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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Liu, Lei Xu, Linsen Liu, Jinfu Xu, Jiajun Chen, Shouqi Cheng, Gaoxin Xu, Hong Shi, Jia University of Science and Technology of China Hefei China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei China

ISBN: (纸本)9781728164151

Mooring location has become increasingly important with the rapid development and utilization of marine resources. The mooring system of the underwater mobile robot is required to be efficient and intelligent. This paper proposes a novel anchoring robot by imitating the excellent inhabitation functions and physiological structure of the razor clam. This bio-inspired robot can autonomously dig holes, anchor, and detach to improve the efficiency of mooring location in marine operations. Specifically, the axe foot of the robot plays an important role in these movements. It contains a screw-cone drill and two soft parts. The screw-cone drill is the main forced part while the robot is in the digging state and the rationality of drill design is proved by mechanics analysis. Moreover, the soft part, which is connected with the upper end of the drill, is analyzed to show the capability of obstacle avoidance. The rationality of the structural design and a good submarine anchoring function of the axe foot are verified by the above analysis. © 2020 IEEE.

关键词： Drills

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A Visual Based robot Trajectory Teaching Method for Traditional Chinese Medical Moxibustion Therapy 6

A Visual Based Robot Trajectory Teaching Method for Traditio...

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6th IEEE International Conference on Computer and Communications, ICCC 2020

作者： Liu, Jiaxun Lei, Qujiang Qiao, Yukai Gui, Guangchao Li, Xiuhao Jin, Jintao Wang, Weijun Intelligent Robot Equipment Center Guangzhou Institute of Advanced Technology Chinese Academy of Sciences Guangzhou 511458 China

ISBN: (纸本)9781728186351

At present, Chinese traditional physiotherapy is more and more trusted and valued by people, among which moxibustion is a very effective treatment. In order to improve the efficiency of human-computer interaction and help physiotherapists to use robots to replace human power, this paper proposes a visual based robot arm trajectory teaching method. The physiotherapy staff only needs to use an optical marker to demonstrate the therapeutic trajectory on the patient's back, and the robotic arm can pick up the expected trajectory and repeat the same work. We use LK optical flow algorithm to obtain marker's motion trajectory, and then smoothen the trajectory through SG filter, which is more executable for robot arm. Finally, we design an experiment and simulate it on MATLAB to obtain the accuracy of the trajectory and the results is impressive. © 2020 IEEE.

关键词： Computer vision

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The role of mental model and shared grounds in Human-robot Interaction

The role of mental model and shared grounds in Human-Robot I...

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14th IEEE Workshop on robot and Human Interactive Communication, RO-MAN 2005

作者： Hwang, Jung-Hoon Lee, KangWoo Kwon, Dong-Soo Human-Robot Interaction Research Center Korea Advanced Institute of Science and Technology Daejeon 305-701 Korea Republic of

ISBN: (纸本)0780392752

This paper investigates the role of mental model and shared grounds in Human-robot Interaction and the relation between them for efficient communication as well as collaboration between human and robot. We tried to conceptualize 3 way relationship among human, robot and world, and to link them in terms of the construction of shared grounds. Based on our conceptual framework of shared grounds, we developed a mediate interface that allows human users to communicate and coordinate with a robot using multimodal icon symbols. A pilot experiment was carried out to examine how people acquire a mental model about 'what' and 'how' a robot can do, and what it knows. The experimental results show that, for the efficient and cooperative Human-robot Interaction (HRI), a proper linkage between human and robot is required to share perceptual experience, object or procedural knowledge on a task. © 2005 IEEE.

关键词： Human computer interaction

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RFID-enabled target tracking and following with a mobile robot using direction finding antennas

RFID-enabled target tracking and following with a mobile rob...

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IEEE International Conference on Automation Science and Engineering

作者： Kim, Myungsik Chong, Nak Young Ahn, Hyo-Sung Yu, Wonpil School of Information Science Japan Advanced Institute of Science and Technology Ishikawa Japan Intelligent Robot Research Division ETRI Daejeon South Korea

ISBN: (纸本)9781424411535

A stand-alone direction finding RFID reader is developed for mobile robot applications employing a dual-directional antenna. By adding search and localization capabilities to the current state of RFID technology, robots will be able to acquire and dock to a static target in a real environment without requiring a map or landmarks. Furthermore, we demonstrate RFID-enabled tracking and following of a target moving unpredictably with a mobile robot. The RFID reader keeps the robot aware of the direction of arrival (DOA) of the signal of interest toward which the dual-directional antenna faces the target transponder. The simulation results show that the proposed RFID system can track in real time the movement of the target transponder. To verify the effectiveness of the system in a real environment, we perform a variety of experiments in a hallway including target tracking and following with a commercial mobile robot.

关键词： Radio frequency identification (RFID)

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Design of a robot gripper for a rapid service robot

Design of a robot gripper for a rapid service robot

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6th IFAC Symposium on Mechatronic Systems, MECH 2013

作者： Jung, Tae J. Oh, Jun H. Mechanical Engineering Department Korea Advanced Institute of Science and Technology Dae-jeon Korea Republic of Humanoid Robot Research Center Korea Advanced Institute of Science and Technology Dae-jeon Korea Republic of

ISBN: (纸本)9783902823311

This research designs a robot gripper for a rapid service robot. For a service robot that moves rapidly, a robot gripper must be lightweight and must have the ability to grasp objects of any size or shape stably. In addition, sufficient gripping force, a low cost, and a friendly shape are necessary. To satisfy the above requirements, this research designs a new robot gripper. We use a four-bar linkage underactuated system for shape adaptability and to reduce the weight. In a simulation, the four-bar linkage is designed to eliminate the rollback ejection phenomenon while also maximizing the utilization of a parallel grasping. While other studies place emphasis on preventing rollback ejection phenomenon, in this research we stress the maximum utilization of both parallel and power grasping using a compliance jaw and a double four-bar linkage design. With the parallel four-bar linkage system, the gripper can perform both parallel grasping and power grasping, allowing it to grip a diverse range of objects. Moreover, the compliant jaw enhances the stability of its grasp, and its worm gear enables the gripper grasp to be stable while also reducing the gripper's weight. With a force sensor, it can manage sensitive force control. In this way, we designed a robot gripper suitable for rapid service robots. © 2013 IFAC.

关键词： Grippers

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A bio-inspired wall-climbing robot with claw wheels and adhesive tracks

A bio-inspired wall-climbing robot with claw wheels and adhe...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Liu, Jinfu Xu, Linsen Xu, Jiajun Wu, Xuan Wang, Meiling Lu, Linlin Hefei Institutes of Physical Science Chinese Academy of Sciences Institute of Advanced Manufacturing Technology Hefei China University of Science and Technology of China Hefei China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781538680698

The paper presents a bio-inspired wall-climbing robot capable of locomotion on a great variety of surfaces at speeds up to 10cm/s using claws or tracks. Inspired by the mechanism and movement characteristics of the feet on flies, a novel and innovative structure is designed and implemented. Furthermore, three mechanical models, which are statics and dynamics on rough wall surfaces as well as adhesion on smooth surface, are proposed to analyze the force or torque acting on the robot. Finally, experiments on foam, brick and glass surfaces are carried out, and the results indicate that the robot with claw wheels and adhesive tracks is able to climb steadily on various complex walls. © 2018 IEEE.

关键词： Adhesives

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Electric Field Manipulation of Rydberg States for Very Low Frequency Fields Detection

arXiv

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arXiv 2025年

作者： Chen, Minze Feng, Haonan Gao, Ge Zhu, Zhiao Li, Zhongxiang Wu, Zhonghuai Xiao, Wei Dai, Weidong Peng, Peng Zheng, Dezhi State Key Laboratory of Environment Characteristics and Effects for Near-Space Beijing Institute of Technology Beijing100081 China National Key Laboratory of Science and Technology on Space-Born Intelligent Information Processing Beijing100081 China State Key Laboratory of Explosion Science and Safety Protection Beijing Institute of Technology Beijing100081 China Jiaxing314019 China Zhuhai519088 China Advanced Research Institute of Multidisciplinary Science Beijing Institute of Technology Beijing100081 China Taizhou Meteorological Bureau Taizhou318000 China Chongqing Caeri Robot Technology Co. Ltd. Chongqing400722 China

The very low frequency(VLF) band is widely used in submarine communication and geophysical exploration for its strong penetration and long-distance propagation. This paper theoretically and experimentally investigates Rydberg EIT in 133Cs vapor under VLF and DC fields. A model is established to describe the EIT spectral response under dual-field conditions, with theoretical predictions showing agreement with experimental results. We propose a novel calibration-free method to measure VLF electric fields, bypassing traditional Stark shift measurements. This method detects additional splitting intervals of Stark sublevels, separated from the degenerate energy level under a DC field. This phenomenon arises from the averaging effect of sublevel sinusoidal oscillations in the spectrum induced by the VLF field. The splitting interval is proportionally dependent on the VLF field amplitude. The VLF electric field sensor is enhanced by increasing the strength of the DC field, extending the traceable measurement limit for weak VLF electric fields by more than an order of magnitude. This work highlights the potential for precise VLF electric field measurements, significantly advancing the calibration-free detection capabilities of Rydberg atom sensors for low-frequency applications. Copyright © 2025, The Authors. All rights reserved.

关键词： Rydberg states

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Design, simulation and experimentation of a biomimetic wall-climbing robot with tracked spines

Design, simulation and experimentation of a biomimetic wall-...

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2020 IEEE International Conference on Power, Intelligent Computing and Systems, ICPICS 2020

作者： Shi, Jia Xu, Linsen Liu, Jinfu Cheng, Gaoxin Liang, Xingcan Liu, Lei Chen, Shouqi Xu, Hong Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science Cas University of Science and Technology of China Changzhou City Jiangsu Province China Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science Cas Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Changzhou City Jiangsu Province China

ISBN: (数字)9781728198743

ISBN: (纸本)9781728198736

This paper presents a novel cooperative grasping wheeled wall-climbing robot with the ability to climb concrete, brick walls using tracked-spines arrays located around the track. The robot uses a combination of the crank-link mechanism and gear transmission to control the tracked spines on both sides of the robot to grasp the asperities. The kinematic and dynamic analysis of the crank-link mechanism and the simulation demonstrate that the motion state of the robot is stable in the climbing process. By means of wireless communication, the control information is transmitted to the main controller, which drives the motors to make each mechanism work together. Finally, the prototype is fabricated and several experiments are carried out to verify the climbing performance of the robot. © 2020 IEEE.

关键词： Biomimetics

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Design of robot programming software for the systematic reuse of teaching data including environment model

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ROBOMECH Journal 2018年第1期5卷 1页

作者： Hanai, Ryo Harada, Kensuke Hara, Isao Ando, Noriaki Robot Innovation Research Center National Institute of Advanced Industrial Science and Technology 1-1-1 Umezono Tsukuba Japan Graduate School of Engineering Science Osaka University 1-3 Machikaneyama Toyonaka Japan

The motion of the robot to realize assembly work includes the part where the reuse of the motion adjusted for the real objects is effective and the part where automatic generation in the simulator is suitable. In order to smoothly teach such assembly work, teaching software that enables to combine previously used motions and perform overall adjustment of the workflow and integrated environment representation in the simulator is expected. Some teaching tools focus on the function of making robot motion in detail, and it assumes that the adjustment of the whole workflow including system layout using the real work environment. For this reason, the environmental expression is not sufficient for the above purpose. Although offline teaching tools and motion planning tools are rich in the representation of the environment, there are not many studies on a systematic reuse mechanism of motions adjusted in a real environment, including environment representations. In this paper, we present software design to solve this problem and the implementation of it as a plugin for Choreonoid. By an experiment, we confirmed that we can describe a comparatively complicated assembly work with the proposed software. © 2018, The Author(s).

关键词： robot programming

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Research on Path Planning of Breast Ultrasound Examination robot

Research on Path Planning of Breast Ultrasound Examination R...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Zhang, Xinran Du, Haiyan Zhang, Yongde Gao, Guoqiang Harbin University of Science and Technology Key Laboratory of Advanced Manufacturing and Intelligent Technology Harbin150080 China Foshan Baikang Robot Technology Co. Ltd. Foshan528237 China

ISBN: (纸本)9798350325706

Breast cancer is the cancer with the highest incidence among women. The detection of breast cancer has received increasing attention. As an excellent medical image of the breast, ultrasound has the advantages of real-time execution, high efficiency and convenient operation, which is beneficial to the examination of breast cancer. Scanning path planning is an important part of ultrasound-guided breast examination. robot-assisted ultrasonic scanning can reduce the labor intensity of doctors and standardize the scanning process. Good path planning ensures the efficiency of ultrasonic testing and the accuracy of testing results. The scanning path planning of robot-assisted breast ultrasound examination based on binocular vision is studied. The binocular camera was used to collect photos of the breast model. The binocular camera is calibrated and corrected. The depth information is obtained by stereo image matching, and the breast model is obtained. The ultrasonic scanning path is acquired by model information and path extraction. The experimental results show that the robot can complete breast ultrasound scanning according to the predetermined path, and the accuracy and efficiency of the scanning operation are improved. © 2023 IEEE.

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