检索结果-内蒙古大学图书馆

IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Peidong Liang Chenguang Yang Zhijun Li Ruifeng Li Center for Robotics and Neural Systems Plymouth University UK State Key Lab of Robotics Systems Harbin Institute of Technology China College of Automation Science and Engineering South China University of Technology Guangzhou China

Studies of human motor behaviors have shown that central neural system (CNS) is able to adapt force and impedance in order to optimally interact with interactive environment. Muscle activities regulated by CNS can be represented by surface electromyography (sEMG) measured by electrodes attached on the skin. Inspired by the idea that muscle impedance adaptation reflects motion skills, sEMG based human-robot skill transfer, in particular, the writing skill transfer has been developed based on impedance adaptation extracted from sEMG. Squaring and low-pass filtering based signal envelop extraction algorithm and as well as re-sampling method are employed to extract incremental smooth stiffness from sEMG signals which is then transferred to robot to mimic human motor behavior. The effect of the proposed sEMG based bio-control is evaluated by writing task in comparison with constant stiffness control. Results show that sEMG based human skill transfer has significant effectiveness for skills transfer between human and robot, and it has a great potential to be used in teleoperation.

关键词： Robots Writing Force Muscles Joints Estimation Impedance

来源：评论

学校读者我要写书评

暂无评论

Shared control for teleoperation enhanced by autonomous obstacle avoidance of robot manipulator

Shared control for teleoperation enhanced by autonomous obst...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Xinyu Wang Chenguang Yang Hongbin Ma Long Cheng Centre for Robotics and Neural Systems Plymouth University Plymouth UK State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

In this paper, a human robot shared control strategy is developed and tested on a Baxter robot. Using the proposed method, the human operator only needs to consider the motion of the end-effector of the manipulator, while the manipulator will avoid obstacle by itself without sacrificing the end effector motion performance. An improved obstacle avoidance strategy based on the joint space redundancy of the manipulator is designed. A dimension reduction method is presented to solve the over defined problem of avoiding velocity to achieve a more efficient use of the redundancy. By employment of an artificial parallel system of the teleoperate manipulator and the task switching weighting factor, the proposed control method enable the robot restoring back to the commanded pose smoothly when the obstacle is removed. By implementing the dimension reduction method, the trajectory of each joint of the manipulator can be controlled at the same time to achieve the restoring task. Thus, the proposed control method can eliminate the impact of the obstacle on the remaining task. Satisfactory experiment results demonstrate the effectiveness of the proposed methods.

关键词： Manipulators Collision avoidance Robot kinematics Trajectory Kinematics Robot sensing systems

来源：评论

学校读者我要写书评

暂无评论

Teleoperated robot writing using EMG signals

Teleoperated robot writing using EMG signals

引用

International Conference on Information and Automation (ICIA)

作者： Chenguang Yang Sai Chang Peidong Liang Zhijun Li Chun-Yi Su Center for Robotics and Neural Systems Plymouth University UK College of Automation Science and Engineering South China University of Technology Guangzhou P. R. China State Key Lab of Robotics Systems Harbin Institute of Technology Harbin P. R. China Department of Mechanical and Industrial Engineering Concordia University Montreal Canada

ISBN: (纸本)9781467391054

In this paper, we have developed a method to tele-control a robot arm to imitate human writing skills using electromyography (EMG) signals. The control method is implemented on the Baxter® robot with a brush attached on the endpoint of its arm to imitate human writing skills, and a MYO sensor is used to measure the surface electromyographic (sEMG) signals generated by contractions of human muscles involved in writing tasks. A haptic device Sensable® Omni is used to control the motion of the Baxter® robot arm, and V-Rep® is employed to simulate the movement of the arm and to calculate the inverse kinematic of Baxter® robot arm. All the communications for Baxter® robot, V-Rep simulator, Omni device and MYO are integrated in MATlab®/Simulink®. The main test is to make the Baxter® arm following the movement of a human subject when writing with Omni stylus, and the EMG signals are processed using low pass filter and moving average technique to extract the smoothed envelope which is utilised to control the variation of position instead of variation of force along the vertical Z axis, so when the operator writes with force variations, the Baxter® can draw lines with variable thickness. This imitation system is successfully tested to make the Baxter® arm to follow the writing movement of the operator's hand and would have potential applications in more complicated human robot teleoperation tasks such as tele-rehabilitation and tele-surgery.

关键词： Electromyography Robot sensing systems Joints Phantoms Muscles Writing

来源：评论

学校读者我要写书评

暂无评论

Teaching by Demonstration on Dual-arm Robot using Variable Stiffness Transferring

Teaching by Demonstration on Dual-arm Robot using Variable S...

引用

IEEE International Conference on robotics and Biomimetics

作者： Chenguang Yang Peidong Liang Zhijun Li Arash Ajoudani Chun-Yi Su Antonio Bicchi College of Automation Science and Engineering South China University of Technology Guangzhou China State Key Lab of Robotics Systems Harbin Institute of Technology China Department of Advanced Robotics Istituto Italiano di Tecnologia Italy and Interdepartmental Research Center "E. Piaggio" Faculty of Engineering University of Pisa Italy Department of Mechanical and Industrial Engineering Concordia University Canada

ISBN: (纸本)9781467396769

Teaching by demonstration (TbD) techniques have been extensively investigated in the recent decades to enable transferring various task skills from human to robots. The traditional TbD techniques focus on teaching motion trajectories that may be sufficient for routine tasks with fixed objects. While for interactive tasks in contact with dynamic environment and objects, e.g., the payload of a robot manipulator may change from one to another, teaching robot only by motion demonstration may cause undesired contact force and inefficiency in the task execution. In this paper, we present a novel TbD method enhanced by transferring the stiffness profile during human robot interaction (HRI). The method is developed on a bimanual robot, whereas one slave arm plays the role of the tutee, and the other master arm coupled with human demonstrator plays the role of tutor. A rendering algorithm is employed to provide demonstrator with force feedback via a purposely built coupling device according to the motion disparity between the two arms. The muscle surface electromyography (sEMG) signals collected during HRI is processed to extract the demonstrator's variable stiffness as well as hand grasping patterns. Comparative tests have been carried out on a bimanual Baxter robot for a lifting task with three different set-ups: i) TbD with predefined fixed stiffness;ii) TbD with demonstrator transferred variable stiffness without force feedback;and iii) TbD with demonstrator transferred variable stiffness with force feedback. Results show that the proposed TbD method performs best by transferring the demonstrator's physical interactive skill to the robot in a natural and efficient manner.

关键词： TbD proposed efficient

来源：评论

学校读者我要写书评

暂无评论

Haptic intelligent interfaces for NAO robot hand control

Haptic intelligent interfaces for NAO robot hand control

引用

International Conference on Advanced Mechatronic systems (ICAMechS)

作者： Octavian Melinte Luige Vladareanu Ligia Munteanu Hongnian Yu Shuang Cang Zeng-Guang Hou Gui-Bin Bian Hongbo Wang Dept. Robotics and Mechatronics Institute of Solid Mechanics of Romanian Academy Bucharest Romania Engineering and Computing Bournemouth University Dorset UK State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Parallel Robot and Mechatronic Sys. Lab. Yanshan University Qinhuangdao China

The paper presents a new approach on haptic interface control for NAO robotic hand. The haptic teleoperation of NAO robot hand raises some issues, mapping the haptic device dynamic being the most important. The mapping was achieved through Neural Network by determining a dynamic gain of robot haptic feedback. The results lead to the achievement of the haptic intelligent interfaces for the NAO robot hand control which can be integrated into an innovative haptic robot control system.

关键词： Decision support systems Humanoid robots Haptic interfaces Economic indicators Joints Mechatronics

来源：评论

学校读者我要写书评

暂无评论

Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

引用

15th Annual Conference on Advances in Autonomous robotics systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

来源：评论

学校读者我要写书评

暂无评论

26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

引用

BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

来源：评论

学校读者我要写书评

暂无评论

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

引用

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

关键词：

来源：评论

学校读者我要写书评

暂无评论

Application of a genetic algorithm in triangulation of a 3-D object surface

引用

International Journal of Computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：