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检索条件"任意字段=Proceedings of the 2019 2nd International Conference on Control and Robot Technology"

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Static and Dynamic Disturbance Compensation control for a Biped Walking Vehicle

Static and Dynamic Disturbance Compensation Control for a Bi...

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Hashimoto, Kenji Sawato, Terumasa Hayashi, Akihiro Yoshimura, Yuki Asano, Teppei Hattori, Kentaro Sugahara, Yusuke Lim, Hun-ok Takanishi, Atsuo Waseda Univ Grad Sch Sci & Engn Shinjuku Ku 3-4-1 Ookubo Tokyo 1698555 Japan Tohoku Univ Dept Bioengn & Robit Sendai Miyagi 980 Japan Kanagawa Univ Fac Engn Kanagawa Japan Waseda Univ Dept Modern Mech Engn Tokyo Japan

ISBN: (纸本)9781424428823

This paper describes a static disturbance compensation control for a biped walking vehicle. To measure forces and moments caused by a passenger's motion, we use a 6-axis force/torque sensor placed under the passenger's seat. When small external force acts on a robot, only a reference ZMP trajectory is changed inside a support polygon. When large external force over a predetermined threshold force acts on a robot, a waist motion is changed. With only the proposed control, however, a robot cannot adapt to rapid disturbance changes. But we have already developed a dynamic disturbance compensation control, so by combining two controls, a human-carrying biped robot, Waseda Leg - No. 16 Refined V (WL-16RV) realized a stable dynamic walk under unknown external disturbances caused by passenger's static and dynamic motion. We confirmed the effectiveness of our proposal through experiments.

关键词： robots

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Developing a system to identify the material parameters of an organ model for surgical robot control

Developing a system to identify the material parameters of a...

引用

2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Hoshi, T. Kobayashi, Y. Fujie, M. G. Waseda Univ Grad Sch Sci & Engn Shinjuku Ward Okubo Japan Waseda Univ Consolidated Res Inst Adv Sci & Med Care Tokyo Tokyo Japan Waseda Univ Fac Sci & Engn Tokyo Tokyo Japan

ISBN: (纸本)9781424428823

Accurate values of material parameters of human tissue are key elements in a surgical robot system using an organ deformation model. However, it is generally difficult to determine the values of the material parameters of human tissue to be input into the model, because the individual differences of these material properties make them inherently uncertain. In this work, we discuss a method for identifying the values of the material parameters of an organ model. This paper is also concerned with developing a method using the finite element method (FEM) and the extended Kalman filter in order to identify the values of the material parameters of an organ model. The effectiveness of the method was shown through physical experiments using a layered phantom, a three-dimensional deformation model by FEM, and ultrasound imaging equipment. The results of experiments showed that the proposed parameter-identification method improved the reproducibility of the simulation using organ models.

关键词： Finite element method

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The Waseda Flutist robot No.4 Refined IV: From a Musical Partner to a Musical Teaching Tool

The Waseda Flutist Robot No.4 Refined IV: From a Musical Par...

引用

2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Solis, Jorge Taniguchi, Koichi Ninomiya, Takeshi Petersen, Klaus Yamamoto, Tetsuro Takanishi, Atsuo Waseda Univ Dept Modern Mech Engn Tokyo Japan Waseda Univ Grad Sch Adv Sci & Engn Sinjuku Ku Tokyo Japan

ISBN: (纸本)9781424428823

Up to now, different kinds of musical performance robots have been developed. MPRs are designed to closely reproduce the human organs involved during the playing of musical instruments. Our research on the Waseda Flutist robot has been focused on clarifying the human motor control from an engineering point of view. As a result, the Waseda Flutist robot No. 4 Refined W (WF-4RIV) is able of playing the flute nearly similar to an intermediate player. Thanks to the human-like design and the advanced technical skills displayed by the WF-4RIV, novel ways of musical education can be conceived. In this paper;the General Transfer Skill System (GTSS) is implemented on the flutist robot, towards enabling the automated transfer of technical skills from the robot to flutist beginners. A set of experiments are carried out to verify the evaluation and interaction modules of the GTSS. From the experimental results, the robot is able of quantitatively evaluating the performance of beginners, and automatically recognizing the melodies performed by them.

关键词： robots

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Adaptive Iterative Learning control Design for RUPERT IV

Adaptive Iterative Learning Control Design for RUPERT IV

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Wei, Ruihua Balasubramanian, Sivakumar Xu, Lihong He, Jiping Arizona State Univ Harrington Dept Bioengn Tempe AZ 85287 USA Tongji Univ Elect Informat Engn Sch Shanghai 200092 Peoples R China

ISBN: (纸本)9781424428823

An adaptive robot control strategy combining PID-based feedback and Iterative Learning controller (ILC) is proposed for per-forming passive reaching tasks for RUPERT (TM) (robotic Upper Extremity Repetitive Therapy), a pneumatic muscle driven rehabilitation robotic device. Additionally, a fuzzy rule-base is used to estimate the ILC learning rate to achieve an optimized learning. The preliminary test results from two able-bodied subjects demonstrate that the proposed controller can provide consistent performance for different subjects performing different reaching tasks.

关键词： Rehabilitation robotics Upper Extremity Iterative Learning control Pneumatic Muscle Actuator Fuzzy Rule-Base

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Robo soccer as a system level teaching platform 3

Robo soccer as a system level teaching platform

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2nd international conference on Electrical and control Technologies

作者： Lindgren, Kai Helsinki Polytech Stadia Helsinki Finland

ISBN: (纸本)9781634397971

It has became problematic in an institute like ours to make own platforms for teaching technical solutions. In the article is described a ready made platform: the robot Soccer system made by Merlin Systems. The paper presents its structure and different possibilities. Also we describe our experiences in configuring the system and using it in teaching.

关键词： Robosoccer robot football Miabot MiroSot Merlin electrical automation digital intelligent real time wireless control

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robot Assisted Gait Training With Active Leg Exoskeleton (ALEX)

Robot Assisted Gait Training With Active Leg Exoskeleton (AL...

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Banala, Sai K. Kim, Seok Hun Agrawal, Sunil K. Scholz, John P. Univ Delaware Dept Mech Engn Mech Syst Lab Newark DE 19716 USA Univ Delaware Dept Phys Therapy Newark DE 19716 USA

ISBN: (纸本)9781424428823

Gait training of stroke survivors can help in retraining their muscles and improving their gait pattern. robot assisted gait training (RAGT) was developed for stroke survivors using ALEX and force-field controller, which use assist-as-needed paradigm for rehabilitation. In this paradigm undesirable gait motion is resisted and assistance is provided towards the desirable motion. The force-field controller achieves this paradigm by applying forces at the foot of the subject. Two stroke survivors participated in a 15-day gait training study each with ALEX. The results show that by the end of the training the gait pattern of the patients was improved towards healthy subjects gait pattern. Improvement is seen as increase in the size of the patients' gait pattern, increase in knee and ankle joint excursions and increase in their walking speed on the treadmill.

关键词： Rehabilitation robotics Force Field control Gait Rehabilitation

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Dexterous Miniature In Vivo robot for NOTES

Dexterous Miniature <i>In Vivo</i> Robot for NOTES

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Lehman, Amy C. Wood, Nathan A. Dumpert, Jason Oleynikov, Dmitry Farritor, Shane M.

ISBN: (纸本)9781424428823

The complete elimination of external incisions through natural orifice access to the peritoneal cavity is potentially the next step in reducing the invasiveness of surgery. Natural Orifice Translumenal Endoscopic Surgery (NOTES) provides distinct patient advantages, but is surgically challenging. For the NOTES approach to be applied routinely, devices need to be developed that provide the surgeon with a stable multi-tasking platform for tissue manipulation and visualization. Much research towards device development for NOTES is based on the flexible endoscopy platform. However, these tools remain constrained by the entry incision and are further limited by challenges in tool triangulation, and multi-tasking capabilities. An alternative approach is the use of miniature in vivo robots that can be fully introduced into the peritoneal cavity through a natural orifice. A robotic platform for NOTES is being developed that attempts to emulate laparoscopic capabilities and control. This paper presents the prototype design of this platform and in vivo feasibility studies in non-survivable animal model procedures.

关键词： Orifices

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A robotic Platform for Targeted Studies on Biological Cells

A Robotic Platform for Targeted Studies on Biological Cells

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Boukallel, Mehdi Girot, Maxime Regnier, Stephane CEA LIST Serv Robot Interact 18 Route Panorama F-92265 Fontenay Aux Roses France Univ Paris 06 ISIR F-92265 Paris France

ISBN: (纸本)9781424428823

This paper deals with the development of an open design platform for explorative cell mechanotransduction investigation. The produced setup combines SPM (Scanning Probe Microscopy) techniques and advanced robotics approaches allowing both prolonged observations and spatial measurements on biological samples. As a result, an enhanced force probing method based on scanning microscopy techniques and advanced robotics and automation approaches are integrated in this device. Visual and force feedback control are used to achieve automatic data acquisition and monitoring process when high skills are required. Experimentation on the mechanical cell characterization under in vitro conditions on human adherent cervix Epithelial Hela cells are presented to demonstrate the viability and effectiveness of the proposed setup.

关键词： In vitro mechanotransduction Scanning Probe Microscopy (SPM) techniques Human adherent cervix Epithelial Hela cells mechanical characterization

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On Imaging and Localizing Untethered Intraocular Devices with a Stationary Camera

On Imaging and Localizing Untethered Intraocular Devices wit...

引用

2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Bergeles, Christos Shamaei, Kamran Abbott, Jake J. Nelson, Bradley J. ETH Inst Robot & Intelligent Syst CH-8092 Zurich Switzerland

ISBN: (纸本)9781424428823

Untethered microrobotic devices have been proposed for use in ophthalmic surgeries, and localization information is required for their control. The environment of the human eye is externally observable, and images can be used to localize intraocular agents. There is currently no quantitative description of the effects of the human eye optics on imaging and localizing intraocular objects. In this paper, the common methods of ophthalmoscopy assuming a stationary imaging system are examined and compared with respect to their imaging and localizing properties on a schematic model of the human eye. A mechatronic device that can image intraocular objects with increased field-of-view, spatial resolution, and depth sensitivity is proposed. 3D localization using a depth-from-focus approach is discussed, and the validity and limitations of a method based on paraxial approximations is demonstrated by experiments in a model eye.

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control Architecture Design for an Gas Cutting robot

Control Architecture Design for an Gas Cutting Robot

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2nd international conference on Future Generation Communication and Networking

作者： Yoo, KiSung Ryu, HwangRyol Choi, Chintae Res Inst Sci & Technol Factory & Automat Res Ctr Pohang South Korea

ISBN: (纸本)9781424434305

This paper describes preliminary results from using reactive control architecture, known as CAPSC (control Architecture for Poor Strip Cutting), which is designed for a gas cutting robot in Gwangyang steelworks, South Korea. This gas cutting mobile robot, called APSCR (Autonomous Poor Strip Cutting robot) is designed to identify the poor strips, move an initial cutting position, and start to cut over 60 m long poor strip every 9m by using a gas cutting- torch. Since its working environment is extremely complex to robot's functionatities and furthermore robot must deal with explosive tanks, APSCR requires more appropriate control architecture in order to provide the following criterions;safety and simplicity. One of the popular control architectures successfully applied to the service mobile robots, reactive control architecture, is employed as primary control such as navigation, obstacle detection, cutting and so on. Besides, walkthrough procedure for safety is implemented to supervise all possible risks to workers and robot for itself. The experimental results are provided to prove a reliability of the proposed architecture.

关键词： Gas cutting robot control architecture

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