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IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015

作者： Cha, Keum-Gang Yoon, Sung-Min Kim, Hyun-Hee Gim, Ki-Yeon Lee, Min-Cheol Department of Mechanical Engineering Pusan National University BusanKS102 Korea Republic of Interdisciplinary Program in Robotics Pusan National University BusanKS102 Korea Republic of School of Mechanical Engineering Pusan National University BusanKS102 Korea Republic of

ISBN: (纸本)9781467391078

In this paper, the estimation method of reaction force for electro-hydraulic servo system for movement is discussed. This reaction force estimation method is based on sliding perturbation observer that is robust observer technique. Before estimating reaction force, the modeling of electro-hydraulic servo system is processed. Before the fine modeling parameters of electro-hydraulic servo system, modeling equation is obtained through cylinder equation using expansion and shrinkage stroke process. After finding modeling equation, the obtaining accurate modeling parameter is carried out from signal compression method. After defining modeling parameter, reaction force estimation is operated by sliding perturbation observer. The analysis result of estimation for reaction force will be used for bilateral control with master-slave structure. © 2015 IEEE.

关键词： Estimation

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Multi-crease self-folding by global heating

Multi-crease self-folding by global heating

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作者： Miyashita, Shuhei Onal, Cagdas D. Rus, Daniela Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology 32 Vassar Street 32-379 CambridgeMA02139 United States Worcester Polytechnic Institute Department of Mechanical Engineering Robotics Engineering Program 100 Institute Rd. HL 105 WorcesterMA01609 United States

This study demonstrates a new approach to autonomous folding for the body of a 3D robot from a 2D sheet, using heat. We approach this challenge by folding a 0.27-mm sheetlike material into a structure. We utilize the thermal deformation of a contractive sheet sandwiched by rigid structural layers. During this baking process, the heat applied on the entire sheet induces contraction of the contracting layer and thus forms an instructed bend in the sheet. To attain the targeted folding angles, the V-fold spans method is used. The targeted angle θout can be kinematically encoded into crease geometry. The realization of this angle in the folded structure can be approximately controlled by a contraction angle θin. The process is non-reversible, is reliable, and is relatively fast. Our method can be applied simultaneously to all the folds in multi-crease origami structures. We demonstrate the use of this method to create a lightweight mobile robot. © 2015 Massachusetts Institute of Technology.

关键词： Self assembly

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Objects tracking of the mobile robot using the hybrid visual servoing

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Journal of Institute of Control, robotics and Systems 2015年第8期21卷 781-787页

作者： Park, Kang-I.L. Woo, Chang-Jun Lee, Jangmyung Department of Interdisciplinary Program in Robotics Pusan National University Korea Republic of Department of Electronic and Electric and Computer Engineering Pusan National University Korea Republic of Department of Electronic Engineering Pusan National University Korea Republic of

This paper proposes a hybrid visual servoing algorithm for the object tracking by a mobile robot with the stereo camera. The mobile robot with the stereo camera performs an object recognition and object tracking using the SIFT and CAMSHIFT algorithms for the hybrid visual servoing. The CAMSHIFT algorithm using stereo camera images has been used to obtain the three-dimensional position and orientation of the mobile robot. With the hybrid visual servoing, a stable balance control has been realized by a control system which calculates a desired angle of the center of gravity whose location depends on variations of link rotation angles of the manipulator. A PID controller algorithm has adopted in this research for the control of the manipulator since the algorithm is simple to design and it does not require unnecessary complex dynamics. To demonstrate the control performance of the hybrid visual servoing, real experiments are performed using the mobile manipulator system developed for this research. © ICROS 2015.

关键词： Mobile robots

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Erratum to: Supplemental vibrotactile feedback control of stabilization and reaching actions of the arm using limb state and position error encodings

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Journal of neuroengineering and rehabilitation 2017年第1期14卷 69页

作者： Alexis R Krueger Psiche Giannoni Valay Shah Maura Casadio Robert A Scheidt Biomedical Engineering Marquette University Milwaukee WI USA. Informatics Bioengineering Robotics and Systems Engineering University of Genova Genoa Italy. Robotics Brain and Cognitive Science Italian Institute of Technology Genoa Italy. Biomedical Engineering Marquette University Milwaukee WI USA. robert.scheidt@marquette.edu. Physical Medicine and Rehabilitation Northwestern University Feinberg School of Medicine Chicago IL USA. robert.scheidt@marquette.edu. Sensory Motor Performance Program Rehabilitation Institute of Chicago Chicago IL USA. robert.scheidt@marquette.edu. Neurology Medical College of Wisconsin Wauwatosa WI USA. robert.scheidt@marquette.edu. Neuromotor Control Laboratory Department of Biomedical Engineering Marquette University Olin Engineering Center 206 P.O. Box 1881 Milwaukee WI 53201-1881 USA. robert.scheidt@marquette.edu.

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Predicting human reaching motion in collaborative tasks using Inverse Optimal Control and iterative re-planning

Predicting human reaching motion in collaborative tasks usin...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jim Mainprice Rafi Hayne Dmitry Berenson Autonomous Motion Department Max-Planck-Institute for Intelligent Systems Tbingen Germany Robotics Engineering Program Worcester Polytechnic Institute Worcester MA

To enable safe and efficient human-robot collaboration in shared workspaces, it is important for the robot to predict how a human will move when performing a task. While predicting human motion for tasks not known a priori is very challenging, we argue that single-arm reaching motions for known tasks in collaborative settings (which are especially relevant for manufacturing) are indeed predictable. Two hypotheses underlie our approach for predicting such motions: First, that the trajectory the human performs is optimal with respect to an unknown cost function, and second, that human adaptation to their partner's motion can be captured well through iterative replanning with the above cost function. The key to our approach is thus to learn a cost function which “explains” the motion of the human. To do this, we gather example trajectories from two participants performing a collaborative assembly task using motion capture. We then use Inverse Optimal Control to learn a cost function from these trajectories. Finally, we predict a human's motion for a given task by iteratively replanning a trajectory for a 23 DoF human kinematic model using the STOMP algorithm with the learned cost function in the presence of a moving collaborator. Our results suggest that our method outperforms baseline methods and generalizes well for tasks similar to those that were demonstrated.

关键词： Trajectory Collaboration Cost function Planning Optimal control Prediction algorithms Hidden Markov models

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A six-degree-of-freedom robotic system for lower extremity rehabilitation

A six-degree-of-freedom robotic system for lower extremity r...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Aaron Yurkewich S. Farokh Atashzar Ahmed Ayad Rajni V. Patel Canadian Surgical Technologies and Advanced Robotics (CSTAR) London ON Canada Department of Electrical & Computer Engineering The University of Western Ontario Mcchatronic Systems Engineering Program The University of Western Ontario

ISBN: (纸本)9781479918096

This paper describes the design, control and implementation of a sensorized robotic platform for versatile rehabilitation of stroke patients living with lower extremity neuromuscular deficit. The proposed device is composed of a six-degree-of-freedom actuation mechanism with a large workspace for lower extremity rehabilitation regimens. With a small footprint, lightweight, and low-cost design and a wireless interface this device is portable and well-suited for at-home and in-clinic use. A custom six-degree-of-freedom force/torque sensor was developed to measure real-time patient forces, and an admittance controller was implemented to provide assistive motion therapy. The results obtained show the suitability of this device for human-robot interaction for the implementation of lower extremity rehabilitation therapy.

关键词： Robot sensing systems Force Robot kinematics Medical treatment Extremities Torque

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Predictive control of an efficient human following robot using Kinect sensor

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Journal of Institute of Control, robotics and Systems 2014年第9期20卷 957-963页

作者： Heo, Shin-Nyeong Lee, Jang-Myung Department of Interdisciplinary Program in Robotics Pusan National University Korea Republic of Department of Electrical Engineering Pusan National University Korea Republic of

This paper proposes a predictive control for an efficient human following robot using Kinect sensor. Especially, this research is focused on detecting of foot-end-point and foot-vector instead of human body which can be occluded easily by the obstacles. Recognition of the foot-end-point by the Kinect sensor is reliable since the two feet images can be utilized, which increases the detection possibility of the human motion. Depth image features and a decision tree have been utilized to estimate the foot endpoint precisely. A tracking point average algorithm is also adopted in this research to estimate the location of foot accurately. Using the continuous locations of foot, the human motion trajectory is estimated to guide the mobile robot along a smooth path to the human. It is verified through the experiments that detecting foot-end-point is more reliable and efficient than detecting the human body. Finally, the tracking performance of the mobile robot is demonstrated with a human motion along an 'L' shape course. © ICROS 2014.

关键词： Mobile robots

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25th Annual Computational Neuroscience Meeting CNS-2016, Seogwipo City, South Korea, July 2-7, 2016 Abstracts

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BMC NEUROSCIENCE 2016年第1期17卷 1-112页

作者： [Anonymous] Computational Neurobiology Laboratory The Salk Institute for Biological Studies San Diego USA UNIC CNRS Gif sur Yvette France The European Institute for Theoretical Neuroscience (EITN) Paris France ATR Computational Neuroscience Laboratories Kyoto Japan Krembil Research Institute University Health Network Toronto Canada Department of Physiology University of Toronto Toronto Canada Department of Medicine (Neurology) University of Toronto Toronto Canada Department of Physics University of New Hampshire Durham USA Department of Neurophysiology Nencki Institute of Experimental Biology Warsaw Poland Department of Theory Wigner Research Centre for Physics of the Hungarian Academy of Sciences Budapest Hungary Department of Mathematical Sciences KAIST Daejoen Republic of Korea Department of Mathematics University of Houston Houston USA Department of Biochemistry & Cell Biology and Institute of Biosciences and Bioengineering Rice University Houston USA Department of Biology and Biochemistry University of Houston Houston USA Grupo de Neurocomputación Biológica Dpto. de Ingeniería Informática Escuela Politécnica Superior Universidad Autónoma de Madrid Madrid Spain Department of Biological Sciences University of Southern California Los Angeles USA Center for Neuroscience Korea Institute of Science and Technology Seoul South Korea Department of Neurology Albert Einstein College of Medicine Bronx USA Center for Neuroscience KIST Seoul South Korea Department of Neuroscience University of Science and Technology Daejon South Korea Systems Neuroscience Group QIMR Berghofer Medical Research Institute Herston Australia Department of Psychology Yonsei University Seoul South Korea Department of Psychiatry Kyung Hee University Hospital at Gangdong Seoul South Korea Department of Psychiatry Veterans Administration Boston Healthcare System and Harvard Medical School Brockton USA Department of Electrical and Electronic Engineering The University of Melbourne Parkvil

A1 Functional advantages of cell-type heterogeneity in neural circuits Tatyana O. Sharpee A2 Mesoscopic modeling of propagating waves in visual cortex Alain Destexhe A3 Dynamics and biomarkers of mental disorders Mitsuo Kawato F1 Precise recruitment of spiking output at theta frequencies requires dendritic h-channels in multi-compartment models of oriens-lacunosum/moleculare hippocampal interneurons Vladislav Sekulić, Frances K. Skinner F2 Kernel methods in reconstruction of current sources from extracellular potentials for single cells and the whole brains Daniel K. Wójcik, Chaitanya Chintaluri, Dorottya Cserpán, Zoltán Somogyvári F3 The synchronized periods depend on intracellular transcriptional repression mechanisms in circadian clocks. Jae Kyoung Kim, Zachary P. Kilpatrick, Matthew R. Bennett, Kresimir Josić O1 Assessing irregularity and coordination of spiking-bursting rhythms in central pattern generators Irene Elices, David Arroyo, Rafael Levi, Francisco B. Rodriguez, Pablo Varona O2 Regulation of top-down processing by cortically-projecting parvalbumin positive neurons in basal forebrain Eunjin Hwang, Bowon Kim, Hio-Been Han, Tae Kim, James T. McKenna, Ritchie E. Brown, Robert W. McCarley, Jee Hyun Choi O3 Modeling auditory stream segregation, build-up and bistability James Rankin, Pamela Osborn Popp, John Rinzel O4 Strong competition between tonotopic neural ensembles explains pitch-related dynamics of auditory cortex evoked fields Alejandro Tabas, André Rupp, Emili Balaguer-Ballester O5 A simple model of retinal response to multi-electrode stimulation Matias I. Maturana, David B. Grayden, Shaun L. Cloherty, Tatiana Kameneva, Michael R. Ibbotson, Hamish Meffin O6 Noise correlations in V4 area correlate with behavioral performance in visual discrimination task Veronika Koren, Timm Lochmann, Valentin Dragoi, Klaus Obermayer O7 Input-location dependent gain modulation in cerebellar nucleus neurons Maria Psarrou, Maria Schilstra, Neil Davey, Benjamin Torben-Ni

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Outdoor localization for a quad-rotor using extended Kalman filter and path planning

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Journal of Institute of Control, robotics and Systems 2014年第11期20卷 1175-1180页

作者： Kim, Ki-Jung Lee, Dong-ju Kim, Yoon-Ki Lee, Jang-Myung Department Interdisciplinary Program in Robotics Pusan National University Korea Republic of Depart of Electrical Engineering Pusan National University Korea Republic of

This paper proposes a new technique that produces improved local information using a low-cost GPS/INS system combined with Extended Kalman Filter and Path Planning when a Quad-rotor flies. In the research, a low-cost GPS is combined with INS by Extended Kalman Filter to improve local information. However, this system has disadvantages in that estimation accuracy is getting worsens when the Quad-rotor flies through the air in a curve and precision of location information is influenced by performance of the used GPS. An algorithm based on Path Planning is adopted to deal with these weaknesses. When the Quad-rotor flies outdoors, a short moving path can be predicted because all short moving paths of quad-rotor can be assumed to be straight. Path planning is used to make the short moving path and determine the closest local information of data of the GPS/INS system to location determined by path planning. Through the foregoing process, improved local data is obtained when the quad-rotor flies, and the performance of the proposed system is verified from various outdoor experiments. © ICROS 2014.

关键词： Extended Kalman filters

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Reaction force estimation of hydraulic servo system using sliding perturbation observer

Reaction force estimation of hydraulic servo system using sl...

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

作者： Keum-Gang Cha Sung-Min Yoon Hyun-Hee Kim Ki-Yeon Gim Min-Cheol Lee Department of Mechanical Engineering Pusan National University Busan Republic of Korea Interdisciplinary Program in Robotics Pusan National University Busan Republic of Korea School of Mechanical Engineering Pusan National University Busan Republic of Korea

ISBN: (纸本)9781467391085

关键词： Force Mathematical model Observers Damping Dynamics Uncertainty Valves

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