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检索条件"任意字段=8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023"

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2023 8th ieee international conference on advanced robotics and mechatronics, icarm 2023

2023 8th IEEE International Conference on Advanced Robotics ...

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8th ieee international conference on advanced robotics and mechatronics, icarm 2023

ISBN: (纸本)9798350300178

the proceedings contain 202 papers. the topics discussed include: end-point steady control for whole-body control mobile manipulators by null space tunation;a novel signals and features fusion method based on Fisher Vector for severity assessment in Parkinson’s disease;deep reinforcement learning based backstepping control for underactuated AUV;defect screening on nuclear power plant concrete structures: a two-staged method based on contrastive representation learning;study of DNN network architecture search for robot vision;muscle synergy-based human-in-the-loop optimization for personalized hip exoskeleton control;an integration enhanced repetitive path planning scheme for omnidirectional mobile robot manipulators;policy learning with deep Koopman operator networks;a super-resolution method for small object detection in road scenes;and robotic shoe packaging strategies based on a single soft-gripper system and extrinsic resources.

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Design of An Adjustable Monitor Arm via Collaborative Robot 8

Design of An Adjustable Monitor Arm via Collaborative Robot

引用

8th ieee international conference on advanced robotics and mechatronics, icarm 2023

作者： Wang, Weijun Sun, Wei Liu, Yunfei Liu, Shujian Li, Wenjie Liu, Jian Robotics Engineering Center The 21ST Research Institute of China Electronic Technology Group Corporation Shanghai200233 China Beijing Microelectronics Technology Institute BeijingBJ 100076 China Beijing Institute of Radio Measurement BJ 1000854 China

ISBN: (纸本)9798350300178

With the development of monitor technology, more and more monitor terminals can be controlled by touch. With the continuous development of man-machine interaction, the traditional fixed monitor cannot meet the changing requirements. A collaborative robot is a robotic arm that can interact with people in real time. It is widely used in human-machine interaction scenarios. this paper studies an adjustable monitor arm via collaborative robot (AMACR). On the one hand, this arm needs to have a strong overall capacity to support the weight of the monitor. On the other hand, this arm needs to have compact structure and good human-computer interaction ability. Firstly, a new type of monitor arm is proposed. Secondly, simulations of this robot are performed. Finally, discussion on the prototype is presented. © 2023 ieee.

关键词： Human computer interaction

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Design and Development of Real-Time Automatic Tracking and Decision System for RoboMaster Competition Robot Using Convolutional Neural Networks 8

Design and Development of Real-Time Automatic Tracking and D...

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8th ieee international conference on advanced robotics and mechatronics, icarm 2023

作者： Gu, Hao Zhao, Zihe Di, Hao Gu, Junhao Liu, Biao Li, Yuhang School of Automation Shenyang Aerospace University Shenyang China School of International Engineering Shenyang Aerospace University. Shenyang China School of Artificial Intelligence Shenyang Aerospace University Shenyang China School of Computer Science Shenyang Aerospace University Shenyang China

ISBN: (纸本)9798350300178

this paper presents the design and development of an automatic tracking and decision system for the Robo-Master competition robot using convolutional neural network algorithms. the system can track the target automatically and make decisions based on the target's position, improving the robot's performance in the competition. the system is robust and can handle complex lighting conditions. the paper also discusses improvements made to object detection and motion prediction, which increase the system's accuracy and efficiency. the proposed system runs in real-time and achieves a high hit rate, making it a valuable tool for RoboMaster participants. © 2023 ieee.

关键词： Convolution

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Ergonomic Exoskeleton Console Design for Natural Orifice Transluminal Endoscopic Surgery robotics 9

Ergonomic Exoskeleton Console Design for Natural Orifice Tra...

引用

9th ieee international conference on advanced robotics and mechatronics (icarm)

作者： Li, Aoqi Wang, Yida Lin, Siyuan Chen, Wenbin Huazhong Univ Sci & Technol Inst Med Equipment Sci & Engn State Key Lab Digital Mfg Equipment & Technol Wuhan 430074 Hubei Peoples R China

ISBN: (纸本)9798350385731;9798350385724

Surgical robotics, particularly for Natural Orifice Transluminal Endoscopic Surgery (NOTES), offers promising advancements in gastrointestinal procedures. Meeting the ergonomic and precision challenges in designing a console for NOTES is essential. Our study introduces an exoskeleton master console, designed to provide enhanced ergonomic support and intuitive operation for NOTES surgeons. the design includes ergonomic optimization and kinematic mapping that aligns with the natural motions of the surgeon. A key feature is the console's capability to detect and filter physiological hand tremors, integrating hardware innovation with advanced tremor-reduction algorithms. Experimental validation confirms the strategy's accuracy in kinematic mapping and the effectiveness of tremor elimination, resulting in enhanced operational precision and reduced surgeon fatigue. this research offers a novel design approach for NOTES to improve operational comfort and efficiency.

关键词： Exoskeleton (robotics)

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Visual-Servo Based End-Effector Control for Continuum Robots 8

Visual-Servo Based End-Effector Control for Continuum Robots

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8th ieee international conference on advanced robotics and mechatronics, icarm 2023

作者： Chang, Le Kang, Rongjie Sun, Changchao Yuan, Peikang Wang, Tong Song, Zhibin Dai, Jian S. School of Mechanical Engineering Tianjin University Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education Tianjin300072 China Institute for Robotics Southern University of Science and Technology Shenzhen China

ISBN: (纸本)9798350300178

Delicate manipulation for continuum robots remains challenging. the key is to establish a motion controller with real-time perception, fast response, and high precision. Integrating visual sensors into the system can enhance the precision of end position control while minimizing uncertainties in the robot model. In this paper, a depth camera is used to identify the Aruco code to provide pose information to the continuum robot. then the end-effector is controlled to achieve horizontal linear displacement and plug into a socket based on the pose information. Based on experimental findings, it has been demonstrated that the control accuracy can achieve a level of precision in the centimeter range. the presented methods expand the potential scenarios of the continuum robot. © 2023 ieee.

关键词： Position control

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Review of robotics Technologies and Its Applications 8

Review of Robotics Technologies and Its Applications

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8th ieee international conference on advanced robotics and mechatronics, icarm 2023

作者： Yang, Guotao Hu, Shaolin School of Automation and Information Engineering Xi'An University of Technology Xi'an710048 China Automation School Guangdong University of Petrochemical Technology Maoming525000 China

ISBN: (纸本)9798350300178

Robots are automatic equipment integrating advanced technologies in multiple disciplines such as mechanics, electronics, control, sensors, and artificial intelligence. Based on a brief introduction of the development history of robotics, this paper reviews the classification of the type of robots, the key technologies involved, and the applications in various fields, analyze the development trend of robotics and recent research hotspots, and provides an outlook on the future development of robotics and its applications. © 2023 ieee.

关键词： Intelligent robots

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A Magnetic Micro Robotic Trajectory Controller Design for Cell Trapping 8

A Magnetic Micro Robotic Trajectory Controller Design for Ce...

引用

8th ieee international conference on advanced robotics and mechatronics, icarm 2023

作者： Wang, Fanghao Jing, Daoyuan Zhang, Youchao Guo, Xiangyu Liu, Chuanjie Zhou, Mingchuan College of Biosystems Engineering and Food Science Zhejiang University Robotic Micro-nano Manipulation Lab Hangzhou China

ISBN: (纸本)9798350300178

Cell trapping is considered a complicated and challenging task due to the small scale of manipulation involved. Image guided robotic micro manipulation is among the novel and promising solutions that may enhance human capabilities. In this paper we demonstrate 3-degree-of-freedom (3-DOF) wireless magnetic control of an untethered microrobot (2-DOF position and 1-DOF pointing orientation). An accurate orientation control model has been employed to determine the microrobot's orientation in 2D space. In addition, multiple orientation experiments were conducted to verify the proposed model. Finally, a feedback control algorithm including a Proportional-Integral-Derivative controller (PID) is conducted to eliminate external disturbance during the trajectory tracking task. this system was primarily designed to control magnetic microrobots for cell trapping in vitro. © 2023 ieee.

关键词： robotics

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Robotic Shoe Packaging Strategies Based on a Single Soft-Gripper System and Extrinsic Resources 8

Robotic Shoe Packaging Strategies Based on a Single Soft-Gri...

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8th ieee international conference on advanced robotics and mechatronics, icarm 2023

作者： Dong, Yi Duan, Jinjun Liu, Yangjun Dai, Zhendong Manoonpong, Poramate Institute of Bio-inspired Structure and Surface Engineering College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Nanjing210016 China School of Information Science & Technology Vidyasirimedhi Institute of Science & Technology Bio-inspired Robotics & Neural Engineering Lab Rayong21210 Thailand

ISBN: (纸本)9798350300178

Packaging is usually a multi-object manipulation task involving objects of different softness and dimensions. the flexibility of paper and the variety of shoe types and states are major challenges for packaging tasks. In this study, we propose a complete solution for a shoe packaging task involving paper, which makes full use of extrinsic resources to improve its efficiency. Firstly, according to the different characteristics of the manipulated objects and task requirements, visual perception is developed to obtain the grasp poses of different objects. Furthermore, paper grasping strategies by exploiting environmental constraints and shoe reorientation method with gravity are proposed, which are necessary for a shoe packaging task. Finally, the complete pipeline for a shoe packaging task is introduced and qualitative and quantitative experiments verify its feasibility and robustness. © 2023 ieee.

关键词： Packaging

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Experimental Characterization and Comparison of three Typical Omnidirectional Mobile Robots 8

Experimental Characterization and Comparison of Three Typica...

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8th ieee international conference on advanced robotics and mechatronics, icarm 2023

作者： Li, Zhuolun Long, Jiajun Zhang, Ximan Gao, Chengyuan Jiang, Shixing Zhu, Zheng Jia, Zhenzhong Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China

ISBN: (纸本)9798350300178

Omnidirectional vehicles (ODVs) or mobile robots are widely used in various industries due to their ability to move and rotate in narrow spaces without the need for multiple adjustments of moving direction or stopping. there are multiple types of ODVs, including those with standard wheels and those with special wheels such as Swedish wheels. Comprehensive characterization of the ODV's overall performance, which is very important when selecting specific configurations in the robot design process, is still missing in the literature. this paper qualitatively summarizes the comprehensive characteristics of three typical omnidirectional mobile robots in indoor scenarios through theoretical analysis and physical experiments. We compare the robot's performance through six representative evaluation metrics (maneuverability, efficiency, etc.) and express the results in a radar chart. the results of this study can assist designers in designing omnidirectional robots more effectively for specific application scenarios. © 2023 ieee.

关键词： Wheels

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Design and Control of Soft Exoskeleton Based on Human Motion Intention 8

Design and Control of Soft Exoskeleton Based on Human Motion...

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8th ieee international conference on advanced robotics and mechatronics, icarm 2023

作者： Huang, Kaizhen Xu, Jiajun Zhang, Tianyi Lu, Yonghua Xu, Linsen Li, Youfu College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Nanjing210016 China College of Mechanical and Electrical Engineering Hohai University Changzhou213022 China City University of Hong Kong Department of Mechanical Engineering Hong Kong999077 Hong Kong

ISBN: (纸本)9798350300178

Exoskeletons have been utilized to enhance human movement capabilities;however, most of exoskeletons are typically limited by the small-range stiffness of actuators. Furthermore, these exoskeletons are not comfortable to wear due to the rigid structures. this letter proposes a soft exoskeleton with twisted string actuators to assist knee joint movement. the mechanical structure and dynamics model of the exoskeleton robotic system is introduced, where the variable-stiffness actuator with twisted strings is able to provide controllable walking assistance and improve users' comfort. In addition, the users motion intention is detected through biomedical signal, and an assist-as-need control strategy is proposed to enhance assistance efficiency. Finally, the effectiveness of the proposed exoskeleton is verified empirically. © 2023 ieee.

关键词： Exoskeleton (robotics)

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