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IEEE International Conference on robotics and Biomimetics

作者： Zhiwei Wu Yongjun Sun Fenglei Ni Yiwei Liu Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, a novel spatial geometry of six-dimensional acceleration sensor(SDAS) is designed. And the sensor equation is calculated. The reliability of SDAS is improved by adding redundant line accelerometer. The GDOP(Geometric Dilution of Precision) index used in satellite navigation is introduced into SDAS for configuration evaluation. Compared with the classic cube configuration, the three indexes have improved significantly. The relationship between the output error of the SDAS and the installation error of the linear accelerometer is analyzed theoretically. Compared with the proposed layout structure using 12 accelerometers, it has obvious advantages.

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Video Text Processing Method Based on Image Stitching

Video Text Processing Method Based on Image Stitching

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International Conference on Image, Vision and Computing (ICIVC)

作者： Tianxiang Zhou Ke Wang Jun Wu Ruifeng Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728123264

This paper studies the video of text with large field of view, solves the problem of text acquisition when a single frame cannot obtain complete text information. This paper proposes a method for acquiring video text panoramas, which automatically processes video text content by natural scene text positioning, text tracking, image stitching and other methods. First, the text is detected using the YOLO target detection framework. Second, use ECO tracking method to keep track of text. Finally, the local matching and global stitching method are used to obtain a text panorama. Experiments show that the proposed method can automatically process video and obtain high-resolution panoramic images with text parts, which greatly improves the text processing speed and effect of video content.

关键词： Text detection Tracking Image stitching image stitching texts Videotapes tracking field of view Word Processing text processing Single frame

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A Novel Grasping Control Method for Dexterous Prosthesis based on Eye-tracking*

A Novel Grasping Control Method for Dexterous Prosthesis bas...

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IEEE International Conference on robotics and Biomimetics

作者： Jie Li Chunyuan Shi Dapeng Yang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

The state-of-art dexterous prosthetic hand with multi-degree-of-freedom urgently requires a control method to match its dexterity. The purpose of this paper is to develop a method on rapid grasp control of prosthetic hand based on eye-tracking and verify its effectiveness by experiments. Firstly, an interactive experiment platform was established. Based on the platform, the operator can select the necessary grasping pattern from a graphic interface through eye movement and trigger the selected pattern by gazing the target for a short time (~300ms). The selected grasp pattern will be fed back to the operator during the hand prosthesis performing reach-and-grasp tasks. Finally, to verify the effectiveness of this method, experiments were conducted by an able-bodied participant wearing the prosthesis to grasp some daily-used objects. Our result shows that, by adopting the eye tracking technology in the human visual channel, the grasp control of the prosthesis can be supervised and regulated in real-time and thus an effective interaction between the dexterous prosthesis and the operator can be achieved.

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Design and Implementation of a Lightweight Lower Extremity Exoskeleton

Design and Implementation of a Lightweight Lower Extremity E...

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3rd International Conference on Mechanical, system and Control Engineering, ICMSC 2019

作者： Mu, Jiamin Jiang, Hongzhou Hua, Yuxiang Zhao, Jie Zhu, Yanhe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Department of Fluid Control and Automation Harbin Institute of Technology Harbin150001 China

This paper summarizes the biomechanics simulation and design of a lightweight lower extremity exoskeleton. The biomechanics simulation was carried out using LifeMOD to obtain joint torques of human body in the condition of its applications including walking on flat ground, ascending stairs, sitting down and standing up which provided the design criteria of actuating torques. The anthropomorphically based exoskeleton has 7 degrees of freedom per leg, two of which are powered by brushless DC motors, and the total mass is less than 12 kg due to the use of carbon fiber material and the compact structural design and optimization. Controlling and sensing system based on CANopen communication protocol is proposed which can provide high communication efficiency and reliability for the control of the exoskeleton. © The Authors, published by EDP Sciences, 2019.

关键词： Biomechanics

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Compliance Control of the Hydraulic-Driven Single Legged Robot

Compliance Control of the Hydraulic-Driven Single Legged Rob...

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IEEE International Conference on robotics and Biomimetics

作者： Yixiao Fan Xu Li Haibo Feng Songyuan Zhang Chengbo Zhang Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper presents the force control strategies and a kind of compliance control strategies of the hydraulic- driven unit (HDU) in the legged robots. The model of HDU is established and the transfer function of the HDU force control system is given. The analysis of the force control strategies is introduced according to the characteristic of the HDU system. Based on the force control strategy called velocity feedback control strategy which performs the best, the virtual model control strategy which is a kind of compliance control strategy is presented to enhance the adaptability of the legged robot. Finally, the experiments are taken on the HDU experiment platform to test the performance of the force control strategies and the compliance control strategy. The landing buffer experiments are taken on the single leg robot to verify the effectiveness of the compliance control strategy. In the landing buffer experiments, the impact force of the single leg robot's knee HDU is about 0.33 time of what it is without the compliance control strategy while landing.

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A Novel Visual Odometer Assisted Pose Tracking Method for Mobile Robots

A Novel Visual Odometer Assisted Pose Tracking Method for Mo...

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IEEE International Conference on robotics and Biomimetics

作者： Rupeng Yuan Fuhai Zhang Ying Zhu Yili Fu The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Pose tracking is very crucial for robot's autonomous navigation. LIDAR based pose tracking algorithms are widely used due to its high cost-effective advantage. However these methods are likely to give back wrong result if the environment is blocked by the obstacles. In this paper, a visual odometer assisted pose tracking method is proposed to increase the robustness of pose tracking. Statistical index is introduced to evaluate the samples' score of LIDAR based pose tracking. If the result is not credible, the result of visual odometer will compensate the error along the maximum error direction. The experiment shows that the proposed method is able to track the robot correctly if the environment is blocked by obstacles.

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Visual-Based Pose Tracking in Weak Light

Visual-Based Pose Tracking in Weak Light

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International Congress on Image and Signal Processing, BioMedical Engineering and Informatics (CISP-BMEI)

作者： Longzhi Zhang Dongmei Wu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Visual tracking is a popular topic in computer vision, which has broad application prospects in military guidance, aerospace, video surveillance and analysis, medical diagnosis, intelligent robotics, human-computer interaction, and etc. Current tracking algorithms perform poorly in specific scenes, such as a target in condition of weak light. Thus, a pose tracking method based on visual information is put forward, to implement real-time visual tracking in weak light. More precisely, in proposed method, target pose parameters are known at the first frame in a given video sequence, additionally, edge features and point features are taken as visual features to improve the realtime of tracking. The experimental results demonstrate that our approach has better real-time performance of tracking in weak light.

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Analysis and Comparison of the Displacement Amplifiers with a Generalized Mathematical Model

Analysis and Comparison of the Displacement Amplifiers with ...

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

作者： Fangxin Chen Hongwei Li Wenhui He Wangyang Li Wei Dong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

The bridge-type amplifier and the lever-type amplifier are the two frequently used displacement amplifiers in the precision engineering. However, to the knowledge of the authors, the analysis and the performance comparison between the two amplifiers was not frequently reported, which is instrumental in realizing and selecting the displacement amplifiers in the practice application. To this end, the two types mechanisms are analyzed and compared with a compliance matrix based model. Via the analysis and comparison, some interesting results which are significant for the amplifiers are founded: 1). The amplification ratio is related to the input displacement when the elastic load is applied; 2) The limited amplification ratio phenomenon is observed in the bridge-type mechanism but also the lever-type one; 3) The comparison of the flexure hinges design for the two amplifiers are presented; 4) The load capacity of the two amplifiers are first analyzed and compared in this paper. Finally, the accuracy of the modeling is verified by FEA simulation studies.

关键词： Fasteners Force Load modeling Mathematical model Analytical models Bridges Solid modeling

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Object-Aware Hybrid Map for Indoor Robot Visual Semantic Navigation*

Object-Aware Hybrid Map for Indoor Robot Visual Semantic Nav...

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IEEE International Conference on robotics and Biomimetics

作者： Li Wang Ruifeng Li Jingwen Sun Lijun Zhao Hezi Shi Hock Soon Seah Budianto Tandianus State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In order to achieve an intuitive interaction and visual semantic navigation for the indoor robot, we propose a novel object-aware hybrid map. The existing map is usually a metric map, lacking semantics for interaction. We combine objects in the indoor environment with the metric map to constitute a hybrid map. The map consists of a 3D object semantic map and a 2D occupancy grid map, which transfers human commands to the grid map through object semantics, thereby enabling autonomous navigation for the robot. We utilize ORB-SLAM2 for continuous pose estimation and 3D mapping. 2D object detection in key-frames is conducted based on YOLO v3. The object point clouds in multiple perspectives are merged and a 3D bounding box of the object is estimated. These objects construct a 3D semantic map. Furthermore, we project a 3D point cloud map into a 2D plane in order to get an occupancy grid map. Finally, these two maps are combined forming an object-aware hybrid map. We conduct experiments in real environments in order to verify the feasibility and robustness of the hybrid map for robot semantic navigation.

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Parametric Gait Online Generation of a Lower-limb Exoskeleton for Individuals with Paraplegia

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Journal of Bionic Engineering 2018年第6期15卷 941-949页

作者： Tianjiao Zheng Yanhe Zhu ZongweiZhang Sikai Zhao Jie Chen Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechanical Engineering and Automation Northeastern University Shenyang 110819 China

Lower-limb exoskeletons can provide paraplegics with the ability to restore gait function. In the community ambulation, the user would frequently meet different floors, doorsills, and other obstacles. Therefore, parametric gait generation is a significant issue for this kind of exoskeletons. In this paper, a parametric gait online generation approach is proposed, which combines a parametric gait control method with a torque compensation control strategy, based on the state machine. In the torque compensation control, the reference tra- jectories of joint positions are obtained through compensating gravity, inertia, and friction, which is intent on the natural and well-directed source data. Based on the reference trajectories, the parametric gait control method is established, in which the gait can be controlled via three parameters： velocity, step-length, and step-height. Two test cases are performed on three healthy subjects. The results demonstrate that the parametric gait can be online generated smoothly and correctly, meanwhile every variable step can be triggered as users expect. The effectiveness and practicability of the gait generation approach proposed in this paper are validated. In addition, this research is the foundation of autonomous gait planning.

关键词： exoskeleton parametric gait gait online generation paraplegic bionic design

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