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检索条件"机构=Center of Intelligent Robotics and Automation Research"

共 268 条记录，以下是81-90 订阅

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Design and implementation of modularized 7-DOFs dual arm manipulator

Design and implementation of modularized 7-DOFs dual arm man...

引用

IEEE International Conference on Industrial Technology (ICIT)

作者： Ren C. Luo Zhi-Xian Liao International Center of Excellence in Intelligent Robotics and Automation Research National Taiwan University Taipei Taiwan

ISBN: (纸本)9781467380768

This paper introduces the analytical inverse kinematic solution of modularized seven DOFs redundant manipulator with offsets at shoulder and elbow or wrist, and uses the analytical solution of manipulator to achieve dual arm intuitive teaching. Furthermore, this paper verify the method of select proper joint as redundant axis which could enhance the ability of obstacle avoidance in the corresponding workspace. Intuitive teaching and playing are successfully implemented to verify the prof-of-concept.

关键词： inverse kinematic seven degree of freedom redundant manipulator offsets with shoulder and elbow offsets with shoulder and wrist dual arm intuitive teaching Modularity Obstacle avoidance Arm spiral arm offsets Elbow Wrist Intuitive Shoulder Dual Pedagogy Teaching Redundant manipulators

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Visual simultaneous localization and mapping using stereo vision with human body elimination for service robotics

Visual simultaneous localization and mapping using stereo vi...

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IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： Ren C. Luo Kuan Yu Chen Ming Hsiao International Center of Excellence on Intelligent Robotics and Automation Research National Taiwan University Taipei Taiwan

Generally speaking, vision based simultaneous localization and mapping (V-SLAM) systems have to avoid obstacles especially for the people moving around in the environment because it will cause temporary landmarks captured by camera, and thus will increase computational loading and estimative error in the V-SLAM system. However, in some situations, we cannot always evacuate people when the robot is collecting data. In this paper, we propose a V-SLAM system which consists of human body elimination and verifying that the human body filter can decrease estimative error to the system. We employ FAST machine learning approach to perform corner detection which is faster than most of the other feature detection methods with similar quality for detecting the location of landmarks. We al so implement “landmark buffer” to find robust landmarks in a frame. We also detect where the human body appears in a frame and eliminate the landmark features extracted from human body. Through landmark buffer and human body elimination, our approach derives accuracy estimation of the robot pose. This proposed approach has been successfully demonstrated through experimental verification and the results are summarized in the conclusion.

关键词： Feature extraction Humans Cameras Simultaneous localization and mapping Robot kinematics

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Human body trajectory generation using point cloud data for robotics massage applications

Human body trajectory generation using point cloud data for ...

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IEEE International Conference on robotics and automation (ICRA)

作者： Ren C. Luo Sheng Y. Chen Keng. C. Yeh International Center of Excellence on Intelligent Robotics and Automation Research National Taiwan University Taipei Taiwan

intelligent robot for improving the quality of human life is desirable. To let robot perform the intelligent functions of massage which can serve for humans, adaptive massage trajectory generator is needed to suit for different body shape with different people. Base on the state of the art human pose recognition techniques, we develop a methodology to build the relationship between camera and human body and generate the specified massage trajectories. Assume we can detect human pose and label each part of human body, we use the RANSAC algorithm to estimate the frontal and sagittal planes and refine it by calculating the minimum moment of inertia of point cloud. The experimental results demonstrate our work which provide a useful method for massage trajectory generation. As an example of service robot application, this method is useful for executing the massage application autonomously.

关键词： Trajectory Robot kinematics Cameras Three-dimensional displays Equations Mathematical model

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3D point cloud based indoor mobile robot in 6-DoF pose localization using Fast Scene Recognition and Alignment approach

3D point cloud based indoor mobile robot in 6-DoF pose local...

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International Conference on Multisensor Fusion and Integration for intelligent Systems (MFI)

作者： Ren C. Luo Vincent W.S. Ee Chung-Kai Hsieh International Center for Intelligent Robotics and Automation Research National Taiwan University Taipei Taiwan Department of Electrical Engineering International Center for Intelligent Robotics and Automation Research Taipei Taiwan Department of Electrical Engineering National Taiwan University Taipei Taiwan

ISBN: (纸本)9781467397087;9781467397094

This paper describes an algorithm for localization of a robot which can efficiently estimate robot in 6 degrees-offreedom (DoF) pose which consist of position and orientation with large scale point cloud data without giving the initial pose. We introduce the Fast Scene Recognition and Alignment algorithm to reduce the computation time needed for the point cloud alignment by matching robot's scene only with the retrieved Sub-Map in database. Our developed algorithm is to extract Sub-Maps descriptor by cascading several features, and learn a Distance-Metric to increase the precision of place recognition due to the environmental changes. We then align the robot's scene with Sub-Map to estimate robot pose. Our technique has been implemented and tested extensively in different buildings. The experimental results show that our Fast Scene Recognition and Alignment system can localize mobile robot in a variety of large scale 3D point cloud dataset efficiently.

关键词： Three-dimensional displays Cameras Robot kinematics Feature extraction Robot vision systems Databases

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FDNet: Remaining Useful Life Prediction for Lithium-Ion Batteries Based on Fourier Series and DenseNet 5

FDNet: Remaining Useful Life Prediction for Lithium-Ion Batt...

引用

5th International Conference on Machine Learning and Computer Application, ICMLCA 2024

作者： Chen, Siwen Zheng, Xiujuan Shanghai United Imaging Healthcare Co. Ltd. Shanghai China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Engineering Research Center for Metallurgical Automation and Measurement Technology Ministry of Education Wuhan China

ISBN: (纸本)9798331530334

To enhance the prediction accuracy of the remaining useful life (RUL) of lithium-ion batteries, this study proposes a novel RUL prediction model, termed FDNet, which integrates Discrete Fourier Series (DFS) and Densely Connected Convolutional Networks (DenseNet). In contrast to traditional methods that rely on one-dimensional (1D) numerical representations of time-series data, this model utilizes a two-dimensional (2D) visual representation for direct RUL prediction. First, the DFS is employed to convert 1D time-series signals into a 2D time-frequency domain, enabling the extraction of high-dimensional features from the original data. Then, these 2D images are subsequently input into DenseNet, which learns the mapping between the image features and the RUL targets. Finally, the proposed model is validated using the NASA lithium-ion battery aging dataset, and the results indicate that FDNet achieves superior prediction accuracy and exhibits notable robustness. © 2024 IEEE.

关键词： Prediction models

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Contour error and control algorithm in CNC machining tool

Contour error and control algorithm in CNC machining tool

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2012 9th IEEE International Conference on Mechatronics and automation, ICMA 2012

作者： Wang, Jun Liang, Hu Guan, Da-Gong Wang, Xin Shen, Hao Luo, Miaojuan Automatic Technology Research Center Shenzhen Xuji Automation Technology Co. Ltd. Shenzhen Guangdong Province China Department of Intelligent Robotics Shenzhen Graduate School Harbin Institute of Technology Shenzhen Guangdong Province China

ISBN: (纸本)9781467312776

A contour error controller is put for ward to analyze and solve accuracy problem of the high-speed CNC machining. In this paper, a three-dimensional contour error model base on the definition of space contour error model is built and analyzed. And the contour error feedback control algorithms are adopted to modify the influence of the contour error. Simulation and experimental results show that the proposed approaches can effectively reduce the contour error for multi-axis following task. © 2012 IEEE.

关键词： Feedback control

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Effective visual calibration system for parallel robot using decision tree with cooperative coevolution network approach

Effective visual calibration system for parallel robot using...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Ren C. Luo Cheng-Hsun Hsieh Shih Che Chou International Center of Excellence in Intelligent Robotics and Automation Research (iCeiRA) National Taiwan University Taipei Taiwan

The objective of this paper is to present an effective visual calibration system for parallel robot. We propose a new hybrid algorithm to improve the weakness of traditional calibration system. The method is auto-calibrated, non-parametric, and has ability of adaptive learning for different environments. The proposed algorithm considers the accuracy of entire workspace, to ensure that every point in the workspace is well-calibrated. An improved Neural Network system model combines cooperative coevolutionary and decision tree, which is built to transform the nominal position to the correct end effector position. Experimental verification has been conducted that it can successfully reduce the average error 99.98% accuracy.

关键词： Encoding Nerve fibers Calibration Artificial neural networks Cameras Biological cells

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Cartesian position and force control with adaptive impedance/compliance capabilities for a humanoid robot arm

Cartesian position and force control with adaptive impedance...

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IEEE International Conference on robotics and automation (ICRA)

作者： Ren C. Luo Yi-Wen Perng Bo-Han Shih Yun-Hsuan Tsai International Center of Excellence on Intelligent Robotics and Automation Research (iCeiRA) National Taiwan University Taipei Taiwan

This paper describes Cartesian position and force control with adaptive impedance/compliance capabilities for a humanoid robot arm including velocity control incorporate with End-Effector Fixation Control (EEFC). We successfully demonstrated the end-effector positioning to reach the target point in Cartesian coordinate frame based on force control without solving the inverse kinematic problem. The advantage of this function is obvious in moving the end-effector to go to the target point safely because the robot arm can be stopped or disturbed during the movement. The impedance gain can be adjusted adaptively according to the moving trajectory conditions. As the result, the end-effector can reach the presetting target point. We also have experimentally demonstrated the effect of adaptive impedance/compliance control, velocity control and EEFC which are useful in many applications, such as laparoscopic surgery, industrial taper cutting compensation and feeding food to the impaired person.

关键词： Impedance Force Joints Robot kinematics Torque Velocity control

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Robotic Flexible Laparoscope with position retrieving system for assistive minimally invasive surgery

Robotic Flexible Laparoscope with position retrieving system...

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IEEE/RSJ International Conference on intelligent Robots and Systems

作者： R. C. Luo Jui Wang Jung-Yu Tsai Keng-Ming Lee Yi-Wen Perng International Center of Excellence in Intelligent Robotics and Automation Research (iCeiRA) National Taiwan University Taipei Taiwan

In current flexible endoscopy, manipulating the endoscope is a major problem for surgeons. No surgeon can master the procedure without much experience. Accordingly, the objective of this study is to refine our Robotic Flexible Laparoscope System (RFLS) with more useful functions. We design a new kind of laparoscope mechanism suited for our RFLS. Furthermore, in maneuvering the laparoscope intuitively, the most significant advantage is the ability of RFLS can at least save three anatomical positions, which could be retrieved by a single command with small errors. Moreover, protective algorithm is also included in our system to make sure that over rotation of the gyro sensor, which is mounted the head, does not cause any damage. Experimental results demonstrate that the articulated flexible laparoscope can always memorize the required points and return back to those points in all necessary orientations.

关键词： Laparoscopes Surgery Gears Endoscopes Gyroscopes End effectors

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intelligent robot photographer: Help people taking pictures using their own camera

Intelligent robot photographer: Help people taking pictures ...

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IEEE/SICE International Symposium on System Integration

作者： Ren C. Luo Wai Un Chan Po-Jen Lai International Center of Excellence in Intelligent Robotics and Automation Research (iCeiRA) National Taiwan University Taipei Taiwan

The objective of this paper is to present an intelligent robot photographer which can take picture using people's own camera. Robot Photographer has been an interesting topic on robotic research in recent years and researches had been consistently focused on the quality of frame captured. As of today, these robot photographers can only use cameras which are mounted on the robot. In this paper, we contribute a different approach for this research. Instead of taking pictures using a single camera which is mounted on the robot, but helping peoples take pictures (especially group photos) by using their own cameras. This paper makes three major contributions: optimizing task performance by integrating robot with smart device; robot manipulating the camera for the correct pose and the efficient procedures for detecting a better frame to ensure quality of group photo being taken.

关键词： Cameras Robot vision systems Grippers Face

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