Intelligent Robotics and Applications

Name: Intelligent Robotics and Applications | 14th International Conference, ICIRA 2021, Yantai, China, October 22-25, 2021, Proceedings, Part III
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14th International Conference, ICIRA 2021, Yantai, China, October 22-25, 2021, Proceedings, Part III

Xin-Jun Liu Zhenguo Nie Jingjun Yu Fugui Xie Rui Song(Herausgeber*in)

Springer (Verlag)

Erschienen am 17. Oktober 2021

XVI, 840 Seiten

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Inhalt

Intro
Preface
Organization
Contents - Part III
Robotic Machining
An Intelligent Path Generation Method of Robotic Grinding for Large Forging Parts
1 Introduction
2 Methods
2.1 Algorithm Overview
2.2 Recognition of Random Features Based on Point Clouds
2.3 Generation Method of Robotic Grinding Paths
3 Experiments
4 Conclusions
References
Research and Analysis on Energy Consumption of Underwater Hexapod Robot Based on Typical Gait
1 Introduction
2 Configuration and Walking Gait of Robot
2.1 Configuration of Robot
2.2 Walking Gaits of Robot
3 Dynamic Model of Robot
3.1 One Leg Dynamic Model
3.2 Body Dynamic Model
3.3 Contact Force Distribution
4 Energy Consumption Model
5 Modeling and Simulation Results
6 Conclusion
References
Bearing Fault Diagnosis Based on Attentional Multi-scale CNN
1 Introduction
2 Theoretical Background
2.1 Convolutional Neural Network
2.2 Squeeze and Excitation Block
3 Proposed Network
4 Experiment
4.1 Dataset and Implementation Details
4.2 Fault Identification Results
5 Conclusion
References
Robot Hand-Eye Calibration Method Based on Intermediate Measurement System
1 Introduction
2 Analysis of the Principle of Hand-Eye Calibration
3 The Center Coordinate of the Marker Point in the Calibration Board Coordinate System
3.1 Image Preprocessing
3.2 Calculate the Coordinates of the Center of the Marker Point in the Pixel Coordinate System
3.3 Calculate the Coordinates of the Marker Point in the Coordinate System {CCF}
4 Homogeneous Transformation Matrix Between Coordinate Systems
4.1 Homogeneous Transformation Matrix MFCCF T
4.2 Homogeneous Transformation Matrix FFBF T
4.3 Homogeneous Transformation Matrix CCFCF T
4.4 Homogeneous Transformation Matrix MFCDF T
4.5 Homogeneous Transformation Matrix BFCDF T
5 Experiment and Discussion
5.1 Experiment Platform
5.2 Results and Discussion
6 Conclusion
References
Review on Energy Consumption Optimization Methods of Typical Discrete Manufacturing Equipment
1 Introduction
2 Typical Equipment Energy Consumption Optimization Method
2.1 Hardware Approaches
2.2 Software Approaches
2.3 Hybrid Approaches
3 Intelligent Optimization Method
3.1 Industrial Robots
3.2 Machine Tools
4 Conclusions
References
Medical Robot
Development and Control of a CT Fluoroscopy Guided Lung Puncture Robot
1 Introduction
2 Related Work
3 CT Fluoroscopy Guided Puncture Procedure
4 Development of the Puncture Robot
5 RCM Control of the Puncture Robot
6 Conclusion
References
Unmarked External Breathing Motion Tracking Based on B-spline Elastic Registration
1 Introduction
2 Design of Abdominal Breathing Simulator
2.1 Structure Design
2.2 Motion Control
3 Design of Tracking Method
3.1 Image Preprocessing
3.2 Tracking Method
3.3 Model Optimization
4 Experiments and Results
4.1 Data Acquisition
4.2 Camera Error Test
4.3 Abdominal Breathing Simulator Test
4.4 Model Method Validation
5 Conclusion
References
Design, Development, and Preliminary Experimental Analysis of a Novel Robotic Laparoscope with Continuum Mechanism
1 Introduction
2 Structure Design
2.1 Overall Design
2.2 Finite Element Analysis
3 Kinematic Analysis
4 Preliminary Experiments and Analyses
5 Conclusions
References
A Self-evolution Hybrid Robot for Dental Implant Surgery
1 Introduction
2 Structure Design of the Robot
2.1 Structure Scheme
2.2 Working Principle
3 Self-evolution Strategy for Orientation Adjustment
3.1 Analysis of Orientation Adjustment
3.2 Experiment and Result
4 Conclusion
References
Design and Optimization of a Novel Intramedullary Robot for Limb Lengthening
1 Introduction
2 IR4LL Design and Method
2.1 IR Design
2.2 Magnetic Drive Design
3 Analysis and Simulation
3.1 Analysis and Simulation of Mechanical Stiffness
3.2 Analysis and Simulation of Electromagnetic Driving
4 Conclusion and Future Work
References
Camera Pose Estimation Based on Feature Extraction and Description for Robotic Gastrointestinal Endoscopy
1 Introduction
2 Method
2.1 Feature Detection and Camera Pose Estimation
2.2 Training Details
3 Experimental Result
3.1 Feature Detection
3.2 Image Matching
3.3 Camera Pose Estimation
4 Conclusion
References
A Nature-Inspired Algorithm to Adaptively Safe Navigation of a Covid-19 Disinfection Robot
1 Introduction
2 Developed Path Planning Algorithm for Disinfection
2.1 Environment Modeling
2.2 Cuckoo Search Algorithm
2.3 Cuckoo Search Algorithm for Robot Path Planning
3 Path Smoother with Adaptive Speed Robot Navigation
3.1 Segmented Cubic B-spline Path Smoother
3.2 Adaptive Speed Navigation
4 Simulation and Comparative Studies
4.1 Comparison of Our Adaptive Speed Algorithm with PSO Model
4.2 Comparison of the Proposed Adaptive Speed Model with Various Algorithms
5 Conclusion
References
A Master-Slave Robotic System for Transurethral Surgery
1 Introduction
2 System Overview
3 Acquisition of Target Trajectory from TOUCH
3.1 Acquisition of Nib Coordinates
3.2 Map of Pose
4 Active Control Algorithm for Remote Center of Motion
5 Experiments
6 Conclusion
References
Analysis of Dynamic Friction and Elongation Characteristics of the Tendon Sheath System
1 Introduction
2 Dynamic Model of the Tendon Sheath System
2.1 Friction Modeling
2.2 Elongation Modeling
3 Simulation and Experimental Verification
4 Conclusion
References
A Tactile Sensor with Contact Angle Compensation for Robotic Palpation of Tissue Hardness
1 Introduction
2 Design of the Tactile Sensor
2.1 Structure of the Tactile Sensor
2.2 Detection Principles
3 Simulation Studies
3.1 Simulation of Hardness Detection When ?is 0°
3.2 Simulation of Compensated Hardness and Contact Angle Detection
4 Experimental Studies
5 Conclusions
References
A Robotic Endoscopic Injection Needle with Integrated Tactile Sensor for Intraoperative Autonomous Tumor Localization
1 Introduction
2 Design of the Tactile Sensor
2.1 Structure of the Tactile Sensor
2.2 Hardness Sensing Principle
3 Simulation Studies
3.1 Static Simulation for Verifying Whether the Sensor Damages Tissue
3.2 Harmonic Response Simulation of Tissue Hardness Detection
3.3 Sensor Performance Simulation Under Different Contact Angles
4 Intraoperative Autonomous Tumor Boundary Recognition
4.1 The Boundary Recognition Function
4.2 Simulation Process
4.3 Results and Discussion
5 Conclusions
References
Vision-Based Pointing Estimation and Evaluation in Toddlers for Autism Screening
1 Introduction
2 Protocol and Method
2.1 Protocol
2.2 Method
3 Experiments and Results
3.1 Experiments
3.2 Results
4 Conclusion
References
Machine Intelligence for Human Motion Analytics
Multi-Person Absolute 3D Pose and Shape Estimation from Video
1 Introduction
2 Related Work
2.1 3D Pose and Shape Estimation from a Single Image
2.2 3D Pose and Shape Estimation from Video
3 Approach
3.1 Tracking Model
3.2 Pose and Shape Model
3.3 Root Depth Model
3.4 Training Procedure
4 Experiments
4.1 Datasets and Evaluation
4.2 Comparison to State-of-the-Art-Results
4.3 Ablation Analysis
5 Conclusions
References
Effects of Wrist Configuration and Finger Combination on Translational Range of Bimanual Precision Manipulation
1 Introduction
2 Methods
2.1 Participants
2.2 Equipment
2.3 Procedure
2.4 Data Processing
3 Results
4 Discussion
5 Conclusion
References
Robustness of Combined sEMG and Ultrasound Modalities Against Muscle Fatigue in Force Estimation
1 Introduction
2 Muscle Fatigue Robustness Evaluation
2.1 Subjects
2.2 Experimental Apparatus
2.3 Experimental Protocols
2.4 Signal Processing and Feature Extraction
2.5 Linear Regression Model
2.6 Evaluation Metrics
3 Results
3.1 Force Estimation Performance and Robustness Evaluation
4 Conclusion
References
An Abnormal Behavior Recognition Method Based on Fusion Features
1 Introduction
2 Approach
2.1 Overall Network Architecture
2.2 Environment Feature Extraction
2.3 Action Feature Extraction
2.4 Training
3 Experiment
3.1 Data
3.2 Comparison of Behavior Recognition Accuracy
3.3 Comparison of Time Positioning Accuracy
4 Conclusion
References
Human-Robot Interaction for Service Robots
A Dynamic Head Gesture Recognition Method for Real-Time Human-Computer Interaction
1 Introduction
2 Dynamic Head Gesture Recognition Method Based on 3DSFI
2.1 Problem Setup
2.2 Spatiotemporal Feature Extractor
2.3 Feature Extraction and Fusion
2.4 3DSFI Network Architecture
3 Experiments and Results
3.1 Experimental Dataset
3.2 Models Training and Verification
3.3 Application
4 Conclusion
References
Research on Passive Energy-Regulated Bionic Shell for Lateral Fall Recovery Behavior of Large Quadruped Robots
1 Introduction
2 Recovery Mechanism
2.1 Structure Design of the Bionic Shell
2.2 Recovery Behavior
3 Critical States Analysis
3.1 Analysis of the State D
3.2 Analysis of the State F
3.3 Analysis of the State G
4 Simulation
4.1 Basic Function Validation
4.2 Terrain and Impact Adjustment
4.3 Parameter Adjustment of the Bionic Shell
4.4 Active Recovery
5 Discussion
6 Conclusion
References
Research on Adaptive Control in Complex Terrain for Quadruped Robot
1 Introduction
2 Detection of Foothold Area
3 Behavior Re-planning
4 Balance Control
5 Experiment
6 Conclusion
References
An Intuitive Interaction System Using Laser Spot for Daily Household Tasks Operation Autonomous
1 Introduction
2 Related Work
3 Laser Semantic Design
4 The Recognition of Context Information of Laser Semantic
4.1 The Recognition of Laser Spot
4.2 The Detection of the Position of the Laser Spot and the Object Selected
4.3 The Detection of the Laser Semantics
5 The Execution and Assembly of Actions
6 Experiment
6.1 Laser Semantic Detection Experiment
6.2 Daily Household Tasks Execution Experiment
7 Conclusion
References
Design of a Novel Wheelchair-Exoskeleton Robot for Human Multi-mobility Assist
1 Introduction
2 Design Methodology of the Wheelchair-Exoskeleton Robot
2.1 The Basic Principle and Its Structure Design
2.2 The Selection of the Motor and the Velocity Analysis of the Joint of Exoskeleton in the Process from Sitting to Stance
3 Analysis of Trunk Velocity in Gait Cycle
4 Simulation
5 Conclusion and Future Work
References
Gaze Based Implicit Intention Inference with Historical Information of Visual Attention for Human-Robot Interaction
1 Introduction
2 Gaze Based Intention Inference Framework
2.1 Intentional Visual Attention Detection
2.2 Intention Inference
3 Experiments on Intention Inference
3.1 Experiment Environment
3.2 Data Collection
3.3 Experimental Results and Analysis
4 Conclusion
References
Online Object-Oriented Semantic Mapping in Triger Classification Environment
1 Introduction
2 Method
2.1 Detection of Objects
2.2 Depth Image Preprocessing
2.3 2D Pology Shape Generation
2.4 Map Generation
3 Experiments
4 Conclusion
References
Research on Virtual Training System for Intelligent Upper Limb Prosthesis with Bidirectional Neural Channels
1 Introduction
2 Overall Description of the Virtual Training System
3 Design of the Virtual Training System
3.1 Upper Limb Prosthetic Model
3.2 Software Subsystem
3.3 Neural Control Subsystem
3.4 Sense Feedback Subsystem
4 Experiments
4.1 Human-Machine Closed-Loop Interactive Experiment
5 Conclusion
References
Real Time Volume Measurement of Logistics Cartons Through 3D Point Cloud Segmentation
1 Introduction
2 Volume Measurement
2.1 Filter Based ROI and Plane Segmentation
2.2 Extraction of Intersection Line Using Threshold Method
2.3 Length Computation
2.4 Volume Measurement of Deformed Cartons
3 Experimental Verification
3.1 Precision and Efficiency
4 Discussions and Conclusion
References
Study on High-Efficient Derusting Method for Vision-Based Derusting Robot
1 Introduction
2 Data Preparation and Analysis
2.1 Data Collection
2.2 The Evaluation of Image Contains Information
3 Numerical Analysis and Post-processing
4 Experimental Results and Discussion
5 Conclusion
References
An MRF-Based Intention Recognition Framework for WMRA with Selected Objects as Contextual Clues
1 Introduction
2 Object-Action Intention Network
3 Strategies for Learning People Preferences
4 Experiment and Discussion
4.1 Intention Recognition Evaluation
4.2 Learning Strategy Evaluation
5 Conclusion
References
Research on Mobile Robot Platform to Assist Laboratory Management
1 Introduction
2 Overall System Structure
3 ROS-Based Software Platform
3.1 Mapping Module
3.2 Autonomous Navigation Module
3.3 Voice Interaction Module
4 Experiment and Analysis
4.1 Mapping
4.2 Localization and Navigation
4.3 Dynamic Obstacle Avoidance
4.4 Voice Control and Furniture Control
5 Conclusion
References
A Tracking Method Based on Lightweight Feature Extraction Network for Tracking Robot
1 Instruction
2 System Description
3 Proposed Method
3.1 Data Augmentation Based on Hard Sample
3.2 Lightweight Feature Extraction Network Design
3.3 Improved Loss Function
4 Experiment
5 Conclusion
References
Semantic Segmentation and Topological Mapping of Floor Plans
1 Introduction
2 Related Work
3 Semantic Segmentation
3.1 Goals and Problem Formulation
3.2 Network Architecture
3.3 Network Training
4 Topological Semantic Map Construction
4.1 Door and Room Information Extraction
4.2 Connected Relation
4.3 Room Information Summary
4.4 Connectivity Verification
4.5 Optimization
5 Experiment
6 Conclusion
References
Novel Mechanisms, Robots and Applications
An SMA Inchworm-Imitated Robot for Confined Space Inspection
1 Introduction
2 Design of SMA Inchworm Robot
2.1 Morphology and Marching Gait
2.2 Construction of Inchworm-Imitated Robot
3 Modelling of SMA Inchworm Robot
4 Experiment of Inchworm-Imitated Robot
4.1 Speed Test
4.2 Climbing Ability Test
4.3 Discussion
5 Conclusion
References
A Noncommunicative Transportation Approach for Multiple Physical Connected Objects
1 Introduction
2 Pushing-Based Transportation Dynamics
2.1 Leader-Follower Control Strategy
2.2 Translational Controller
2.3 Rotational Controller
2.4 Convergency Proof
3 Simulation and Discussion
3.1 Efficiency and Predictability
3.2 Transportation Ability
4 Conclusion
References
Kinematic and Dynamic Analysis of a Novel 5-DOF Multi-fingered Deployable Robotic Gripper
1 Introduction
2 Design of the Robotic Gripper
3 Kinematics and Dynamics Analysis
4 Grasping Simulation
5 Conclusion
References
Design and Manufacture of an Origami-Inspired Crawling Mini-robot
1 Introduction
2 Methodology
2.1 Actuator and Fixing Part
2.2 Movable Structure and Support Structure
2.3 Material
3 Experimental Results
3.1 Control Design
3.2 Manufacture and Assemble
3.3 Test Stage
3.4 Speed and Step Length on Different Surfaces
3.5 The Performance of Ramp Speed in Different Angles
3.6 Turning Performance in Different Frequencies
4 Discussion and Significance of the Result
4.1 Discussion
4.2 Conclusion
References
Comparison Study on Force/Motion Transmissibility of a Novel 6-DOF Parallel Mechanism and Stewart Platform
1 Introduction
2 Structure Description and Kinematic Analysis
2.1 Structure Description
2.2 Coordinates System and Inverse Position Analysis
2.3 Jacobian Matrix Formulation
3 Transmission Indices
4 Comparison Study on Force/Motion Transmissibility
5 Conclusions
References
Follow-the-Leader Deployment of the Interlaced Continuum Robot Based on the Unpowered Lock Mechanism
1 Introduction
2 Robot Design
2.1 Structure
2.2 Lock Mechanism
3 Principle of Lock Mechanism and Interlaced Motion
3.1 Principle of State-Locker Disk
3.2 Principle of Interlaced Motion
4 Motion Planning of FTL Deployment
4.1 Strategy
4.2 Error Metric
4.3 Shape Curve and Bend Type
4.4 Simulation for Three Segment Paths
5 Application Example of the Interlaced Continuum Robot
6 Conclusion
References
Design and Motion/Force Transmissibility Analysis of Two Motion-Decoupled 3T1R Parallel Robots with Full Rotational Capability
1 Introduction
2 Mechanism Design and Inverse Kinematics
2.1 Mechanism Design
2.2 Inverse Kinematics
3 Motion/Force Transmissibility Analysis
3.1 Motion/Force Transmission Indices
3.2 Performance Analysis of the Two Robots
4 Conclusion
References
Motion/Force Transmissibility and Constrainability of a Double-Platform Parallel Manipulator
1 Introduction
2 Architecture Description and Inverse Kinematics
3 Mobility and Equivalent Transmission Wrench Analysis
4 Motion/ Force Performance Analysis
4.1 Input Transmission Index
4.2 Output Transmission Index
4.3 Constraint Transmission Index
4.4 Local Singularity Index
5 Workspace Identification
6 Conclusion
References
Modeling of Passive Dynamic Walking Behavior of the Asymmetric Spatial Rimless Wheel on Slope
1 Introduction
2 Modeling
2.1 The ASRW Model and Coordinate System
2.2 Inertia Tensor
3 Dynamic Modeling
3.1 Motion Phases and Assumptions
3.2 Rotation Phase
3.3 Collision Phase
4 Analysis and Simulation
4.1 Fixed Point
4.2 Simulation Analysis
4.3 Comparison
5 Experiments
6 Conclusion
References
MF-SLAM: Multi-focal SLAM
1 Introduction
2 MF-SLAM
2.1 Improved Calibration of the Multi-focal Stereo Camera
2.2 Extract Feature Points
2.3 Stereo Matching
3 Experiments and Discussion
3.1 KITTI Dataset
3.2 Our Dataset
4 Conclusions
References
Neural Network-Based Method for Solving Inverse Kinematics of Hyper-redundant Cable-Driven Manipulators
1 Introduction
2 Traditional Kinematics Modeling Method of HRCDM
2.1 Kinematics Analysis Between JS and OS
2.2 Kinematics Analysis Between CDS and JS
3 NN-Based IK Method for HRCDM
3.1 BPNN-Based Method
3.2 RBFNN-Based Method
4 Simulation
4.1 Circle Trajectory
4.2 Triangle Trajectory
4.3 Square Trajectory
4.4 Simulation Result
5 Conclusion
References
A Thermal Analysis Method for Integrated Joints of Collaborative Robots
1 Introduction
2 Cooperative Manipulator Joint Structure and Loss Analysis
3 Theoretical Analysis of Joint Heat Transfer
3.1 Basic Equations of Heat Transfer
3.2 Convection Boundary Conditions
3.3 Thermal Analysis Parameters Acquisition of Joints
4 Finite Element Simulation Analysis of Joints
4.1 Establishment of Finite Element Model
4.2 Simulation of Steady State Thermal Analysis
4.3 Measures to Reduce Temperature
5 Conclusion
References
Inverse Determination of B340LA Material Parameters in Bending Springback Process by Dynamic Optimization Approach
1 Introduction
2 Optimization Approach of Dynamic RBF
3 The Experiment and Simulation on Bending Springback Process
3.1 Introduction of Bending Springback Process
3.2 Experiments of Bending Springback Process
3.3 FE Simulation of Bending Springback Process
4 Inverse Determination of Material Parameter
4.1 Objective Function and Parameter Effect
4.2 Inverse Determination of Material Parameters
4.3 Comparison and Discussion
5 Conclusions
References
Compact Multispectral Camera Using RGB LED and Optimization
1 Introduction
2 Principle
2.1 System Structure
2.2 Recovery Algorithm
3 Simulation and Experiments
3.1 Simulation
3.2 Experiment
4 Conclusion
References
A Memory Module Assembly System Using Parallel Robots
1 Introduction
2 Design and Configuration
2.1 Mechanical System
2.2 Control System
3 Mechanism Analysis
3.1 Kinematics Analysis of 6PUS 6-DOF Parallel Robot
3.2 Kinematics Analysis of 2PP 2-DOF Parallel Robot
4 Design of Force Control Method
4.1 Force Control Strategy for Memory Module Insertion
4.2 Other Steps that Require Force Control
5 Experiments and Analysis
5.1 Experimental Process
5.2 Results and Analysis
6 Conclusions
References
Terrain Attribute Recognition System for CPG-Based Legged Robot
1 Introduction
2 Tactile Sensing
2.1 Array Tactile Sensing Hardware System
2.2 Data Preprocessing Module
2.3 Peak Window Segmentation Module
2.4 Tactile Feature Extractor
2.5 Machine Learning Classifier
3 Visual Sensing
3.1 Attention-Feature Extraction Network
3.2 Texture Encoding Network
3.3 Fully Connected Network
4 Experiments and Results
4.1 CPG-Based Legged Robot Platform: AmphiHex-II
4.2 Data Collection
4.3 Training Procedure
4.4 Terrain Attribute Recognition Results
5 Conclusion
References
Kinematic Reliability Evaluation of Planar Mechanisms with Time-Varying Correlation of Wear in Multiple Joints
1 Introduction
2 Wear Correlation of Multiple Joints in a Mechanism
3 Reliability Evaluation Considering Time-Varying Correlation of Wear in Multiple Joints
3.1 Wear Modeling of a Single Joint
3.2 Time-Varying Correlation of Wear in Multiple Joints
3.3 Dynamic Reliability Evaluation
4 Case Study
5 Conclusion
References
Abnormal Rotation Analysis of 6-PUS Robot's Compound Spherical Joint
1 Introduction
2 Compound Spherical Joint Model
2.1 Branch Chain Group Model
2.2 Static Geometric Model
2.3 Dynamic Geometric Model
3 Analysis of Abnormal Rotation
3.1 Rotation Process
3.2 Influencing Factors
4 Simulation
5 Conclusion
References
Kinematic Modeling and Analysis of Support Mechanism for Folding Rib Deployable Antenna
1 Introduction
2 Composition and Deployment Principle of Antenna Structure
3 Forward Kinematics Modeling
3.1 Kinematic Modeling of Basic Units
3.2 Kinematic Modeling of Triple-Folded Rib Unit
3.3 Kinematic Modeling of Supporting Mechanism
4 Inverse Kinematics Analysis
4.1 Development State Discrimination
4.2 Research on Driving Law
5 Model Validation and Analysis
5.1 Deployment Function Verification
5.2 Driving Law Verification
6 Conclusion
References
Dynamics Modeling and Multi-condition Analysis for 6-DOF Industrial Manipulator
1 Introduction
2 Kinematics Model and Verification of Manipulator
3 Establishment and Verification of Mechanical Arm Dynamics Model
4 Multi-condition Dynamic Simulation of 6-DOF Industrial Manipulator
4.1 No-Load Dynamic Simulation
4.2 Dynamic Simulation of Intermittent
4.3 Dynamic Simulation of Heavy Haul Condition
5 Conclusions
References
Autonomous Landing Allocation of Multiple Unmanned Aerial Vehicles on Multiple Unmanned Surface Vessels Subject to Energy Consumption
1 Introduction
2 Modeling and Problem Statement
2.1 UAV and Energy Consumption Modeling
2.2 Problem Statement
3 Allocation Algorithm Design
4 Simulation and Experiment
5 Conclusion
References
Design of a Compliant Joint Based on Antagonistic-Driven Torsion Springs
1 Introduction
2 Mechanical Design of the Proposed SEA
3 Stiffness Analysis of Torsion Spring
3.1 Structure of Torsion Spring
3.2 Stiffness Modeling of Torsion Spring
3.3 Analysis of Stiffness Model
4 Experiments and Results
4.1 Stiffness Calibration
4.2 Collision Safety Experiment
5 Conclusion
References
Design and Control of a Quadruped Robot with Changeable Configuration
1 Introduction
2 System Description
2.1 Mechanism Design
2.2 Control System
3 Gait Planning
3.1 Kinematic Equations
3.2 Workspace of the Foot
3.3 Trotting Gait
3.4 Change of Configuration
4 Simulation and Experiments
5 Conclusion
References
Configuration Design and Evaluation of Bionic Grinding Manipulator Based on Human Upper Limb
1 Introduction
2 Structure of Manual Grinding with Both Arms
3 Design of Parallel Driving Grinding Manipulator
3.1 Motional Characteristics Configuration of Grinding Manipulator
3.2 Configuration Design of Parallel Driving Grinding Manipulator
4 Evaluation of Local Motion Performance of Parallel Driving Grinding Manipulator
5 Conclusion
References
Workspace Analysis and Stiffness Optimization of Snake-Like Cable-Driven Redundant Robots
1 Introduction
2 Kinematic Model of SCDRR
2.1 A Typical SCDRR Model
2.2 Kinematics Modeling
3 Workspace Analysis with Variable Link Length
3.1 Effect of Link Length on Workspace Area
3.2 Effect of Link Length on Workspace Volume
3.3 Effect of Link Length on Dexterity
3.4 Workspace Simulation Analysis
4 Statics Model and Stiffness Analysis for SCDRR
4.1 Cable Tension Analysis
4.2 Statics Equilibrium
4.3 End-Effector Stiffness Matrix
5 Stiffness Optimization
5.1 Optimization Through Joints Configuration and Cables Tension
5.2 Optimization Through Joints Configuration
6 Simulation for Stiffness Optimization
7 Conclusion
References`
Inverse Kinematics of a 7-DOF Spray-Painting Robot with a Telescopic Forearm
1 Introduction
2 Structure Description and D-H Parameters
3 Analytical Solution for Joints 2,3,4, 5 and 7
3.1 Kinematic Analysis Method
3.2 Solution for Joints 2,3,4 5 and 7
4 Numerical Solution for Joints 1 and 6
4.1 Objective Function
4.2 Smoothing Treatment of q1and q6
5 Numerical Simulation
5.1 Motion Trajectory of the Robot
5.2 Simulation Results
6 Conclusions
References
Electric Vehicle Charging Robot Charging Port Identification Method Based on Multi-algorithm Fusion
1 Introduction
2 Prototype Description
2.1 Charging Port Structure and Environmental Analysis
2.2 Charging Port Identification System Construction
3 Calibration Procedure
4 Method
4.1 Image Smoothing Based Filtering Algorithm
4.2 Segmentation Algorithm Based on ROI Region Feature Detection
4.3 Based on an Improved Canny Edge Detection Algorithm
4.4 Algorithms Based on Mathematical Combinatorial Morphology
5 Experiment and Discussion
6 Conclusion
References
Efficient Power Grid Topology Control via Two-Stage Action Search
1 Introduction
2 Related Work
3 Preliminary
3.1 Power Grid Emergency Control via Topology Configuration
3.2 Problem Definition
4 Two-Stage Topology Control
4.1 Methodology
4.2 Ranker
4.3 Nominator
5 Experiments
6 Conclusion
References
Research on Robot Classifiable Grasp Detection Method Based on Convolutional Neural Network
1 Introduction
2 Grasp Detection and Object Detection Methods
2.1 FC-GQ-CNNs Grasp Detection
2.2 YOLOv4 Object Detection
3 The Establishment of the Classifiable Grasp Detection
3.1 Improvement of Positioning Bounding Box
3.2 Coordinate Matching of Grasp Point
4 Experiment
4.1 Experimental Environment
4.2 Experimental Dataset
4.3 Experimental Results and Analysis
5 Conclusion
References
Workspace Analysis of a Mobile Robot System for the Ship Section Painting
1 Introduction
2 System Description and Kinematics
2.1 System Description
2.2 Kinematic Analysis
3 Workspace Analysis
3.1 Reachable Workspace
3.2 Singularity and Accuracy Analysis
3.3 Interference Analysis
3.4 Manipulating Workspace
4 Conclusions
References
Kinematics of a One-DOF Four-Finger Gripper Constructed with Two-Fold Symmetric Bricard Linkages
1 Introduction
2 Two-Fold Symmetric Bricard Linkage
2.1 Geometric Conditions
2.2 Kinematic Equation
3 The Network of Four Two-Fold Symmetric Bricard Linkages
4 Degree of Freedom Analysis
5 Singularity Analysis
6 Kinematic Analysis
7 Conclusions
References
A Micro Bionic Flapping Wing Robot on Water Surface
1 Introduction
2 Robot Design
2.1 Flapping Mechanism
2.2 Supporting Structure
3 Force Analysis of the Robot and Optimization
3.1 Analysis of Robot Take-Off Process on Water Surface
3.2 Force Analysis and Optimization of the Supporting Leg
3.3 Aerodynamics Analysis of Flapping Wings and Optimization
4 Experiment and Discussion
4.1 Robot Fabrication and Experiment Platform
4.2 Robot Flight Experiment on Land and Water Surface
4.3 Discussion
5 Conclusion
References
Design of a De-Tumbling Robot for Space Noncooperative Targets
1 Introduction
2 Design of Hardware Platform
2.1 Mechanics
2.2 Kinematics
3 Electronics
4 Experiment
5 Conclusion
References
Design and Control of Penta-Jet Aerial Vehicle
1 Introduction
2 Design and Modeling of the Penta-Jet
2.1 Mechanical Design
2.2 Dynamic Modeling
3 Controller Design
4 Simulation
5 Conclusion
References
Leg Design for Delivery Quadruped Robots Based on EMA and Energy Optimization
1 Introduction
2 Model Analysis of Legged System
2.1 EMA Analysis of the Robot Leg
2.2 Kinematics, Dynamics and Energy Cost Analysis
3 Mechanic Design of the Leg Based on EMA and Energy
3.1 Limb Length Optimization Based on Energy Consumption Analysis
3.2 Actuator Hinge Position Optimization Based on EMA
4 Experiments on the Leg
5 Conclusion
References
Research on Damping Control of Cable-Climbing Robot Based on Spring-Magnetorheological Damping Coupling Mechanism
1 Introduction
2 Based on the Dynamic Characteristics of Spring and Magnetor-Heological Damping Coupling Loading Mechanism and Robot-Cable System
2.1 Dynamic Characteristics of Robot-Cable Coupling
2.2 Analysis of Dynamic Characteristics of Coupling Loading Mechanism with Spring and Magnetorheological Damping
2.3 Analysis of Dynamic Characteristics of Coupling Loading Mechanism with Spring and Magnetorheological Damping
3 Control Method Analysis of Coupling Loading Mechanism with Helical Spring and Magnetorheological Damping
3.1 Fuzzy PID Controller Design
3.2 Fuzzy PID Simulation and Analysis
4 Experimental Scheme of Cable Climbing Robot
4.1 Experimental Study on Loading Performance of Coupling Mechanism of Spring and Magnetorheological Damping
4.2 Robot Climbing Experiment Under Cable Vibration Condition
5 The Conclusion
References
The Metamorphic Variable-Axis Revolute Hinge and Its Induced Reconfiguration of Robotic Legged Lander
1 Introduction
2 Missions and Operation Modes of RLL
3 Reconfigurable Mechanism System Design of RLL
4 Design of Metamorphic Variable-Axis Revolute Hinge Rv
5 Unified Differential Kinematics Modeling
6 Singularity and Bifurcated Evolution of RLL
7 Conclusion
References
Design of a Reconfigurable Planar Parallel Continuum Manipulator with Variable Stiffness
1 Introduction
2 Mechanism Design
3 Kinetostatics Modeling and Analysis
3.1 Kinetostatics Modeling of the Flexible Links
3.2 Kinetostatics Models of the 3-PRFlex PPCM
4 Experimental Validation
4.1 Prototyping and Experimental Setup
4.2 Validation of Variable Stiffness
4.3 Validation of Reconfiguration
5 Conclusion
References
Parameter Optimization and Vibration Isolation Control of a Mobile Parallel Robot
1 Introduction
2 Kinematics Analysis of the Mechanism
3 Parameter Optimization of the AM
4 Vibration Isolation Control
5 Conclusion
References
Gait Design and Foot Trajectory Planning for a Wall-Climbing Robot with Spiny Toes
1 Introduction
2 Kinematic Analysis
2.1 Forward Kinematics
2.2 Inverse Kinematics
3 Foot Trajectory Planning and Optimization
3.1 Foot Trajectory Planning
3.2 Trajectory Optimization
4 Gait Design
4.1 Forward Motion
4.2 Backward Motion
5 Experiment and Discussion
6 Conclusion and Future Work
References
Author Index

Systemvoraussetzungen

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