This paper aims to fabricate functionally graded dental crown using a multi-slurry tape casting additive manufacturing technology. The different luminescence of the dental crown was obtained with different composition...
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With the rapid development of measurwement technology, LiDAR and depth cameras are widely used in the perception of the 3D environment. Recent learning based methods for robot perception most focus on the image or vid...
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Endovascular procedures have revolutionized the treatment of vascular diseases thanks to minimally invasive solutions that significantly reduce patient recovery time and enhance clinical outcomes. However, the precisi...
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As for a motion control framework of robots, virtual model control（VMC） can use virtual components to create virtual forces/torques. Actually, the virtual forces/torques are generated by joint actuators when the vir...
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As for a motion control framework of robots, virtual model control（VMC） can use virtual components to create virtual forces/torques. Actually, the virtual forces/torques are generated by joint actuators when the virtual components interact between robots and environments. In this paper, a virtual model control is proposed to do the dynamic balance control of quadruped robots in trot gait. In each leg, virtual model control includes swing phase control of robots and stance phase counterparts. In whole body, based on the forces/torques distribution method between two stance legs, virtual model control is mainly about the attitude control containing roll, pitch and yaw. Then, an intuitive approach of velocity control is employed for the locomotion of quadruped robots. Based on the velocity planning and control, a trajectory tracking control approach is investigated by considering four factors: terrain complexity index, curvature radius of given trajectory, distance to terminal, and maximum velocity of quadruped robots. Finally, the effectiveness of proposed controllers is validated by co-simulations.
This paper aims to establish the simplest human walking model and provide a guide for controlling biped ***,a human motion capture system was utilized to sample the motion data of human walking and a representative su...
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This paper aims to establish the simplest human walking model and provide a guide for controlling biped ***,a human motion capture system was utilized to sample the motion data of human walking and a representative subject was ***,one of the simplest human walking model was set *** mechanical property analysis of human walking was done based on the established walking model via ***,the feasibility and effectiveness of proposed walking model were validated by numerical ***,the intrinsical relationships among human walking,biped walking model and control were discussed to provide a guide and insight for controlling biped robots.
This paper presents a grasping convolutional neural network with image segmentation for mobile manipulating robot. The proposed method is cascaded by a feature pyramid network FPN and a grasping network DrGNet. The FP...
This paper presents a grasping convolutional neural network with image segmentation for mobile manipulating robot. The proposed method is cascaded by a feature pyramid network FPN and a grasping network DrGNet. The FPN network combined with point cloud clustering is used to obtain the mask of the target object. Then, the grayscale map and the depth map corresponding to the target object are combined and sent to the DrGNet network for providing multi-scale images. On this basis, depthwise separable convolution is used for encoding. The results of encoders are refined according to the light-weight RefineNet as well as sSE, which can achieve a better grasp detection. The proposed method is verified by the experiments on mobile manipulating robot.
We present an open-source software interface, called mc naoqi, that allows to perform whole-body task-space Quadratic Programming based control, implemented in mc rtc framework, on the SoftBank robotics Europe humanoi...
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We address the channel estimation problem in reconfigurable intelligent surface (RIS) aided broadband systems by proposing a dual-structure and multi-dimensional transformations (DS-MDT) algorithm. The proposed approa...
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Chromosome classification is an important but difficult and tedious task in karyotyping. Previous methods only classify manually segmented single chromosome, which is far from clinical practice. In this work, we propo...
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Traditional programming method can achieve certain manipulation tasks with the assumption that robot environment is known and ***,with robots gradually applied in more domains,robots often encounter working scenes whi...
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Traditional programming method can achieve certain manipulation tasks with the assumption that robot environment is known and ***,with robots gradually applied in more domains,robots often encounter working scenes which are complicated,unpredictable,and *** overcome the limitation of traditional programming method,in this paper,we apply deep reinforcement learning(DRL) method to train robot agent to obtain skill *** policy trained with DRL on real-world robot is time-consuming and costly,we propose a novel and simple learning paradigm with the aim of training physical robot ***,our method train a virtual agent in an simulated environment to reach random target position from random initial ***,virtual agent trajectory sequence obtained with the trained policy,is transformed to real-world robot command with coordinate transformation to control robot performing reaching *** show that the proposed method can obtain self-adaptive reaching policy with low training cost,which is of great benefits for developing intelligent and robust robot manipulation skill system.
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