos reveal that lateral oscillations reduce the cell deformation ratio dramatically during penetration, while axial oscillations show little effects. As less deformation on the cell membrane leads to less pressure change inside the cell, thus lateral oscillation is more beneficial than axial oscillation in piezo-assisted ICSI. These findings help to understand the underlying physics of vibration-assisted injector. Future design vibration-assisted injector should focus on generating lateral oscillations instead of axial ones.
{"title":"Beneficial micropipette oscillation in vision-guided piezo-assisted ICSI","authors":"Zenan Wang, Su Zhao, W. T. Ang","doi":"10.1109/ROBIO.2013.6739706","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739706","url":null,"abstract":"Various designs of piezo-assisted Intracytoplasmic sperm injection (ICSI) has been developed, which achieved higher success rate than conventional ICSI. A common issue is that lateral oscillation of the injection pipette tip is always excited by the intended axial actuation. Researchers hold different opinions on which oscillation, axial or lateral, has more dominate effects on the piercing process. In this paper, different functionalities of the axial and lateral oscillations during cell injection are investigated. A novel vibration-assisted injector is developed, which uses a piezoelectric shear actuator with free stroke of 10 μm in two axes. Different from previous designs, axial and lateral oscillations are generated separately. For axial vibration experiment, a short pipette (450 μm in length, 30 μm in diameter) with high first bending and longitudinal natural frequencies (137.6 kHz and 1.08 MHz) is fabricated. While driven in axial direction at frequency below 40 kHz, the pipette can be considered as a rigid body. In lateral case, a 51 mm long micropipette is driven in the transverse direction at the thicker end to excite bending modes. Experimental results obtained using zebrafish embryos reveal that lateral oscillations reduce the cell deformation ratio dramatically during penetration, while axial oscillations show little effects. As less deformation on the cell membrane leads to less pressure change inside the cell, thus lateral oscillation is more beneficial than axial oscillation in piezo-assisted ICSI. These findings help to understand the underlying physics of vibration-assisted injector. Future design vibration-assisted injector should focus on generating lateral oscillations instead of axial ones.","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":"131514268","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.2013.6739662
Chuantang Xiong, Xu Zhang
In this paper, we presented an exclusive humanrobot interaction method on the TurtleBot platform to realize its motion control with human skeleton command. The 2D and 3D face recognition are integrated with skeleton information. The identity information and human-robot interaction message are always bound together, and the identity recognition has priority to human-robot control. Experiments show that the TurtleBot is able to robustly react on the skeleton signals from its human interaction partner while ignoring other signal sources.
{"title":"An exclusive human-robot interaction method on the TurtleBot platform","authors":"Chuantang Xiong, Xu Zhang","doi":"10.1109/ROBIO.2013.6739662","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739662","url":null,"abstract":"In this paper, we presented an exclusive humanrobot interaction method on the TurtleBot platform to realize its motion control with human skeleton command. The 2D and 3D face recognition are integrated with skeleton information. The identity information and human-robot interaction message are always bound together, and the identity recognition has priority to human-robot control. Experiments show that the TurtleBot is able to robustly react on the skeleton signals from its human interaction partner while ignoring other signal sources.","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":"131518626","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.2013.6739487
Wei Mou, Han Wang, G. Seet, Lubing Zhou
The homography between image pairs are normally estimated by minimizing a suitable cost function given 2D keypoints correspondences. The correspondences are typically established using descriptor distance of keypoints. However, the correspondences are often incorrect due to ambiguous descriptors which can introduce errors into following homography computing step. There have been numerous attempts to filter out these erroneous correspondences, but, it is unlikely to always achieve perfect matching. To deal with this problem, we propose a non-linear least squares optimization approach to compute homography such that false matches have no or little effect on computed homography. Unlike normal homography computation algorithms, our method formulates not only the keypoints' geometric relationship but also their descriptor similarity into cost function. Moreover, the cost function is parametrized in such a way that incorrect correspondences can be simultaneously identified while the homography is computed. Experiments show that the proposed approach can perform well even with the presence of a large number of outliers.
{"title":"Robust homography estimation based on non-linear least squares optimization","authors":"Wei Mou, Han Wang, G. Seet, Lubing Zhou","doi":"10.1109/ROBIO.2013.6739487","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739487","url":null,"abstract":"The homography between image pairs are normally estimated by minimizing a suitable cost function given 2D keypoints correspondences. The correspondences are typically established using descriptor distance of keypoints. However, the correspondences are often incorrect due to ambiguous descriptors which can introduce errors into following homography computing step. There have been numerous attempts to filter out these erroneous correspondences, but, it is unlikely to always achieve perfect matching. To deal with this problem, we propose a non-linear least squares optimization approach to compute homography such that false matches have no or little effect on computed homography. Unlike normal homography computation algorithms, our method formulates not only the keypoints' geometric relationship but also their descriptor similarity into cost function. Moreover, the cost function is parametrized in such a way that incorrect correspondences can be simultaneously identified while the homography is computed. Experiments show that the proposed approach can perform well even with the presence of a large number of outliers.","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":"131603709","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}
The handling of twist-locks has been a heavy burden for the container industry. There have been many efforts in developing automated twist-lock handling solutions. To address this challenge, we are developing a customized mobile manipulator for twist-lock pose estimation and grasping. In this paper, we propose a 3D object recognition approach using Kernel Principal Component Analysis (KPCA) only based on depth information to determine the basic information for twist-lock grasping using robotic manipulator. The challenge for twist-lock detection, recognition and grasping is 3D irregular object recognition in unstructured port environment. Motivated by gradient edge descriptor and KPCA, we propose a hybrid twist-lock detection approach without human intervention, in which we treat depth image as gray value image, and background difference method is combined with gradient edge descriptor. We also develop a set of kernel features on depth images, for description 3D object using kernel principal component features, to recognize types and pose of the twist-locks according to the nearest neighbor distance hierarchically. Experiments using a customized manipulator for detection, recognition and grasping twist-locks have been carried out to verify the feasibility of the proposed methods. Since depth images are insensitive to changes in lighting conditions, the proposed approach based on depth information is able to address the issues and solve problems caused by rust and painting peeled off of twist-lock handling in port environment.
{"title":"3D object recognition using Kernel PCA based on depth information for twist-lock grasping","authors":"Shuang Ma, Changjiu Zhou, Liandong Zhang, Wei Hong, Yantao Tian","doi":"10.1109/ROBIO.2013.6739876","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739876","url":null,"abstract":"The handling of twist-locks has been a heavy burden for the container industry. There have been many efforts in developing automated twist-lock handling solutions. To address this challenge, we are developing a customized mobile manipulator for twist-lock pose estimation and grasping. In this paper, we propose a 3D object recognition approach using Kernel Principal Component Analysis (KPCA) only based on depth information to determine the basic information for twist-lock grasping using robotic manipulator. The challenge for twist-lock detection, recognition and grasping is 3D irregular object recognition in unstructured port environment. Motivated by gradient edge descriptor and KPCA, we propose a hybrid twist-lock detection approach without human intervention, in which we treat depth image as gray value image, and background difference method is combined with gradient edge descriptor. We also develop a set of kernel features on depth images, for description 3D object using kernel principal component features, to recognize types and pose of the twist-locks according to the nearest neighbor distance hierarchically. Experiments using a customized manipulator for detection, recognition and grasping twist-locks have been carried out to verify the feasibility of the proposed methods. Since depth images are insensitive to changes in lighting conditions, the proposed approach based on depth information is able to address the issues and solve problems caused by rust and painting peeled off of twist-lock handling in port environment.","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":"133665060","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.2013.6739614
Yanhe Zhu, J. Cui, Jie Zhao
Lower extremity exoskeletons can improve human strength and endurance with a pair of wearable robotic legs that support a payload. This paper summarizes the biomimetic design and biomechanical analysis of a novel 15-DOF (degree of freedom) lower extremity exoskeleton. The selection of the DOF, critical parameter design, and initial performance simulation are discussed. To provide a basis and guidance for the biomimetic design of the exoskeleton, the human skeleton and the walking gait were comprehensively analyzed. A detailed 3D model of the wearer was generated using BRG. LifeMod software. The structure of the exoskeleton was designed according to the results of the analysis of human walking gait, making sure that each rotation axis of exoskeletons passes through the relevant joint of human body. Both exoskeleton and the human lower limb were imported into ADAMS to simulate and evaluate the performance of the exoskeleton. We also study the effect of the impact to exoskeleton at the moment the swinging feet touching the ground, which lay the foundation for the design of energy-saving and high-performance driving system in the future work.
{"title":"Biomimetic design and biomechanical simulation of a 15-DOF lower extremity exoskeleton","authors":"Yanhe Zhu, J. Cui, Jie Zhao","doi":"10.1109/ROBIO.2013.6739614","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739614","url":null,"abstract":"Lower extremity exoskeletons can improve human strength and endurance with a pair of wearable robotic legs that support a payload. This paper summarizes the biomimetic design and biomechanical analysis of a novel 15-DOF (degree of freedom) lower extremity exoskeleton. The selection of the DOF, critical parameter design, and initial performance simulation are discussed. To provide a basis and guidance for the biomimetic design of the exoskeleton, the human skeleton and the walking gait were comprehensively analyzed. A detailed 3D model of the wearer was generated using BRG. LifeMod software. The structure of the exoskeleton was designed according to the results of the analysis of human walking gait, making sure that each rotation axis of exoskeletons passes through the relevant joint of human body. Both exoskeleton and the human lower limb were imported into ADAMS to simulate and evaluate the performance of the exoskeleton. We also study the effect of the impact to exoskeleton at the moment the swinging feet touching the ground, which lay the foundation for the design of energy-saving and high-performance driving system in the future work.","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":"133694128","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.2013.6739813
Peng Chen, Feng Zhang, Long Cui, Hongyi Li
This paper proposes a general motion planning method for manipulators on the basis of polynomial interpolation. The impact suffered by manipulators during movement can be eliminated by using this method. And this reduces vibration of manipulators largely. In order to overcome the difficulties in realizing the algorithm, a method of quadratic interpolation is proposed. With the method, the computation amount of motion planning is reduced, while the result is still with no impact. The motion planning experiments driving the manipulator's end effector to run a three-dimensional arc are carried out with a self-developed 6-DOF manipulator system. Through the experiments, it is verified that the motion planning method proposed is feasible and has good effects.
{"title":"General motion planning method for manipulators with no impact","authors":"Peng Chen, Feng Zhang, Long Cui, Hongyi Li","doi":"10.1109/ROBIO.2013.6739813","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739813","url":null,"abstract":"This paper proposes a general motion planning method for manipulators on the basis of polynomial interpolation. The impact suffered by manipulators during movement can be eliminated by using this method. And this reduces vibration of manipulators largely. In order to overcome the difficulties in realizing the algorithm, a method of quadratic interpolation is proposed. With the method, the computation amount of motion planning is reduced, while the result is still with no impact. The motion planning experiments driving the manipulator's end effector to run a three-dimensional arc are carried out with a self-developed 6-DOF manipulator system. Through the experiments, it is verified that the motion planning method proposed is feasible and has good effects.","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":"133997141","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.2013.6739792
M. F. Aydogdu, M. Demirci, C. Kasnakoğlu
With their parallelizable inner structures, field programmable gate array (FPGA) are increasing their popularity in today's embedded systems. In this paper, we present an implemented, unique and pipelined FPGA architecture designed with Verilog HDL to be used on a mobile robot for detecting corners in colored stereo images using Harris corner detection (HCD) algorithm in real time. The architecture consists of 3 pipelined modules and processes RGB555 formatted images in 640×480 resolution. The design is implemented on Xilinx's ML501 board having a XC5VLX50 FPGA, one of the smallest FPGAs of Virtex-5 series. Raw and processed data are stored into a single DDR2 memory of Micron, MT4HTF3264HY on the board, allowing only a single read or write operation at a time. By using less than 75% of FPGA resources and a 100MHz system clock, we achieved a corner detection rate of 0.33 pixels per clock cycle (ppcc) corresponding to a corner detection frequency of 54Hz for the stereo images.
{"title":"Pipelining Harris corner detection with a tiny FPGA for a mobile robot","authors":"M. F. Aydogdu, M. Demirci, C. Kasnakoğlu","doi":"10.1109/ROBIO.2013.6739792","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739792","url":null,"abstract":"With their parallelizable inner structures, field programmable gate array (FPGA) are increasing their popularity in today's embedded systems. In this paper, we present an implemented, unique and pipelined FPGA architecture designed with Verilog HDL to be used on a mobile robot for detecting corners in colored stereo images using Harris corner detection (HCD) algorithm in real time. The architecture consists of 3 pipelined modules and processes RGB555 formatted images in 640×480 resolution. The design is implemented on Xilinx's ML501 board having a XC5VLX50 FPGA, one of the smallest FPGAs of Virtex-5 series. Raw and processed data are stored into a single DDR2 memory of Micron, MT4HTF3264HY on the board, allowing only a single read or write operation at a time. By using less than 75% of FPGA resources and a 100MHz system clock, we achieved a corner detection rate of 0.33 pixels per clock cycle (ppcc) corresponding to a corner detection frequency of 54Hz for the stereo images.","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":"131778484","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.2013.6739524
Hong Liu, Wenjuan Zhang
Emotion recognition is crucially related with friendly and humanistic human-robot interaction. Our paper aims at developing a new kind of features to mandarin emotional speech signal based on multifractal theory. Firstly, phase space structure differentiate with respect of initials and finals indicate the fractal phenomenon during speech produce process. Further, positive largest Lyapunov exponent proved existing chaos. To quantitatively measure the chaos, extension of fractal concept-multifractal is calculated by multi-fractal detrended fluctuation analysis (MFDFA) and Legendre transformation. Besides, the underlying fractal characteristics during calculation process is analyzed, which further verifies the emotional speech is multifractal rather than monofractal. Multifractal spectrum visually shows that various emotion is differentiated with each other. After extracting parameters of mulfractal spectrum, several comparative experiments are established, which is implemented with BP neural network and support vector machine (SVM) respectively to hence the comparison between our approach and conventional one. At last, improvement in recognition accuracies demonstrates that our method is available and effective.
{"title":"Mandarin emotion recognition based on multifractal theory towards human-robot interaction","authors":"Hong Liu, Wenjuan Zhang","doi":"10.1109/ROBIO.2013.6739524","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739524","url":null,"abstract":"Emotion recognition is crucially related with friendly and humanistic human-robot interaction. Our paper aims at developing a new kind of features to mandarin emotional speech signal based on multifractal theory. Firstly, phase space structure differentiate with respect of initials and finals indicate the fractal phenomenon during speech produce process. Further, positive largest Lyapunov exponent proved existing chaos. To quantitatively measure the chaos, extension of fractal concept-multifractal is calculated by multi-fractal detrended fluctuation analysis (MFDFA) and Legendre transformation. Besides, the underlying fractal characteristics during calculation process is analyzed, which further verifies the emotional speech is multifractal rather than monofractal. Multifractal spectrum visually shows that various emotion is differentiated with each other. After extracting parameters of mulfractal spectrum, several comparative experiments are established, which is implemented with BP neural network and support vector machine (SVM) respectively to hence the comparison between our approach and conventional one. At last, improvement in recognition accuracies demonstrates that our method is available and effective.","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":"134381126","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.2013.6739485
Chao Gu, Weiguo Huang, J. Tao, L. Shang, Zhongkui Zhu
It is a very challenging problem to make robot vision autonomously identify and recognize objects in the real world, and the recent research in this field has been moving forward mostly through designing smart shape descriptors for providing better similarity measure. In this paper, we propose a novel shape descriptor called hierarchical representation to describe the object shape efficiently and perfectly. Firstly, the contour can be divided into several segments according to corners and the distribution of local curvature. Secondly, we evaluate the importance of each contour segment by hierarchical description, and then the multi-level contour segment set combined algorithm is carried out to combine the useless and redundant contour segments. Finally, a set of contour feature segments, completely representing local features of objects, are obtained. The experimental results of MPEG-7 database indicate that this algorithm has great advantage over recently published algorithms, especially for the objects with partial occlusion.
{"title":"Efficient object recognition method based on hierarchical representation","authors":"Chao Gu, Weiguo Huang, J. Tao, L. Shang, Zhongkui Zhu","doi":"10.1109/ROBIO.2013.6739485","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739485","url":null,"abstract":"It is a very challenging problem to make robot vision autonomously identify and recognize objects in the real world, and the recent research in this field has been moving forward mostly through designing smart shape descriptors for providing better similarity measure. In this paper, we propose a novel shape descriptor called hierarchical representation to describe the object shape efficiently and perfectly. Firstly, the contour can be divided into several segments according to corners and the distribution of local curvature. Secondly, we evaluate the importance of each contour segment by hierarchical description, and then the multi-level contour segment set combined algorithm is carried out to combine the useless and redundant contour segments. Finally, a set of contour feature segments, completely representing local features of objects, are obtained. The experimental results of MPEG-7 database indicate that this algorithm has great advantage over recently published algorithms, especially for the objects with partial occlusion.","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":"134505133","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.2013.6739846
Xuan Wu, Shaoming Sun, Yanwei Liu, T. Mei
This paper proposes a hierarchical model of the Tokay gecko's (Gekko gecko) setal system. Based on Euler's elastica theory, the inextensible fibrillar model of the seta is established, taking the thousands of terminating spatulae into account. The directional adhesion of the seta with different slanted angle of the adhesive pad and spatula pad is studied. The elastic energy and the binding energy at the detachment point are also calculated to draw the influence of the adhesive pad's rotation. Compared with experimental results, the model proves to be effective in dealing with directional adhesion problem of the G. gecko, with potential application to help design high-performance synthetic directional adhesives. Some preliminary conclusions about the G. gecko's locomotion in detachment are made based on the model as a complement to previous models.
{"title":"A directional adhesion model with hierarchical hair structure for Tokay gecko","authors":"Xuan Wu, Shaoming Sun, Yanwei Liu, T. Mei","doi":"10.1109/ROBIO.2013.6739846","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739846","url":null,"abstract":"This paper proposes a hierarchical model of the Tokay gecko's (Gekko gecko) setal system. Based on Euler's elastica theory, the inextensible fibrillar model of the seta is established, taking the thousands of terminating spatulae into account. The directional adhesion of the seta with different slanted angle of the adhesive pad and spatula pad is studied. The elastic energy and the binding energy at the detachment point are also calculated to draw the influence of the adhesive pad's rotation. Compared with experimental results, the model proves to be effective in dealing with directional adhesion problem of the G. gecko, with potential application to help design high-performance synthetic directional adhesives. Some preliminary conclusions about the G. gecko's locomotion in detachment are made based on the model as a complement to previous models.","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":"134542853","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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