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When quadrupedal robots execute locomotion, their interactions with the ground surface will make themselves unstable without careful compliance control for each leg. This paper presents a control method which uses a virtual leg compliance with instantaneous reflexes to external disturbance to obtain the self-stabilization for legged robots. Each leg was modeled as two sets of virtual spring and damper...
Robot-assisted minimally invasive surgery has gained popularity in recent years, such as Zeus, da-Vinci and MicroHand A, which can provide surgeons with enhanced visual feedback and dexterity of instruments. Master manipulator is an important component of the surgical robot system, whose posture recognition accuracy, operation dexterity and force feedback feature will have profound influence to the...
Robot-assisted minimally invasive surgery becomes more and more popular, but the lack of force sensing for surgical robots restricts the development of this technology. The traditional way to obtain tool-tissue interaction force is to integrate sensors at the end of surgical instruments, which is not well adopted in practical due to high-cost and sterilization problems. It is necessary to explore...
Estimation of tooth axis is needed for some clinical dental treatment. Existing methods require to segment the tooth volume from Computed Tomography (CT) images, and then estimate the axis from the tooth volume. However, they may fail during estimating molar axis due to that the tooth segmentation from CT images is challenging and current segmentation methods may get poor segmentation results especially...
Segmentation of 3D point cloud is usually performed in a semi-automatic way by using some interactive algorithms. This paper presents an automatic segmentation algorithm based on random walks. After transforming the point cloud into voxels, a seed point is generated randomly. The random walker selects the seed point as a starting point. Each probability between the starting point and the point in...
Segmentation of 3D object from complex point cloud is usually performed in 2D space by using 2D algorithms. This paper presents a novel 3D algorithm for segmentation of complex point cloud. A closed B-spline surface is selected as 3D elastic model. After initialization, control points of B-spline surface are attracted by a 3D force field and move to the surfaces of target object. 3D GVF derived from...
This paper presents a new method for extracting point cloud of useful main surface from 3D point cloud of an existing product or part. The 3D point cloud is sliced into 2D point cloud at different slices. For each slice, gradient vector flow (GVF) is generated. An active contour or snake is applied to capture the point cloud belonging to main surface. Points belonging to mini-structures or mini-features...
A wireless body area network system can be implemented to gather the physiological signals of the objective persons. In the network, some sensor nodes are used to monitor and determine the health status of people, and their signals are transmitted via wireless RF network. In order to maintain good performance of the network, an appropriate communication protocol should be applied. In this paper, we...
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