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Maintaining postural balance is a fundamental requirement for humanoid robots faced with unknown terrain or external perturbations. In this paper we present an observer-based balancing control strategy that is robust to persistent perturbations on the ground slope which is based on the estimation of the disturbance without the need for an inertial measurement unit. We use the workspace control method...
Although robotic locomotion have greatly advanced over the past years, the abyss that separates such locomotion from even the simplest animal locomotions prompt us to approach robotic locomotion taking cues from animals. The animal musculoskeletal structure, often ignored by roboticists due to its high redundancy and complexity, might hold the secret for self-stable locomotion observed in bipeds and...
The Pneumatic Artificial Muscle (PAM) provides many advantages over conventional actuators, especially pneumatic cylinders. It provides light weight, simple structure, high output force to weight ratio, low cost and so on. Despite of these advantages, there are also challenges in using a PAM actuator, such as the behavior of nonlinearity and high hysteresis. To get optimum design and usage, it is...
In this paper, a 7-DoF robot table tennis system is presented, which adopts a stereo vision system as its perceptional sensor and a humanoid robot arm as its manipulator. The batting policy, which can return various incoming balls to a desired location, is learned through empirical data based on e-support vector regression(e-SVR). Two experiments, playing with a launcher machine and rallying with...
A wireless microrobot may be used in the small space and biomedical practice, especially in the industrial field and biomedical application. In this paper, we designed a new kind of wireless microrobot with symmetrical spiral structure, which have more compact volume, completely symmetrical mechanical structure, quick response, forward-backward motions and can clean the dirt adhering to the inner...
Muscle forces modeling and computation around the elbow are focused on in this paper when the elbow flexing and extending in the sagittal plane. The paper introduces a Rehabilitation Intelligent Training System (RITS) for restoration of motor function. The system has advantages of small size, less weight and interaction during the rehabilitation process. Furthermore, this system mainly consists of...
This paper describes the design and development of a miniature 3-axis distal force sensor which can be applied in tissue palpation during minimally invasive surgery (MIS). The sensing principle is based on resistive sensing method that utilizes gauges to measure the strain of a flexible platform when exposed to a force. A novel tripod structure is designed and optimized as the flexible platform, it...
A solution by hybrid algorithms is proposed in this paper for real-time map building and navigation for multiple goals purpose. In real world applications, an intelligent mobile vehicle is required to reach multiple goals with a shortest path that, in this paper, is capable of being implemented in TSP (Traveling Salesman Problem) by a Genetic Algorithm (GA) with minimized overall distance. A D∗-Lite-based...
Though balancing is a fundamental part of human walking, it has been a challenging topic for bipedal robot. Compared to the versatile strategies of handling disturbances of human, current bipedal robots possess limited skills of managing external disturbances. Among them the capabilities of push recovery and maintaining balance are obviously of prior importance for a bipedal robot to walk in an unknown...
A bi-branchiate robot is presented for the inspection of the high-voltage power transmission lines. With a symmetrical mechanical structure, the robot can roll along the power lines and negotiating all the obstacles in the lines to complete the inspection work. A hierarchical structure based on modular approach are used to design the control system of the robot. A combination mode composed of teleoperation...
Accurate force/torque (F/T) information is essentially important for a robot manipulator to regulate the contact forces and torques exerted on its tool (end-effector). For a manipulator with mounted F/T sensor, the tool and the F/T sensor are connected to the manipulator via some components, of which many parameters such as mounting errors and component's weight are unknown. As a result, the forces...
This paper presents StimCards, an interactive and configurable Question and Answer game which can be applied to cognitive stimulation. This paper reviews experiments done to validate StimCards and draws up a report on these experiments and on StimCards contribution. This game is special because users can create their own questions and their own game scripts, and decide which digital devices will be...
The injuries caused by falls are great threats to the elderly. As a consequence, fall detection has been considered to play an important role in monitoring the security and well-being of the elderly who live alone. However, many fall detection systems suffer from the missed detection and false alarm. This paper presents a novel modeling approach to fall detection using data from motion capture system...
This paper presents a predictive kinematic control method for a three-wheeled omnidirectional mobile robot on the basis of MY wheel-II assemblies. Firstly, the kinematic analysis is conducted, which shows that eight possible models can be employed in the controller to produce the desired motor velocity for servo motors. Then for each finite fixed prediction horizon, a predictive control strategy is...
This paper design of a state-action map for an omni-directional mobile walking support robot. The robot realizes the omni-directional movement through a differential drive control mode. The moving direction of the robot is according to the intention of the elderly. We define a state-action map to improve the control efficiency. We defined state space, action space and state transition matrix of the...
Edge detection plays an important role in many advanced robot applications. Sometimes the boundaries of objects should be extracted. This paper proposes an edge detection algorithm that combining both color and depth data. Firstly, the Canny operator is applied to the color and depth image to extract initial edges. Then the color-edges are optimized using depth information to eliminate non-boundary...
We propose two novel human-centric force control methods for a power assist robot for lifting objects with it by the human. For this purpose, we developed a 1 DoF experimental power assist system for lifting objects. We included human's weight perception in the robot dynamics, and derived two novel force control methods for the system. We then implemented the force control methods separately. For...
The statistical shape analysis of population-specific anatomical structures plays a pivotal role in both implant design and associated dedicated surgical robotic instruments. The sizes of current off-the-shelf humerus implants are unable to accommodate Asian patients since they are mainly produced for the American and European countries based on locally collected data. In this paper, an algorithm...
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...
This paper addresses a problem of locomotion control of a snake-like robot. The discontinuity of the input signal during transition of locomotion is not desirable which may cause a large sliding and slippage. To overcome this problem, a method that produce a smooth transition of the body shape of a snake-like robot is introduced by adopting CPG-based control. Body shape transition is important for...
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