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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Xiao, Yongqiang Du, Zhijiang You, Wei Li, Ruifeng School of Mechatronics Engineering State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150080 China

ISBN: (纸本)9781424493173

This paper presents a new approach to establish a dynamic model of robot joints. The model is constructed by ideally dividing a robot joint into high-speed block and low-speed block and described with nonlinear characteristics such as friction, backlash and hysteresis. The friction behavior of two blocks is captured by the Generalized Maxwell-Slip model. The Preisach model is used to describe the hysteresis character of joints. Because the "congruency" assumption of hysteresis, which is needed in the Preisach model, is not strictly tenable in complex joints, so there construct the hysteresis model through Preisach model plus a nonlinear stiffness. A simple and effective method is developed to model the backlash behavior in joints. The integrated joint model of an industry robot built by our laboratory is established and simulation model is constructed in Simulink of Matlab. The validity of this model is demonstrated and a new avenue opened in this way. © 2010 IEEE.

关键词： Hysteresis

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Velocity analysis of tri-axial differential pipeline robot when getting across elbow

Velocity analysis of tri-axial differential pipeline robot w...

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Li, Qingkai Tang, Dewei Deng, Zongquan Jiang, Shengyuan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China College of Mechanical Engineering Beihua University Jilin China

ISBN: (纸本)9781424457021

A wheel-type pipeline robot applying a tri-axial differential mechanism is presented in this paper, which is targeted for moving inside the elbow while the ratios of angular velocities of the driving wheels depend on their movement trajectories. The main features of the robot are illustrated and some details about the mechanism are provided. To confirm the differential effectiveness of the robot, a geometry model of the robot in the elbow is established, which makes it possible to calculate the wheel centers and the contact points between the wheels and the inner surface of the pipeline. On the basis of the geometry model, the velocity ratios of the driving wheels can be computed. Several virtual experiments are performed, and the differential function of the robot is validated through the comparisons of the results between the theoretical analysis and the experiments. ©2010 IEEE.

关键词： Robots

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Novel Hilbert energy spectrum based features for speech emotion recognition

Novel Hilbert energy spectrum based features for speech emot...

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WASE International Conference on Information engineering, ICIE

作者： Li, Xin Li, Xiang School of Mechatronical Engineering and Automation Shanghai University State Key Laboratory of Robotics and System Shanghai China School of Mechatronical Engineering and Automation Shanghai University Shanghai China

ISBN: (纸本)9780769540801

In this paper, a novel feature called ECC is proposed via feature extraction of the Hilbert energy spectrum which describes the distribution of the instantaneous energy. The experimental results conspicuously demonstrated that ECC outperforms the traditional short-term average energy. Afterwards, further improvements of ECC were developed. TECC is gained by combining ECC with the Teager energy operator, and EFCC is obtained by introduced the instantaneous frequency to the energy. In the experiments, seven status of emotion were selected to be recognized and the highest 83.57% recognition rate was achieved within the classification accuracy of boredom reached up to 100%. The numerical results indicate that the proposed features ECC, TECC and EFCC can improve the performance of speech emotion recognition substantially. © 2010 IEEE.

关键词： Spectroscopy

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Local shape patch based object detection

Local shape patch based object detection

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Du, Zhijiang Chen, Guodong Sun, Lining Ji, Junhong Xie, Ming State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore 637553 Singapore

ISBN: (纸本)9781424457021

We present a novel object detection framework that uses the local shape patches features combining the interclass global features information. A supervised local model learning architecture is proposed: a novel interest point descriptor is proposed and applied to detect the local shape patches, the local shape patches are formed by chains of several connected contour segments. Then the object local contour parts model are learned from a small set of training images. In order to make the local contour patch model is invariant to rotation and translation, the local contour patch descriptor is represented by modified shape context. By adding the edge orientation information and interclass global information, the power of differentiating mismatches is increased, especially detecting the objects existing similar parts. Both experiments on image feature point matching and object detection comparing with other feature descriptors are carried out in order to validate the proposed method. ©2010 IEEE.

关键词： Object detection

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Speech emotion recognition using improved robust features for intelligent emotional robot

Speech emotion recognition using improved robust features fo...

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2010 International Conference on Artificial Intelligence, ICAI 2010

作者： Li Xiang, A. Li Xin, B. School of Mechatronical Engineering and Automation Shanghai University Shanghai China State Key Laboratory of Robotics and System HIT Harbin Heilongjiang China Shanghai Key Laboratory of Power Station Automation Technology Shanghai China

ISBN: (纸本)9781601321480

Speech emotion recognition is an important issue in the development of human-robot interactions (HRI). This paper describes the realization of emotional interaction for an intelligent emotional robot, focusing on speech emotion recognition. Accordingly, a series of novel robust features for emotion recognition is proposed. Those features, which derived from the Hilbert-Huang transform and empirical mode decomposition, have the characteristics of multi-resolution, self-adaptability and high precision of distinguish ability. In the experiments, seven status of emotion were selected to be recognized and the highest 83.57% recognition rate was achieved within the classification accuracy of boredom reached up to 100%. The numerical results indicate that the proposed features are robust and the performance of speech emotion recognition is improved substantially.

关键词： Hilbert-Huang transform

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Robot Companions for Citizens

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Procedia Computer Science 2011年 7卷 47-51页

作者： Paolo Dario Paul F.M.J. Verschure Tony Prescott Gordon Cheng Giulio Sandini Roberto Cingolani Rüdiger Dillmann Dario Floreano Christophe Leroux Sheila MacNeil Pieter Roelfsema Xenophon Verykios Antonio Bicchi Chris Melhuish Alin Albu-Schäffer The BioRobotics Institute Scuola Superiore Sant’Anna viale Rinaldo Piaggio 34. 56025 Pontedera Italy Laboratory for Synthetic Perceptive Emotive and Cognitive Systems Catalan and Institute of Advanced Research (ICREA) Technology Department Universitat Pompeu Fabra Roc Boronat 138. 08018 Barcelona Spain Department of Psychology The University of Sheffield Western Bank Sheffield S10 2TN UK Institute for Cognitive Systems Technische Universität München Karlstrasse 45/II. 80333 München Germany Robotics Brain and Cognitive Sciences Istituto Italiano di Tecnologia Via Morego 30. 16163 Genova Italy Istituto Italiano di Tecnologia Via Morego 30. 16163 Genova Italy Institute for Anthropomatics Karlsruhe Institute of Technology Adenauerring 2 (Building 50.20). 76131 Karlsruhe Germany Laboratory of Intelligent Systems École polytechnique fédérale de Lausanne Station 11. CH-1015 Lausanne Switzerland CEA LIST Interactive Robotics Laboratory 18 route du panorama BP6. 92265 Fontenay Aux Roses cedex France The Kroto Research Institute North Campus University of Sheffield Broad Lane Sheffield S3 7HQ UK Netherlands Institute for Neuroscience Koninklijke Nederlandse Akademie Van Wetenschappen Meibergdreef 47. 1105 BA Amsterdam The Netherlands Department of Chemical Engineering University of Patras Karatheodoris 1 University Campus GR 265 00 Patras Interdepartmental Research Center “E. Piaggio” Faculty of Engineering University of Pisa via Diotisalvi 2.56100 Pisa Italy Department of Computing Engineering and Mathematical Sciences University of Bristol and the West of England Bristol Robotics Laboratory (BRL) DuPont Building Bristol Business Park Bristol BS16 1QD UK DLR Institute of Robotics and System Dynamics P.O.Box 1116. 82230 Wessling Germany

This paper describes the scientific vision and objectives of the FET Flagship candidate initiative Robot Companions for Citizens. Robot Companions will be a new generation of machines that will primarily help and assist elderly people in activities of daily living in their workplace, home and in society. They will be the ICT solution for a new sustainable welfare.

关键词： robotics nanotechnologies material science tissue engineering biomaerials neuroscience social neuroscience human and social sciences ethical and legal issues

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Design and analysis of a kind of biomimetic continuum robot

Design and analysis of a kind of biomimetic continuum robot

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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Zhao, Qiang Gao, Fang Northeast Forestry University State Key Laboratory of Robotics and System/Computer School Harbin Institute of Technology Harbin Heilongjiang 150000 China Mechtronical Engineering School Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9781424493173

Continuum robot is a new kind of bionic robot, and it is the beneficial supplement to the traditional joint-type robot. This paper presented a design scheme of Hook Joint type continuum robot, and fully discussed its structure and mechanism connection mode. An exponential product based matrix transformation is used to describe the position and orientation of the end-effector. The forward kinematics is also discussed in this paper. Numerical examples are completed with Matlab M language and simulation results indicate the validity of the proposed analysis method. © 2010 IEEE.

关键词： Machine design

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Representing oneself and other's action, agency and space through sensorimotor coordination

Representing oneself and other's action, agency and space th...

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4th International Conference on Cognitive systems, CogSys 2010

作者： Pitti, Alexandre Kuniyoshi, Yasuo JST Erato Asada Project. Emergent Robotics Area Dept. of Adaptive Machine System Graduate School of Engineering Yamadaoka 2-1 Suita Osaka 565-0871 Japan ISI Laboratory University of Tokyo Japan

A large body of literature in neuroscience emphasizes the role of embodiment for intelligence, many important cognitive skills arise just from the simple structuring of the sensorimotor information flow;e.g., for representing actions performed by oneself and others (the mirror neurons system), for representing our own body image along with the peripersonal space (visual receptive fields), or to sense our own agency (the feeling that I am the cause or author of the movement) or the perceptual presence of others (in the parietal cortex). In three robotic experiments using proprioceptive, tactile or visual feedback information we simulate how low-level action representation, agency, spatial representation could arise in sensorimotor networks of spiking neurons [1-2]. We suggest a basic stage representing the self in relation to others at a very raw level in line with Gallese's Simulation Theory of shared circuits.

关键词： Visual communication

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Slip-ratio-coordinated control of planetary exploration robots traversing over deformable rough terrain

Slip-ratio-coordinated control of planetary exploration robo...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Liang Ding Haibo Gao Zongquan Deng Zhen Liu State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin Heilongjiang China

Wheeled exploration robots are prone to slip during locomotion on deformable rough planetary terrain, which leads to loss of velocity and extra consumption of energy. Experimental results show that the power required for driving a wheel is an increasing function of its slip ratio; further, the tractive efficiency decreases rapidly after it reaches a peak value when the slip ratio is between 0.05 and 0.2. In this study, wheel-soil interaction terramechanics, which considers the slip ratio as an important state variable, is applied to analyze the quasi-static equations of a planar robot system. The slip ratios of wheels are controllable, but the degree of freedom is the number of wheels minus 1. A generalized algorithm for distributing the slip ratios of all the wheels of a robot to optimize the energy consumption is presented. Experimental and simulation results show that the “equal slip ratio” is at least a sub-optimal solution for optimizing energy consumption. Further, a more robust control method has been developed; this methods aims to equalize the slip ratios of all the wheels while maintaining a constant body velocity on rough terrains, without solving the values of the slip ratios. This method is verified by controlling a virtual four-wheeled robot using dynamics simulations.

关键词： Wheels Mobile robots Robot kinematics Energy consumption Soil Angular velocity

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Design and analysis of a new cable-driven hyper redundant manipulator

Design and analysis of a new cable-driven hyper redundant ma...

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2010 International Conference on Intelligent Computation Technology and Automation, ICICTA 2010

作者： Qiang, Zhao Fang, Gao State Key Laboratory of Robotics and System Computer School Harbin Institute of Technology Harbin Heilongjiang 150001 China Raffic College Northeast Forestry University Harbin Heilongjiang 150040 China Harbin Institute of Technology Mechtronical Engineering School Harbin Heilongjiang China

ISBN: (纸本)9780769540771

Hyper-redundant manipulators have been widely used in many fields, however many existing hyper redundant manipulators actuated directly by motors have the disadvantages of complicate structure and high cost. This paper proposes a novel remote cable-driven hyper redundant manipulator. This manipulator is based on elephant trunk bionics, and composed of several serial links combined by Hook joints. Each link is pulled by two antagonized pairs of cables. Two antagonized pairs belonged to the same link are tied and driven by only one motor, which can reduced largely the number of step motors needed. This paper fully discusses the structure and analyzes the cable stretching and retracting displacement. Analysis and motion simulation results show that the proposed scheme is practical and effective. © 2010 IEEE.

关键词： Cables

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