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IEEE-RAS International Conference on Humanoid robots

作者： Norikazu Sugimoto Jun Morimoto Advanced ICT Research Institute National Institute of Information and Communications Technology Souraku Kyoto Japan Department of Brain Robot Interface ATR Computational Neuroscience Laboratories Souraku Kyoto Japan

In this study, we introduce a phase-dependent trajectory optimization method for Central Pattern Generator (CPG)-based biped walking controllers. By exploiting the synchronization property of the CPG controller, many legged locomotion studies have shown that the CPG-based walking controller is robust against external perturbations and works well in real environments. However, due to the nonlinear dynamic property of the coupled oscillator system composed of the CPG controller and the robot, analytically designing the biped trajectory to satisfy the requirements of a target walking pattern is rather difficult. Therefore, using a nonlinear optimization method is reasonable to improve the walking trajectory. To optimize the walking trajectory, a model-free optimal control method is preferable because precise modeling of the ground contact is difficult. On the other hand, model-free trajectory optimization methods have been considered as quite computationally demanding approach. However, because of recent advances in the nonlinear trajectory optimization method, using the model-free optimization method is now a realistic approach for biped trajectory optimization. We use a path integral reinforcement learning method to improve the biped walking trajectory for CPG-based walking controllers.

关键词： robots

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A new subminiature impact actuator for mobile devices

A new subminiature impact actuator for mobile devices

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World Haptics Conference

作者： Tae-Heon Yang Dongbum Pyo Sang-Youn Kim Young-Jun Cho Yu Dong Bae Young Min Lee Jeong Seok Lee Eun Hwa Lee Dong-Soo Kwon Human-Robot Interaction Research Center KAIST Daejeon South Korea Interaction Laboratory Advanced Technology Research Center KUT Cheonan South Korea System in Package Laboratory Samsung Electronics Company Limited Suwon South Korea

This paper presents a new subminiature impact type actuator which creates the haptic sensation in a mobile device. Recently, linear resonance actuators (LRA) are widely used. One of the key differences between an LRA and a traditional eccentric motor is that the LRA generates the vibrotactile sensation through resonance for minimizing response time. The strategy of operation near the resonant frequency, however, brought a new issue for creating vibrotactile sensation which can be strong enough to feel in arbitrary frequency. In order to achieve this issue, we adopt an unstable structure to amplify impact force and to reduce response rate. Due to the impact with fast rising and falling time in the proposed impact actuator, the available strong impact vibration is created over wide frequency range from 0Hz to 100Hz. The impact vibration generated from the proposed actuator is suitable for reproducing realistic button sensation and creating various vibration patterns in mobile devices.

关键词： Actuators Vibrations Solenoids Mobile handsets Force Magnetic cores Permanent magnets

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robotic Arm Control Inspired by Human Muscle Tension Effect under the Gravity

Robotic Arm Control Inspired by Human Muscle Tension Effect ...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Ji-Hun Bae Woosung Yang Sang-Rok Oh Bum-Jae You Doik Kim Yonghwan Oh Department of Applied Robot Technology Korea Institute of Industrial TechnologyAnsan R&D Center127 Human Factors & Devices Research Team Central Advanced Research & Engineering Institute of Hyundai M Cognitive Robotics Center Korea Institute of Science & TechnologyP.O. BOX 131CheongryangSeoul 130

In recent, control approaches for the human-like behavior in the field of service robotics have been attracting considerable attention, since most humans or animals perform various tasks uncomplicatedly. Hence simple control methods based on gaining a physical insight into human reaching movement in redundancy of DOFs have been proposed. In comparison with the conventional approaches, the proposed method tries to control directly robotic systems in task-space with the control signal composed of linear superposition of three terms 1) joint-damping, 2) virtual spring, and 3) virtual damper in task-space. In particular, our work contains a muscle tension effect of a human under the gravity. This give birth to energy efficient natural motions avoiding problems on repeatability of the motion and ill-posedness problems emerged in most of redundant DOF systems. Thus, this paper exhibits expendability of the position control into the orientation control and compliant behavior. It is verified with a real robotic arm that satisfies human-like movements and motion repeatability under kinematic redundancy of joints.

关键词： robot arm control Human-like motion Redundant robots Manipulation

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robot head-eye calibration using the minimum variance method

Robot head-eye calibration using the minimum variance method

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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Kim, Sin-Jung Jeong, Mun-Ho Lee, Joong-Jae Lee, Ji-Yong Kim, Kang-Geon You, Bum-Jae Oh, Sang-Rok Korea Republic of Korea Republic of Lab. of Robot Vision and Intelligence School Robot Kwangwoon Univ. Korea Republic of Machine Intelligence Group Information and Technology Lab. LGE Advanced Research Institute Korea Republic of

ISBN: (纸本)9781424493173

This paper presents a calibration method for a robot Head-Eye system which can be used in a humanoid robot vision system. This method estimates the transformation between the robot coordinate and the camera coordinate. The calibration procedure uses visual measurements and kinematic information as the inputs of nonlinear optimization. For this calibration method, an objective function for the optimization, that uses the Minimum Variance method is defined. The procedure of this method is very simple and intuitive. Besides, the result of this method is considerably precise and robust against the noisy environment. The performance is compared with earlier approaches and the results of simulation and actual experiment are followed. © 2010 IEEE.

关键词： Anthropomorphic robots

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The multiscale simulation of metal organic chemical vapor deposition growth dynamics of GaInP thin film

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Science China(Physics,Mechanics & Astronomy) 2010年第8期53卷 1481-1490页

作者： HU GuiHua YU Tao Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of EducationEast China University of Science and TechnologyShanghai 200237China CIMS&Robot Center of Shanghai University Shanghai 200072China

As a Group III–V compound, GaInP is a high-efficiency luminous material. Metal organic chemical vapor deposition (MOCVD) technology is a very efficient way to uniformly grow multi-chip, multilayer and large-area thin film. By combining the computational fluid dynamics (CFD) and the kinetic Monte Carlo (KMC) methods with virtual reality (VR) technology, this paper presents a multiscale simulation of fluid dynamics, thermodynamics, and molecular dynamics to study the growth process of GaInP thin film in a vertical MOCVD reactor. The results of visualization truly and intuitively not only display the distributional properties of the gas’ thermal and flow fields in a MOCVD reactor but also display the process of GaInP thin film growth in a MOCVD reactor. The simulation thus provides us with a fundamental guideline for optimizing GaInP MOCVD growth.

关键词： metal organic chemical vapor deposition computational fluid dynamics kinetic Monte Carlo virtual reality multiscale simulation GaInP thin film growth

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Nonlinear structure of escape-times to falls for a passive dynamic walker on an irregular slope: Anomaly detection using multi-class support vector machine and latent state extraction by canonical correlation analysis

Nonlinear structure of escape-times to falls for a passive d...

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2011 IEEE/RSJ International Conference on Intelligent robots and Systems

作者： Hiromichi Suetani Aiko M. Ideta Jun Morimoto Department of Physics and Astronomy Graduate School of Science and Engineering Kagoshima University Kagoshima Kagoshima Japan Flucto-Order Functions Research Team RIKEN Advanced Science Institute Wako Saitama Japan Decoding and Controlling Brain Information PRESTO Japan Science and Technology Agency Kawaguchi Saitama Japan Department of Brain Robot Interfaces ATR Computational Neuroscience Laboratories Keihanna Science City Kyoto Japan

Falls that occur during walking are a significant problem from the viewpoints of both medicine and robotics engineering. It is very important to predict falls in order to prevent the falls or minimize the ensuing damage from them. In this study, we investigate the structure of the escape-times from walking to falling of a passive dynamic biped walker on a slope in a 2D plane with irregularities. We find that the structure lies on a manifold with high nonlinearity in state space that cannot be analyzed by linear methods under the assumption of a Gaussian distribution. Therefore, we first apply an extension of the support vector machine (SVM) to characterize its nonlinear structure, which enables us to predict imminent falls. Next, we find a latent space which describes the essential dynamics of the passive walker in a lower-dimensional space using canonical correlation analysis (CCA). There is wide applicability of this work for monitoring walking anomalies of both robots and human beings.

关键词： Legged locomotion Support vector machines Principal component analysis Kernel Training Trajectory Limit-cycles

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Characteristics of a Beetle's Free Flight and a Flapping-Wing System that Mimics Beetle Flight

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仿生工程学报(英文版) 2010年第1期7卷 77-86页

作者： Quoc Viet Nguyen[a] Hoon Cheol Park[a][b] Nam Seo Goo[a][b] Doyoung Byun[b][c] [a] Department of Advanced Technology Fusion Konkuk University Seoul 143-701 Korea [b] Artificial Muscle Research Center & Smart Robot Center Konkuk University Seoul 143-701 Korea [c] Department of Aerospace Engineering Konkuk University Seoul 143-701 Korea

In this work, we first present a method to experimentally capture the free flight of a beetle (Allomyrina dichotoma), which is not an active flyer. The beetle is suspended in the air by a hanger to induce the free flight. This flight is filmed using two high-speed cameras. The high speed images are then examined to obtain flapping angle, flapping frequency, and wing rotation of the hind wing. The acquired data of beetle free flight are used to design a motor-driven flapper that can approximately mimic the beetle in terms of size, flapping frequency and wing kinematics. The flapper can create a large flapping angle over 140° with a large passive wing rotation angle. Even though the flapping frequency of the flapper is not high enough compared to that of a real beetle due to the limited motor torque, the flapper could produce positive average vertical force. This work will provide important experience for future development of a beetle-mimicking Flapping-Wing Micro Air Vehicle (FWMAV).

关键词： biomimetics beetle free flight wing kinematics flapper Scotch yoke linkage mechanism

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Highly integratable large-scale displays for public spaces

Highly integratable large-scale displays for public spaces

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12th ACM International Conference Adjunct Papers on Ubiquitous Computing - Adjunct, UbiComp 2010

作者： Sato, Munehiko Suzuki, Yasuhiro Nishizaka, Shinya Torigoe, Yusuke Izumihara, Atsushi Hiyama, Atsushi Nishimura, Kunihiro Tanikawa, Tomohiro Hirose, Michitaka JSPS/Department of Advanced Interdisciplinary Studies Graduate School of Engineering University of Tokyo Japan Research Center for Advanced Science and Technology University of Tokyo Japan Department of Mechano-Informatics Graduate School of Information Science and Technology University of Tokyo Japan Information and Robot Technology Research Initiative University of Tokyo Japan

ISBN: (纸本)9781450302838

The use of large visual displays in public space has become increasingly popular. However, it is still difficult to install new displays in already existing buildings because of the large and rigid hardware associated with such displays. In this paper, we describe a highly integratable, easily and quickly installable, and lightweight display system for use in existing public buildings. We describe the technical design and implementation of the display system and describe an application of the display for public audiences. © 2010 Copyright is held by the author/owner(s).

关键词： Display devices

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RETRACTED ARTICLE: A dynamic simulation of force in the movement of ameba based on COSMOS

RETRACTED ARTICLE: A dynamic simulation of force in the move...

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作者： Chen, Lei Luo, Minzhou Mei, Tao Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei Institute of Intelligent Machines CAS Hefei 230031 China Precision Machinery and Precision Instrumentation University of Science and Technology of China Hefei 230026 China

ISBN: (纸本)9780769540467

Imitation amoeba robot entering the space whose nominal size is smaller than itself can complete can perform many tasks inaccessible to other robots or humans such as surveillance, inspection, repair, cleaning, and exploration. Parameterized solid models of amoeba are established by using *** simulation analysis of the movement and the force situation in the movement is completed by using the software of COSMOS. The change of Amoeba entities that based on deformation of the ipmc material in effect ofthe control unit is researched. © 2010 IEEE.

关键词： Computer software

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The research of pulse wave signal denosing based on EMD and ICA

The research of pulse wave signal denosing based on EMD and ...

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3rd International Joint Conference on Computational Sciences and Optimization, CSO 2010: Theoretical Development and Engineering Practice

作者： Zheng, Yingying Zhang, Yongliang Liu, Yanli Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Institute of Intelligent Machines Chinese Academy of Science 230031 China Department of Automation University of Science and Technology of China 230027 China Anhui Institute of Architecture and Industry Hefei 230601 China

ISBN: (纸本)9780769540306

Pulse wave is easily contaminated by noise when being sampled and processed. In order to extract and analyze the useful information involved, the paper presents a novel denoising algorithm based on empirical mode decomposition (EMD) and independent component analysis (ICA).First, the signal is decomposed by EMD ,then a series of intrinsic mode functions (IMFs) and the remainder can be obtained. Second, ICA will be performed to separate independent components from IMFs. At last, these independent components will be used to reconstruct the pulse wave signal. By using the method, we are able to separate noise and estimate desired source signals from pulse wave signal. Experimental results substantiate the strong potential of the proposed method for pulse wave signal noise separation. © 2010 IEEE.

关键词： Empirical mode decomposition

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