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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Jeong-Yean Yang Dong-Soo Kwon Human-Robot Interaction Research Center Korea Advanced Institute of Science and Technology Yuseong-gu Daejeon Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Yuseong-gu Daejeon Korea

To improve the dynamical effect of robotic motion, this paper is focused on the efficient usage of storing angular momentum. With the pair of two actuators, we proposed a flywheel-based actuator in which angular momentum is stored for high-torque generation and various types of harmonic patterns are controlled. The kinematic design and the control issues are introduced and the experimental results are discussed.

关键词： Actuators Torque Kinematics Energy storage Service robots Dynamics

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Some mathematical aspects on walking robots stable evolution

Some mathematical aspects on walking robots stable evolution

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International Conference on Software, Knowledge Information, Industrial Management and Applications (SKIMA)

作者： Marcel Migdalovici Luige Vladareanu Gabriela Vladeanu Said Broumi Daniela Baran Florentin Smarandache Hongbo Wang Yonfei Feng Robotics and Mechatronics Department Romanian Academy Institute of Solid Mechanics Bucharest Romania Faculty of Science Ben M'Sik University Hassan II Casablanca Morocco Dynamical Systems National Institute of Aircraft Research “Elie Carafoli” Bucharest Romania Department of Mathematics University of New Mexico Gallup NM USA Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China

ISBN: (纸本)9781509032990

A survey of some author's concepts on the dynamic systems stability regions, in the general case of dynamic systems that depend on parameters is related in the paper. The property of separation of stable regions in the free parameters domain is assumed in the paper as an important property of the environment that is carry out and in the specified case of walking robot analyzed in the paper. The matrix that defines the linear dynamic system has the components of the matrix, assumed to be with real values, and the matrices that intervene in the exposure of the method are also, with real values of the components. We assumed that the matrices from the exposure have the complex values such that the real values are also taken into account as particular case of the complex values. This hypothesis assures a new method of analysis, in the complex domain, on the dynamic systems stability. Our theory on the stability control of the dynamic systems is applied here for specified walking robot model that depend on parameters. The critical position of the walking robot evolution is defined and analyzed on some cases of the walking robot leg, and possible application for robot walking up stairs is exposed. The further way of research is emphasized.

关键词： Legged locomotion Eigenvalues and eigenfunctions Matrices Heuristic algorithms Stability analysis Mathematical model

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Development of 3D viewer based teleoperation interface for Human Support robot HSR

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ROBOMECH Journal 2014年第1期1卷 1页

作者： Yaguchi, Hiroaki Sato, Kenji Kojima, Mitsuharu Sogen, Kiyohiro Takaoka, Yutaka Tsuchinaga, Masayoshi Yamamoto, Takashi Inaba, Masayuki Department of Information Science and Technology The University of Tokyo Hongo Bunkyo-ku 7-3-1 Tokyo Japan Advanced Technology Engineering Dept. Partner Robot Div. Toyota Motor Corporation 543 Kirigahora Nishi-Hirose-cho Toyota Aichi Japan

In this paper, we introduce 3D-viewer-based teleoperation system for manipulation task of Human Support robot HSR. The system is integrated by three functions;3D environment information visualization based on Manhattan-world assumption, known object recognition using LINE-MOD algorithm, and virtual teaching with 3D robot model using interactive marker. We show some experimental results of manipulation tasks using proposed system. © 2014, Yaguchi et al.;licensee Springer.

关键词： Object recognition

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A walking horse dynamic model for generating sensations on a simulator at various walking speeds

A walking horse dynamic model for generating sensations on a...

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IEEE International Workshop on robot and Human Communication (ROMAN)

作者： Chan-Soon Lim Oh-Hun Kwon Jeong-Yean Yang Hyung-Soon Park Dong-Soo Kwon Human-Robot Interaction Research Center at KAIST Yuseong-gu Daejeon Korea Department of Mechanical Engineering KAIST(Korea Advanced Institute of Science and Technology) Daejeon Republic of Korea

A horseback riding simulator is developed to overcome challenges occurring on real horses. The goal of the simulator is to provide a real horseback riding-like sensation to the user in various situations with limited workspace. This paper focuses on generating various trajectories at different walking speeds with dynamic effects. A walking horse dynamic model is purposed based on a two-linked rimless wheel and is modified with 3D-captured data from a real horse. A controller is also designed for passing and compression-recoil modes, aiding in changing the models walking speed using speed change input. A dynamics simulation is performed and results show that the suggested walking model covers trajectory with measured data and shows more variation.

关键词： Legged locomotion Trajectory Horses Dynamics Wheels Torque Data models

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Robust resonance suppression control based on self resonance cancellation control and self resonance cancellation disturbance observer for application to humanoid robot

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IEEJ Transactions on Industry Applications 2014年第4期134卷 376-383+1页

作者： Aoki, Motonobu Fujimoto, Hiroshi Hori, Yoichi Takahashi, Taro Department of Advanced Energy Graduate School of Frontier Science University of Tokyo 5-1-5 Kashiwanoha Kashiwa-shi Chiba 277-8561 Japan Advanced Technology Engineering Department Partner Robot Division Toyota Motor Corporation 1-4-18 Koraku Bunkyo-ku Tokyo 112-8701 Japan

A plant needs to be modeled with two inertia systems: to consider the spring element of the transmission due to the improved kinematic performance of a humanoid robot and to introduce a resonance suppression control. However, previous resonance suppression controls are not robust against modeling error and are difficult to apply to a humanoid robot. In this paper, we present a robust resonance suppression control for the modeling error of two inertia systems;we developed a self resonance cancellation control (SRC) and self resonance cancellation disturbance observer (SRCDOB) and applied them to a humanoid robot. © 2014 The Institute of Electrical Engineers of Japan.

关键词： Robust control

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Kinetostatics Analysis of a Novel 6-DOF Parallel Manipulator with Three Planar Limbs and Equipped with Three Fingers

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Chinese Journal of Mechanical Engineering 2014年第5期27卷 919-927页

作者： LU Yi LI Xuepeng College of Mechanical Engineering Yanshan University Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education

It is significant to develop a robot hand with high rigidity by a 6-DOF parallel manipulator（PM）.However,the existing6-DOF PMs include spherical joint which has less capability of pulling force bearing,less rotation range and lower precision under alternately heavy loads.A novel 6-DOF PM with three planar limbs and equipped with three fingers is proposed and its kinematics and statics are analyzed systematically.A 3-dimension simulation mechanism of the proposed manipulator is constructed and its structure characteristics is *** kinematics formulae for solving the displacement,velocity,acceleration of the platform,the active legs and the fingers are *** statics formulae are derived for solving the active forces of PM and the finger *** analytic example is given for solving the kinematics and statics of proposed manipulator and the analytic solved results are verified by the simulation *** is proved from the error analysis of analytic solutions and simulation solutions that the derived analytic formulae are correct and provide the theoretical and technical foundations for its manufacturing,control and application.

关键词： parallel manipulator planar limbs finger kinematics statics

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Thickness estimation method of a hard object located in a soft material using a grasping forceps with sensors for tumor detection

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IEEJ Transactions on Sensors and Micromachines 2016年第9期136卷 377-383页

作者： Saito, Kai Nakai, Akihito Masamune, Ken Dohi, Takeyoshi Kuwana, Kenta Graduate School of Engineering Tokyo Denki University 5 Senju Asahi-cho Adachi-ku Tokyo120-8551 Japan Information and Robot Technology Research Initiative University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo113-8656 Japan Touchence Inc. 2-21-10 Kitaueno Taito-ku Tokyo110-0014 Japan Institute of Advanced BioMedical Engineering and Science Tokyo Women's Medical University 8-1 Kawada-cho Shinjuku-ku Tokyo162-8666 Japan School of Engineering Tokyo Denki University 5 Senju Asahi-cho Adachi-ku Tokyo120-8551 Japan

In this study, we proposed a thickness estimation method of tumor using a grasping forceps with sensors and evaluated the method by estimating the thickness of tumor models located in tissue models. Though palpation is an important technique for distinguishing a tumor, the palpation during thoracoscopic surgery is difficult because of the lack of tactile sense. In order to compensate the surgeon's tactile sense, we developed a forceps with two MEMS (Micro Electro Mechanical Systems) triaxial tactile sensors. By using this forceps, we proposed a tumor thickness estimation method focusing on the detected force difference according to the hardness of the grasping area. Then, we evaluated the thickness of tumor models located in the soft tissue models to prove the feasibility of our estimation method. The 5 mm and 10 mm diameter spherical tumor models located in the tissue models were estimated 3.3 mm and 10.7 mm, respectively. This result indicates the possibility that the proposed method enables to estimate the thickness of a tumor within an organ. © 2016 The Institute of Electrical Engineers of Japan.

关键词： Tumors

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Force measurement method and analysis of guide wire in minimally invasive cardiovascular interventional surgery

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Journal of Chemical and Pharmaceutical Research 2014年第1期6卷 266-270页

作者： Yang, Xue Wang, Hongbo Wang, Qiang Wu, Jianshuang Parallel Robot and Mechatronic System Laboratory of Hebei Province China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education Yanshan University China

This paper presents a method of detecting the resistant force that acting on the guide wire when it moving into the body blood vessel for minimally invasive cardiovascular interventional surgery operated by a robot system. To learn more about the influenced factors for measured force, some simulations of body blood flow environment have been given. And then some analyses have been worked on blood flow to study whether the parameters of blood flow influence the resistant force measurement results. All of these studies will make us know more about the reliability of this force detecting method and lay the foundation for realizing force feedback in minimally invasive surgery robot system to further improve the system reliability.

关键词： Blood vessels

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Modified formula of mobility for mechanisms

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2014年 8918卷 535-545页

作者： Lu, Wenjuan Zhang, Lijie Zhang, Yitong Ma, Yalei Cui, Xiaoxu Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Qinhuangdao066004 China

How to determine the degree of freedom (DOF) of parallel mechanisms (PMs) and multiloop spatial mechanisms has been a long standing problem, and it still is an active field of research with plenty open questions. Firstly, three categories formulas expressed with loop-unit are introduced from a new perspective of their treatment for the motion parameter of each independent closed loop(ICL). Secondly, based on some concepts and theory of link group, the analysis provides insight into why the previous formulas do not work for some multiloop mechanisms. Then a modified formula is presented by adding an addition index called loop-redundant-rank, meanwhile the steps of estimate of mobility property are presented. Finally a typical examples is selected to calculate the DOF with the formula mentioned above. And the results coincide with the prototype data, which shows the effectiveness of the proposed method to a certain extent. It can be seen that the formula presented in this paper can do quick mobility calculation and mobility property analyses of parallel mechanisms with elementary legs. © Springer International Publishing Switzerland 2014.

关键词： Mechanisms

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Study on Objective Platform Driven by Piezoceramics for Cell Injection

Study on Objective Platform Driven by Piezoceramics for Cell...

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IEEE International Conference on Nano/Molecular Medicine and Engineering

作者： Bowen Zhong Zongwei Li Zhenhua Wang Ziqi Jin Lining Sun Linsen Chen Jiangsu Province Key Laboratory of Advanced Robot Technology Soochow University China SIP Postdoctor Station of SVG Digitoptics China

ISBN: (纸本)9781467396738

In cell injection, biological microscope is essential. It is commonly that intelligent microscope has many striking features, one of which is having a three-dimensional micro objective platform. The platform has the function of high precision positioning and automatic focus. In this paper, a novel single degree of freedom objective platform based on inertial stick-slip has been designed and fabricated, which works in millimeter movement range and nanoscale resolution. The dynamic model has been built to study the process of the inertial stick-slip and be helpful for designing the precision platform. In consideration of the nonlinear features of friction between the friction interfaces, the LuGre friction model has been mentioned in the dynamic model. The LuGre model describes several friction phenomenon, such as Strbeck, Hysteresis and so on. The 1D objective platform has resolution of 4 nm and is stroke of 20mm. The velocity reaches 3mm/s. Generally, the stage is driven by saw-tooth wave, while the self-defined waveform is discussed in this experiment. Finally, the optimized input signal is obtained.

关键词： Study Objective Platform

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