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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Wei Wang Yingying Wang Jinghao Qi Houxiang Zhang Jianwei Zhang Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China TAMS Department of Informatics University of Hamburg Hamburg Germany

In this paper, we propose a locomotion control algorithm for a climbing worm robot based on neural oscillator network (NON). According to the structure and locomotion feature of the climbing worm robot, the trapezoidal wave gait and triangular wave gait are defined. Then the cyclic inhibitory central pattern generator (CPG) model and mutual inhibitory CPG model are adopted to control the climbing worm robot. Furthermore, by combining the CPG output with the feedback signal from the sucker, the robot realizes the trapezoidal wave gait and triangular wave gait. Moreover, we present that real robot can successfully exhibit meandering movement by using controller output of the proposed architecture.

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Pedestrian detection using color symmetry phases

Pedestrian detection using color symmetry phases

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International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： J. Janta P. Kumsawat K. Attakitmongcol A. Srikaew Robotics Automation Research Unit for Real-World Applications Intelligent System Group School of Electrical Engineering Suranaree University슠of Technology Nakhon Ratchasima Thailand

Pedestrian detection is one of the most important research contents of road safety. The crucial idea behind such pedestrian safety systems is to protect the driver and pedestrian from any accident. In this paper, a pedestrian feature extraction based on color symmetry phases is presented. By examining symmetry phases in multiple color spaces, the segmentation results are significantly improved which allows support vector machines to be able to efficiently classify and recognize the pedestrian. The proposed system is capable of detecting multiple pedestrians from complex background and providing size and position information of pedestrians within the image. Pedestrians with different sizes, shapes, postures, and clothes can be detected effectively. Results and discussions are presented.

关键词： Image color analysis Feature extraction Shape Pixel Manganese Motion segmentation Image segmentation

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Study on kinematical modeling, control and experiment of a differential waist mechanism

Study on kinematical modeling, control and experiment of a d...

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World Congress on Intelligent Control and automation (WCICA)

作者： Yanjie Li Zhenwei Wu Hua Zhong School of Mechanical Engineering Shenyang Ligong University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China

Some biped or wheeled-base humanoid robots have waist mechanism in their body structures. Humanoid robots with waist mechanism have large workspace and high agility. A novel waist configuration with parallel driving motor was introduced in this paper. This waist mechanism is driven by the differential-gear closed transmission. It can realize its pitch and yaw motion separately and composite motion of pitch and yaw. The direct and inverse kinematic model of the waist mechanism was built and the Rosolved Motion Rate Control Strategy based on the kinematic model of the waist mechanism was designed in this paper. The experimental research on the kinematic characteristic of the waist mechanism was also finished. The result shows the response speed of the waist mechanism is fast and the lowest space position tracing error is 0.1 degree.

关键词： Humanoid robots Kinematics automation Pulse width modulation Laboratories Mobile robots Aerospace electronics

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Control and simulation on the waist mechanism of a humanoid robot based on dynamic model

Control and simulation on the waist mechanism of a humanoid ...

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Chinese Control and Decision Conference, CCDC

The wheel-based humanoid robots with waist mechanism have large workspace and high agility. The humanoid robot in this paper has a waist mechanism with two parallel driving motors. The waist mechanism connects the vehicle with the trunk of the humanoid robot. The dynamic characteristic of the waist mechanism is affected by the dynamic characteristic of arms and vehicle and the external forces or torques, as well as by the motion of its own. This paper firstly built the whole dynamic model of the humanoid robot using the effective Newton-Euler Algorithm and then built the dynamic model of the waist mechanism through simplifying the whole dynamic model without consideration of coupling motion of the joints. The simplified dynamic model expresses the dynamic relation among the vehicle, waist and arms of the humanoid robot, minimizes the calculation and is convenient for realizing the control algorithm based on the dynamic model. This paper presented the PD control and the calculated torques method for compensating the torque disturb as the control strategy of the waist mechanism based on its dynamic model. The simulation shows the control algorithm remarkably improves the position tracing precision of the waist mechanism and improves the work precision of the humanoid robot.

关键词： Vehicle dynamics Humanoid robots Joints Heuristic algorithms Dynamics Torque Vehicles

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False matches filtering methods for binocular vision

False matches filtering methods for binocular vision

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World Congress on Intelligent Control and automation (WCICA)

作者： Hongwei Gao Bin Li Chengdong Wu Chuan Zhou School of Information Science & Engineering Shenyang Ligong University Shenyang China Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China School of Information Science & Engineering Northeast University Shenyang China

Outliers (false matches) detection techniques are very important for computer stereo vision. There always exist some outliers in spare matching and dense matching which impact the following 3D reconstruction in effect and accuracy. The author discussed some detection algorithms for outliers on the basis of 2D space and 3D space, and put forward a grey pre-processing algorithm applying beforehand to lower the false matching rate. Meanwhile, a kind of disparity filtering algorithm based on ground truth control points is also put forward. The former only balances the overlap area between two images which can reduce the calculation quantity; the latter based on disparity mean value filtering can improve the detection efficiency. Experiment results of real images proved that the false matches can be detected and eliminated effectively by the new algorithms which ensure the effect and accuracy of 3D reconstruction.

关键词： Filtering Three dimensional displays Information science automation Aerospace electronics Accuracy Educational institutions

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Adaptive edge detection with automatic selection of parameters in unstructured environment

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Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2008年第SUPPL. 2期29卷 354-359页

作者： Xia, Xinghua Wu, Chengdong Li, Bin State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate School Chinese Academy of Sciences Beijing 100039 China School of Information Science and Engineering Northeast University Shenyang 110004 China Shenyang Jianzhu University Shenyang 110168 China

An in-depth study of algorithm of Canny edge detector is carried out in this paper, and for the sake of improving the ability of parameters selection adaptively, a new method of automatic selection of edge detector parameters based on algorithm of OSTU and statistical theory is presented. The global optimized parameters are determined automatically and adaptively through a optimized method of statistics. Some experiments are carried out and the results show that the method in this paper could reduce the noise affectively, select the optimized parameters automatically and adaptively, improve the precision of edge detection, especially in application of unstructured environments without the information of conditions. At last, whit experiments of lunar detection, the method presented in this paper has higher edge detection performance.

关键词： Edge detection

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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Using blending control to suppress multi-frequency disturbances

Using blending control to suppress multi-frequency disturban...

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International Conference on Control, automation, robotics and Vision (ICARCV)

作者： Chunling Du Lihua Xie F. L. Lewis ASTAR Data Storage Institute Singapore School of Electrical and Electronic Engineering Nanyang Technological University Singapore Automation and Robotics Research Institute University of Technology Arlington TX USA

In this paper, rejecting multi-frequency narrow-band disturbances is formulated as a control blending problem according to each disturbance characteristic. Each disturbance rejection is accomplished by using H 2 optimal control method. Based on all the H 2 optimal controls, the blending technique is employed to yield a single controller which is capable to achieve the rejection for all disturbances. Rejections for two and three disturbances through the control design for the VCM actuator in a hard disk drive are taken as application examples in the current paper. Simulation and experimental results show that the ultimate controller results in a simultaneous attenuation to disturbances with frequencies higher or lower than the closed-loop system bandwidth. Moreover, the method turns out to be able to lift phase and thus prevent phase margin loss when it is used to deal with disturbances near bandwidth.

关键词： Frequency Optimal control Hydrogen robotics and automation Control design Automatic control Narrowband Actuators Bandwidth Transfer functions

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Method of edge detection parameters selection automatically in unstructured environment

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Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2008年第SUPPL. 2期29卷 600-604页

作者： Xia, Xinghua Wu, Chengdong Li, Bin Li, Mengxin State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate School Chinese Academy of Sciences Beijing 100039 China School of Information Science and Engineering Northeast University Shenyang 110004 China Shenyang Jianzhu University Shenyang 110168 China

Studies of edge detect algorithms based on grads are carried out in this paper first, and for the sake of improving the ability of parameters selection adaptively, a new method of automatic selection of edge detector parameters based on algorithm of OSTU and statistical theory is presented. The global optimized parameters are determined automatically and adaptively through an optimized method of statistics, finally, Canny edge detector is used to prove the validity of our method presented in this paper. Some experiments are carried out and the results show that the method in this paper could reduce the noise affectively, select the optimized parameters automatically and adaptively, improve the precision of edge detection, especially in application of unstructured environments without the pre-information.

关键词： Edge detection

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Study on the fabrication methods of carbon nanotube probe

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Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2008年第SUPPL.期29卷 44-48页

作者： Li, Minglin Dong, Zaili Yu, Haibo Yang, Yongliang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Acad. of Sci. Shenyang 110016 China College of Mechanical Engineering Fuzhou University Fujian 350002 China Graduate School Chinese Acad. of Sci. Beijing 100049 China

Carbon nanotubes (CNTs) are wildly regarded as ideal probe tips for atomic force microscopy (AFM) to improve the resolution, due to its small size, high aspect ratio, strong mechanical property, high flexibility, unique chemical and electric properties. According to the properties of their procedures, the representative examples of CNT probes are classified into two major methods: an assembling method in which readily available CNTs are manipulated to attach on the tip of conventional silicon probe using manual operation or electromagnetic fields, and a growing method in which CNTs are directly grown from the apex of silicon probe or silicon cantilever beam by a chemical vapor deposition (CVD) process. In conclusion, the limitations of each method are also discussed.

关键词： Atomic force microscopy Carbon nanotube CVD growing Nano-assembly Probe

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