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A Bio-inspired Solution for Double Support Force Distribution in Humanoid Robot Locomotion

A Bio-inspired Solution for Double Support Force Distributio...

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IEEE-RAS International Conference on Humanoid Robots

作者： Francisco Javier Andrade Chavez Vidyasagar Rajendran Katja Mombaur CERC Human-Centred Robotics and Machine Intelligence of Department of Systems Design Engineering University of Waterloo Canada Optimization and Biomechanics for Human-Centred Robotics Karlsruhe Institute of Technology (KIT) Institute of Anthropomatics and Robotics (IAR) Karlsruhe Germany

In locomotion, the likelihood of slipping or maintaining contact is determined by the forces applied in the environment. Therefore, it is crucial to find methods of keeping forces within friction constraints. In single support, the relationship between center of mass acceleration and forces is unique. However, in double support, it becomes a non-deterministic problem. It is often assumed that forces are distributed to minimize a certain effort criterion. An interesting alternative is to distribute the forces in a manner similar to how a human would, which could result in a more human-like gait for humanoid robots. With this in mind, we introduce the modified Twin Polynomial Method (mTPM) as a technique to accurately distribute double support forces in a human-like way. The relevant relationships used in this method are presented, and we compare its performance against the current state of the art in human gait analysis. The comparison is conducted across three different types of contacts with the environment: barefoot, socks, and shoes. We show how human data differs from a ‘typical’ robot walk and use the proposed method to generate a more human-like distribution for robots.

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The Effect of Coil Geometry and Winding Method on the Electromagnetic Launcher Performance 48

The Effect of Coil Geometry and Winding Method on the Electr...

引用

48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Mohamed Abdo, Mohamed Magdy Fanni, Mohamed Miyashita, Tomoyuki Ahmed, Sabah Mohamed Egypt-Japan University of Science and Technology Mechatronics and Robotics Department Alexandria Egypt Ain Shams Univeristy Faculty of Engineering Engineering Physics and Mathematics Department Cairo Egypt Mansoura University Production Engineering and Mechanical Design Department Mansoura Egypt Waseda University School of Creative Science and Engineering Department of Modern Mechanical Engineering Tokyo Japan Assuit University Electrical Engineering Department Assuit71515 Egypt

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Electromagnetic launchers become spread in many applications. This type of launcher is used to accelerate a slug made of ferromagnetic material. Many researchers compete to enhance the performance of this type. The launcher consists of simple components such as a capacitor bank, electronic switches, launcher coil, and charging circuit. In this paper, the authors have physically built the launcher system and reinforced the launcher performance by changing the winding method and making the trigger coil in a conical shape to reduce the deceleration effect of the last half of the trigger, this modification has proven its superiority over the straight coil. © 2022 IEEE.

关键词： Electromagnetic launchers

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Whole-body Stabilization of the REEM-C Humanoid on Actuated Balance Boards in Sagittal and Frontal Directions

Whole-body Stabilization of the REEM-C Humanoid on Actuated ...

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IEEE-RAS International Conference on Humanoid Robots

作者： Vidyasagar Rajendran Francisco Javier Andrade Chavez Katja Mombaur Department of Systems Design Engineering CERC Human-Centred Robotics and Machine Intelligence University Waterloo Canada Optimization and Biomechanics for Human-Centred Robotics Institute of Anthropomatics and Robotics (IAR) Karlsruhe Institute of Technology (KIT) Karlsruhe Canada

This paper explores stabilizer design for humanoid balancing on actuated balance boards. We qualitatively study how humans balance on balance boards to motivate our humanoid controller design. The developed approach combines various strategies from the literature including ankle admittance, CoM admittance, base pitch admittance, foot force difference admittance, contact wrench distribution and angular momentum regulation in a new integration to achieve stabilization on an actuated balance board. We explore the frontal and sagittal plane balance board problems along with pushes at the upper body and show that our approach works in simulation and on real hardware. This brings us one step closer to balancing on unactuated balance boards, other dynamic environments such as moving platforms and transportation devices, skills that will make humanoids more versatile.

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A Toeplitz Prior-Based Deep Learning Framework for DOA Estimation With Unknown Mutual Coupling 31

A Toeplitz Prior-Based Deep Learning Framework for DOA Estim...

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31st European Signal Processing Conference, EUSIPCO 2023

作者： Jiang, Zhuoqian Xin, Jingmin Zuo, Weiliang Zheng, Nanning Sano, Akira Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an710049 China National Engineering Laboratory for Visual Information Processing and Applications Xi'an Jiaotong University Xi'an710049 China Shunan Academy of Artificial Intelligence Zhejiang Ningbo315000 China Department of System Design Engineering Keio University Yokohama223-8522 Japan

ISBN: (纸本)9789464593600

In this paper, we explore the problem of direction-of-arrival (DOA) estimation with unknown mutual coupling using a deep learning (DL) framework which is based on Toeplitz prior. First, for source number estimation, we model it as a multilabel classification task and build a source number detection network (SNDN) to learn relevant information in the real sample covariance matrix. Next, taking full advantage of the Toeplitz structure, an ideal covariance reconstruction network (ICRN) is proposed to recover the ideal covariance matrix free from mutual coupling and noise interference. Furthermore, we design a database to store the parameters of ICRN after training on different numbers of sources, and its role is to load the corresponding parameters for ICRN according to the detection results of SNDN. Finally, the DOAs can be easily estimated from the restored covariance matrix by the MUSIC. The simulation results show our proposed approach not only outperforms the existing classical methods, but in some cases its DOA estimation accuracy can even exceed the Cramér-Rao Lower Bound. © 2023 European Signal Processing Conference, EUSIPCO. All rights reserved.

关键词： Covariance matrix

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design and Modeling of a Cable-Driven Hollow Continuum Manipulator 8

Design and Modeling of a Cable-Driven Hollow Continuum Manip...

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8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Sun, Changchao Kang, Rongjie Yuan, Peikang Chang, Le Dong, Xin Wan, Shumin Song, Zhibin Dai, Jian S. School of Mechanical Engineering Tianjin University Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education Tianjin300072 China Materials and Manufacturing Engineering University of Nottingham Department of Mechanical NottinghamNG7 2RD United Kingdom Institute for Robotics Southern University of Science and Technology Shenzhen China

ISBN: (纸本)9798350300178

Continuum manipulators (CMs) have redundancy and flexibility and show good adaptability in unstructured environments. Traditional CMs mostly utilize a backbone to provide structural support and produce bending, which limits the internal space. In this paper, an internally hollow CM is designed. The orthogonal segment ensures two bending degrees of freedom in a single module. In this design, each module contains four cables that can be divided into two pairs driven by two motors respectively, forming a closed-loop cable drive mechanism. For each pair of cables, they have different length change when the module bends. Thus, the actuation space of the manipulator is further mapped to the 'motor space' to form the complete kinematic model. As the multi-moduled body has motion coupling, kinematic decoupling is achieved through using Bowden tube. Simulated and experimental results show that the CM designed in our work has high structural load capacity and flexible motion ability. © 2023 IEEE.

关键词： Manipulators

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Development of Detection Lung Disease Stand Alone System Based on Convolutional Neural Network (CNN)

Development of Detection Lung Disease Stand Alone System Bas...

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International Conference of Computer and Informatics engineering (IC2IE)

作者： Edgar Caesar Liewarnata Yosica Mariana Sofyan Tan Suryadiputra Liawatimena Winda Astuti Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia Product Design Program Industrial Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia Automotive & Robotics Program Computer Engineering Department BINUS ASO School of Engineering Computer Science Department BINUS Graduate Program – Master of Computer Science Bina Nusantara University Jakarta Indonesia

ISBN: (数字)9798331505530

ISBN: (纸本)9798331505547

Lung disease, especially Tuberculosis (TBC), placed the highest death rate in Indonesia. Tuberculosis (TB) in Indonesia is ranked second after India. Therefore, it is important to reduce or early detection of the lung disease, to prevent this disease and speed up handling. The system can recognize the disease lung identification, and the system applied as standalone system. In this work, the Convolutional Neural Network (CNN) approach for identifying diseases lung identification is proposed. The Mel Frequency Cepstral Coefficient (MFCC) applied to process the stethoscope sounds which will used as input to the CNN. The performance of the proposed system has been investigated and resulted. The accuracy of 99% and 98%, for training and testing accuracy respectively. Furthermore, the system accurately detects lung diseases identification.

关键词： Training Accuracy Tuberculosis Pulmonary diseases Lungs Stethoscope Recording Convolutional neural networks Mel frequency cepstral coefficient Testing

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Research of Control Systems for Robotic Spatial Planning Platforms 4

Research of Control Systems for Robotic Spatial Planning Pla...

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4th IEEE International Conference on Modern Electrical and Energy System, MEES 2022

作者： Lebedenko, Yurii Polyvoda, Oksana Derkachenko, Anatolii Modlo, Yevhenii Demishonkova, Svitlana Pylypenko, Yurii Kyiv National University of Technologies and Design Information and Computer Technologies Department Kyiv Ukraine Kherson National Technical University Automation Robotics and Mechatronics Department Kherson Ukraine Technological Institute State University of Economics and Technology Kryvyi Rih Ukraine Kyiv National University of Technologies and Design Department of Computer Engineering and Electromechanics Kyiv Ukraine

ISBN: (纸本)9798350346831

The work is devoted to the study of the control system of the moving platform of the manipulative robot. The purpose of the work is the development and research of an instrumental complex of control, analysis and modeling of the operation of positioning platforms based on a spherical mechanism for use in automated industrial systems. The state of use of multi-link positioning platforms in various industries was analyzed and their classification was provided, the main areas of use were determined. A comparative analysis of mathematical methods for describing the kinematic properties of positioning platforms was performed, namely: the closed vector contour method, the coordinate transformation method. A model with an analytical apparatus for controlling the drive links of the spherical mechanism according to the given scenarios of the orientation of the positioning platform was developed, as well as a mathematical model of inverse kinematics was made, the working space was modeled, and the service angles were determined, and a calculation and real-life experiment was conducted. For the first time, the work uses the dependencies of analytical geometry to implement algorithms for controlling a spherical mechanism by inverse kinematics, and offers software and hardware that combines visual modeling tools with real-time data transmission to a controller that controls the drivers of a spherical mechanism by direct kinematics. The result of the field experiment is the testing of the proposed control algorithm on the manufactured manipulator mechanism on the most common movements of the platform of the spherical mechanism and its exit to the extreme positions in order to determine the working space and the values of the service angles. A system of remote control of the spherical mechanism at the hardware level with an interactive interface and tracking of the positioning target has been implemented. © 2022 IEEE.

关键词： Inverse kinematics

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Cable-Integrated Single-Axis Load Cell for Tendon-Driven Robotic Actuation Enabled by Thin-Film Soft Sensor

Cable-Integrated Single-Axis Load Cell for Tendon-Driven Rob...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Jiyeon Cho Taejun Park Simon Kim Yong-Lae Park Department of Mechanical Engineering Institute of Advanced Machines and Design Institute of Engineering Research Seoul National University Seoul Korea Soft Robotics and Bionics Lab. Seoul National University Seoul Korea

Cable-driven force transmission is one of the most widely used actuation mechanisms in robotics, finding applications in robotic arms, grippers, and wearable robots. However, measuring cable tension directly is challenging due to limited space and difficulties in attaching sensors to flexible cables. In this paper, we propose a single-axis load cell designed for direct integration into a high-strength woven cable, enabling tension measurement. A small portion of the cable becomes slightly stretchable by infusing an uncured polymer into its weaving pattern, and a liquid-metal thin-film soft sensor is affixed externally. As the cable experiences axial strain, the thin-film soft sensor stretches and changes its electrical resistance, providing real-time tension information. To mitigate the hysteresis and the nonlinearity caused by the viscoelastic effect of the cable and tendon materials, a metal spring casing surrounds the sensor, making the behavior of the sensor governed by that of the spring. The proposed sensor is experimentally characterized, and the result shows a linearity in the range of 5 N to 100 N with negligible hysteresis. It is tested with a twisted-string actuator to control the axial force generated by the actuator through a closed-loop control as an application.

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Control design for A Thin 3-DOF Dielectric Elastomer Actuator and Application

Control Design for A Thin 3-DOF Dielectric Elastomer Actuato...

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International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Masafumi Kadokawa Changan Jiang Wei Yu Graduate School of Robotics & Design Osaka Institute of Technology Osaka Japan Department of Robotics Osaka Institute of Technology Osaka Japan School of Mechanical Engineering Hebei University of Technology Tianjin China

In this study, a device for writing letters is developed and designed using a thin dielectric elastomer actuator with three degrees of freedom. The 3-DOF thin dielectric elastomer actuator is capable of being driven in three directions (X, Y, and Z). Conventionally, the reserve elongation was adjusted with a weight, which is very inconvenient. A force-measured pre-stretch mechanism is developed to apply pre-stretch to the 3-DOF thin dielectric elastomer actuator. The pre-stretch mechanism with force measurement can easily apply pre-stretch and monitor it in real-time. The effectiveness of the device is verified through experiments on actual equipment, where a control system with feedback control is designed.

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Biomechanical Test Setup for the Investigation of Forehead Suture Techniques

Biomechanical Test Setup for the Investigation of Forehead S...

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作者： Micheler, Carina M. Lang, Jan J. Wilhelm, Nikolas J. Schaack, Victor G. Eisenhart-Rothe, Rüdiger Von Burgkart, Rainer H. H. Bäumlisberger, Anja Wachtel, Nikolaus Department of Orthopaedics and Sports Orthopaedics University Hospital Rechts der Isar School of Medicine Technical University of Munich Munich Germany Institute for Machine Tools and Industrial Management School of Engineering and Design Technical University of Munich Garching near Munich Germany Non-destructive Testing School of Engineering and Design Technical University of Munich Munich Germany Munich Institute of Robotics and Machine Intelligence Department of Electrical and Computer Engineering Technical University of Munich Munich Germany Division of Hand Plastic and Aesthetic Surgery University Hospital LMU Munich Munich Germany

Wound healing can be delayed if the biomechanical stability of the wound closure is inadequate. Therefore, it is necessary to investigate different suturing techniques for their biomechanical stability. In this study, suturing techniques suitable for the forehead area were investigated. For this application, a special test setup was developed to simulate the curvature of the forehead and the corresponding physiological configuration. The average forehead curvature is 62.24 ± 4.11 mm in radius. To simulate this curvature, the skin specimens are subjected to tensile stress over the spherical surface using a standard uniaxial testing machine. For the evaluation, an automated evaluation tool for MATLAB was also developed. Three different suturing techniques (Straight, Lazy-S, Zigzag) were investigated and tested for their biomechanical stability. Of the three suturing techniques, the Zigzag suture proved to be the most stable with the highest stiffness of 44.23 ± 8.18 % and the highest final failure of 32.60 ± 4.95 % (relative to the control sample without incision). The study has shown that the test setup can be used to investigate different forehead suture techniques. © 2023 the author(s), published by Walter de Gruyter Berlin/Boston.

关键词： MATLAB

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