A01: Soft Robotics

Transcription

A01: Soft Robotics

IEEE-ROBIO 2014 Conference Digest
A01: Soft Robotics
Session Chairs: Juan Manuel Florez and Shixin Mao
Room PLUMERIA B, 9:40-10:55, Sunday, 7 December, 2014
A01(1) 9:40-9:55
A01(2) 9:55-10:10
Development of Pneumatic Rubber Actuator of
400mm in Diameter Generating Bi-directional
Bending Motion
Rapid Prototyping Design and Control of
Tensegrity Soft Robot for Locomotion
Kyunam Kim1, Adrian K. Agogino2, Deaho Moon1,
Laqshya Taneja1, Aliakbar Toghyan1, Borna Dehghani1,
Vytas SunSpiral3, and Alice M. Agogino1
Ryo YOSHIOKA, Shuichi WAKIMOTO and Koichi SUZUMORI
Graduate School of Natural Science and Technology, Okayama Univ., Japan
• Micro rubber actuator that can bend into two
directions has been developed.
• The micro rubber actuator consist of silicone
rubber.
• The actuator has been designed by
nonlinear FEM and fabricated by molding
process.
• The actuator bends into two directions by
positive and negative pneumatic pressures.
1UC
2UC
Structure
200µm
50µm
• A lightweight, untethered and low-cost
tensegrity soft robot with a payload is
designed and rapidly prototyped.
• Control is developed using heuristic-based
greedy search algorithm to realize robot
locomotion for moving forward and turning.
• A naturally compliant tensegrity robot does
minimal harm to itself and to humans, making Rapidly prototyped tensegrity robot
it a suitable choice for co-robotic applications. shown in the NASA Ames RoverScape.
90µm
400µm 30µm
200µm
(a) 0kPaG (b) 130kPaG (c) －70kPaG
Fabricated micro rubber actuator
A01(3) 10:10-10:25
A01(4) 10:25-10:40
Locomotion modeling of an actinomorphic soft
robot actuated by SMA springs
Two Chambers Soft Actuator
Realizing Robotic Gymnotiform Swimmers Fin
Hu Jin, Erbao Dong, Shixin Mao, Min Xu, Jie Yang
Muhammad Rusydi, Ahmad ‘Athif, Mahrokh Bavandi,
Ili Najaa Aimi, Elango Natarajan and Omar Yaakob
School of Engineering Science, University of Science and Technology of China
Control and Mechatronic Engineering Department,
Universiti Teknologi Malaysia, Malaysia
• Extended simulation study on two chambers
soft actuators design using finite element.
• Actuators comparison on separating wall
thickness, actuator thickness, fiber location,
fiber materials, and rubber materials.
• Two actuators are embedded to the ends of
soft actuator fin.
• Soft actuator fin propels like gymnotiform
swimmers and shows good linear motion.
• Actinomorphic soft robot possesses a flattened body
with a number of arms radially symmetric distributing
and extending from robot central disc.
• A novel approach which regards robot movement as
a spatial close-chain mechanism was applied to
analyze the robot locomotion modal.
• The robot locomotion model was built by
synthesizing forward kinematics using modified D-H
method, locomotion modal and motion equations
under quasi-static approximation.
• By contrast the result of experiment and simulation,
they presented similar locomotion characteristics of
movement rhythm and direction which prove the
robot locomotion model available.
Two actuators are embedded
at the ends of the fin
A01(5) 10:40-10:55
Soft Pneumatic Actuators for Legged Locomotion
Juan Manuel Florez, Benjamin Shih, Yixin Bai and Jamie K Paik
Reconfigurable Robotics Lab (RRL) ,Department of Mechanical Engineering,
Swiss Federal Institute of Technology (EPFL) Lausanne, Switzerland.
• SPA-based, lightweight (< 100g),
compliant, and disposable search
and rescue robot.
• A proof-of-concept soft robotic
system for locomotion in tight
spaces.
• Built in adaptation of the material
resulting in close loop control of
the robot without fine modelling
of kinematics and friction.
Berkeley, USA
Santa Cruz, USA
Inc., USA
3SGT
Disposable search and rescue
soft robotic platform
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B01: Surgical Robots I
Session Chairs: Bo Pan and Chiharu Ishii
Room PLUMERIA A, 9:40-10:55, Sunday, 7 December, 2014
B01(1) 9:40-9:55
B01(2) 9:55-10:10
Development of a Surgical Robot for Single-Port
Surgery and Its Position Tracking Control
Design of Passive Joint in Minimally
Invasive Surgical Robot
Daisuke Yamaoka, Katsuaki Oiwa and Shotaro Maeda
Major in Mechanical Engineering, Graduate school of Hosei Univercity, Japan
Jiawen Yan, Bo Pan, Guojun Niu, Yili Fu, Dianguo Xu
Chiharu Ishii
State Key Laboratory of Robotics and System,
Harbin Institute of Technology, Harbin, China
Department of Mechanical Engineering, Hosei Univercity, Japan
• A novel surgical robot for single-port surgery
(SPS) was developed.
• The surgical robot can achieve a forceps
placement called “rotation formation”.
• Use of the robot’s position control method,
which is based on inverse kinematics, was
proposed.
• To evaluate the accuracy of the surgical robot,
position control experiments were conducted.
• Locking structure comprises of step
motor, harmonic gear reducer, bevel
gear and the friction part.
• The friction part is optimized to
increase normal force on contacting
surfaces.
• Passive joint is driven by a motor,
power off won’t affect the reliability of
the self-locking structure.
The half view of the 3D-model of
the total structure
B01(3) 10:10-10:25
Overview of the Developed
surgical robot
B01(4) 10:25-10:40
Control Formulation of a Highly Complex
Wire-Driven Mechanism in a Surgical Robot Based
on an Extensive Assessment of Surgical Tool-Tip
Position/Orientation Using Optical Tracking System
Design of the SJTU Unfoldable Robotic
System (SURS) for Single Port Laparoscopy
Kai Xu, Minxiao Fu, and Jiangran Zhao
RII Lab (Lab of Robotics Innovation and Intervention),
UM-SJTU Joint Institute, Shanghai Jiao Tong University, China
Pittawat Thiuthipsakul and Jackrit Suthakorn, Ph.D.
Department of Biomedical Engineering,
Center for Biomedical and Robotics Technology (BART LAB),
Mahidol University, Thailand
• Investigation and assessment for errors and
behaviors of a wire-driven mechanism set on
MU-LapaRobot.
• Formulating a control algorithm for MULapaRobot by Using Position and Orientation
Information.
• Implementing the control system using the new
algorithm in MU-LapaRobot for Assessment.
A figure here
• Design and construction of the SURS
(SJTU Unfoldable Robotic System)
for SPL is presented.
• The SURS can be inserted into one’s
abdomen through a ∅12mm incision
while folded.
• It can unfold itself into a dual-arm
configuration for surgical interventions
with integrated visual guidance.
• The design and preliminary experimental characterizations are elaborated.
A figure here
B01(5) 10:40-10:55
Design and Analysis of a Force Reflection
Master Manipulator for Minimally Invasive
Surgical Robot
Tao Wang, Bo Pan, Zhaokun Tang, Yili Fu, Xiaoxia Niu, Shuguo Wang
the State Key Laboratory of Robotics and System, Harbin Institute of
Technology ,China
• Design of a 8 DOF serial force reflection
master manipulator was proposed.
• Forward kinematics, inverse kinematics
and Jacobian matrix is deduced.
• The manipulability and flexibilityof the
manipulator is analysed.
• Adams simulation verifies the
correctness of the kinematics..
24
C01: Mobile Robots I
Session Chairs: Ngoc Anh Mai and Michele Folgheraiter
Room HIBISCUS, 9:40-10:55, Sunday, 7 December, 2014
C01(1) 9:40-9:55
C01(2) 9:55-10:10
A Chaotic Neural Network as Motor Path
Generator for Mobile Robotics
Transportation of a Large Object by Small
Mobile Robots with Handcarts and Outrigger
Michele Folgheraiter
Fusao Ohashi, Kohei Kaminishi, Jorge Figueroa and Hiroki Kato
Dept. of Precision Engineering, The University of Tokyo, Japan
Robotics and Mechatronics Department, Nazarbayev University, Kazakhstan
Jun Ota
Giuseppina Gini
Research into Artifacts, Center for Engineering (RACE),
The University of Tokyo, Japan
DEIB, Politecnico di Milano, Italy
• The aim is transportation of a large object by
small mobile robots and handcarts.
• The falling of the robots and the slipping of the
handcarts should be solved.
• An outrigger and locking system were applied
to improve the transport capacity of the robots.
• Two robots and four handcarts were able to
carry 35kg object.
• Motor path generator for applications in mobile
robotics based on a chaotic neural network.
• Inspired by the neural structure of
microcircuits located in the human prefrontal
cortex.
• Preliminary results demonstrated the
capability of the neural controller to learn
period signals in a short period of time
allowing adaptation during the robot operation.
C01(3) 10:10-10:25
The robots are inserting
handcarts under an object in
cooperation
C01(4) 10:25-10:40
A Novel Adhesion Stability Detection Methodology
and Slip Prevention Control Strategies for Wheeled
Ground Vehicles
Shared Autonomy for Assisted Mobile Robot
Teleoperation by Recognizing Operator Intention as
Contextual Task
K. Xu, G. Xu, C. Zheng, T. Zahid and C. Hu
Ming Gao, Jan Oberlaender,
Thomas Schamm and J. Marius Zoellner
University of Chinese Academy of Sciences, China
Shenzhen Institutes of Advanced Technology, CAS/CUHK
Tongji University, China
Ningbo Institute of Technology, Zhejiang University, China
FZI Forschungszentrum Informatik, Germany
• Robot recognizes user intention as
contextual task to assist teleoperation
• Task is described by task feaure
• An environment process algorithm is
introduced to extract task feature
• Experiment results from operating a
holonomic mobile robot in a variety of
scenarios verify the effect of the proposed
approach
• A novel methodology using force transmitting
factor to detect the wheel-ground adhesion
stability.
• A novel determination law to capture the optimal
operation point and
two slip prevention strategies.
• Advantages: requiring fewer measurements, and
functioning in uncertain wheel-ground contact
condition.
C01(5) 10:40-10:55
Application of an Embedded System with
Android OS to a Fuzzy-based Behavioral Control
System of Mobile Robot
Quoc Thang Phan and Ngoc Anh Mai
Le Quy Don Technical University, Vietnam
Tien Dung Hoang
Hanoi University of Industry, Vietnam
• Application of an embedded system
running on the Android operating
system to a behavioral control system.
• The behavioral control system dealing
with collision-free and goal-oriented
movement.
• The behavior cooperation is based on
a fuzzy logic system.
A figure here
Mobile robot FoCEbot
25
D01: Image Processing
Session Chairs: Dongxiang Zhou and Qingsong Zhu
Room DELONIX, 9:40-10:55, Sunday, 7 December, 2014
D01(1) 9:40-9:55
D01(2) 9:55-10:10
A Segmentation Algorithm for Mycobacterium
Tuberculosis Images Based on Automatic-Marker
Watershed Transform
Object Edge Contour Localisation based on
HexBinary Feature Matching
Yuan Liu, Gerardo Aragon-Camarasa and J. Paul Siebert
Chao Xu, Dongxiang Zhou and Tao Guan
School of Computing Science, University of Glasgow, UK
College of Electronics Science and Engineering, National University of Defense
Technology, China
• HexBinary descriptor is proposed with combing
the binary string and the hexagon structure.
• Object localization system is investigated
based on matching HexBinary features of
dense edge points.
• The system validations on ALOI dataset and
the gripper data demonstrate promising
performances of in-plane and out-of-plane
application.
Yunhui Liu
Department of Mechanical and Automation Engineering, The Chinese
University of Hong Kong, Hong Kong, China
• a novel segmentation algorithm is proposed
based on automatic-marker watershed transform
• regions are merged with the criterion of max
similarity of adjacent regions
• multi-thresholds segmentation for eliminating
contamination in the images with different
Flowchart of the proposed algorithm
background colors
D01(3) 10:10-10:25
D01(4) 10:25-10:40
Nuclei Enhancement and Segmentation in Color
Cervical Smear Images
Quick Shift Segmentation Guided Single Image Haze
Removal Algorithm
Qingsong Zhu, Di Wu, Yaoqin Xie, Lei Wang
Institutes of Advanced Technology, Chinese Advanced of
Sciences, Shenzhen, China
Tao Guan, Dongxiang Zhou, Weihong Fan, Keju Peng, Chao Xu,
and Xuanping Cai
College of Electronic Science and Engineering, National University of Defense
Technology , China
• We propose an effective intensity-based nuclei
enhancement method.
• We also propose a novel color distributionbased nuclei enhancement method.
• Our method is able to cope with the nuclei
segmentation in overlapping cells images.
• This paper presents a novel Quick Shift
Segmentation Guided image haze removal
approach from single image.
• In the algorithm, the constant albedo and dark
channel prior methods are combined to represent
the transmission model of hazed image. And then,
the quick shift segmentation approach is introduced
to decompose the input image into some gray level
consistent areas.
• Compared with traditional fixed image partition
schemes, better estimation of the atmospheric light
can be obtained as well as to avoid the problem of
halo artifacts.
• With the improved haze image modeling approach
and atmospheric light estimation, the dehazed
image with better visual quality can be achieved.
A figure here
Nuclei segmentation result
D01(5) 10:40-10:55
The Latest Challenges and Opportunities in the
Current Single Image Dehazing Algorithms
Jiaming Mai, Qingsong Zhu, Di Wu
Institutes of Advanced Technology, Chinese Advanced of
Sciences, Shenzhen, China
•
•
•
•
Object localization example
(in-plane application)
Most outdoor vision applications such as video-surveillance
systems and traffic monitoring systems fail to work normally
in this condition.
Improving the technique of image dehazing has important
and realistic significance. Although significant progress has
been made during recent years, there are still some
problems in image haze removal.
We will discuss three grand challenges of single image
dehazing: 1) Find a way to solve the ambiguity problem
between image color and depth in dehazing; 2) Create a
more robust model for dehazing in inhomogeneous
atmosphere; 3) Develop a reliable image quality assessment
mechanism to evaluate the quality of dehazing algorithms.
At the end of this paper, we summarize the discussions on
these challenges.
26
E01: Space Robots
Session Chairs: Panfeng Huang and Fenglei Ni
Room AMHERSTIA I, 9:40-10:55, Sunday, 7 December, 2014
E01(1) 9:40-9:55
E01(2) 9:55-10:10
Parameters Estimation of Space Debris
Captured by Tethered Robotic System
A fast circle detector of non-cooperative target
for Tethered Space Robot
Fan Zhang and Panfeng Huang
Jia Cai, Panfeng Huang, Zhongjie Meng and Bin Zhang
National Key Laboratory of Aerospace Flight Dynamics
Research Center for Intelligent Roboics
School of Astronautics, Northwestern Polytechnical University, China
Research Center for Intelligent Robotics, School of Astronautics, Northwestern
Polytechnical University,China
National Key Laboratory of Aerospace Flight Dynamics, China
• A dynamics model of tethered robotic
system after captured is proposed.
• Simplified Equations of the compound system
in post-capture phase is derived.
• A scheme of parameters estimation is
proposed.
• Simulation results are shown to proved the
estimation scheme.
• We present a novel fast circle detector used for
recognition of circular modules.
• We use a region growing algorithm to form an
arc support region.
• We define a square fitting area to reduce
complexity.
• We introduce a simply and reliable verification
strategy of circular integrity.
Algorithm flowchart of GHC
E01(3) 10:10-10:25
E01(4) 10:25-10:40
Shape Keeping Control of Maneuverable
Tether-net Space Robots
Parameter Identification and Controller Design
for Flexible Joint of Chinese Space Manipulator
Zhongjie Meng and Panfeng Huang
Tian Zou, Fenglei Ni, Chuangqiang Guo, Weisi Ma, Hong Liu
School of Astronautics, Northwestern Polytechnical University, China
National Key Laboratory of Aerospace Flight Dynamics, China
• Maneuverable tether-net space robots are
promising in the capture of space debris.
• The net is modeled by four triangle shells
and the tether is by interval functions
• The controller contains a double optimization pseudo dynamic inversion and a sliding
mode controller.
• Simulation results show that the net deformation and the orbital radial movement are
prevented.
State Key Laboratory of Robotics and System, Harbin Institute of Technology,
China
• Model of the flexible joint.
• Parameter Identification of the flexible joint
including friction, inertia parameter and current
coefficient.
• State feedback controller design of the flexible
joint introducd the nominal stiffness.
• Simulation and experiment verification.
Maneuverable Tether-Net
Space Robots
E01(5) 10:40-10:55
The Non-Cooperative Satellite Capturing Nozzle
Device Based on Laser Range Finders Guidance
Yu Zhang, Kui Sun*, Yuanfei Zhang and Hong Liu
the State Key Laboratory of Robotics and System,
Harbin Institute of Technology, China.
• The Capturing Device is developed
to capture the non-cooperative
satellite by capturing the main engine
nozzle.
• The capturing device utilizes the
design concept of the optics,
mechanism and electricity unitization.
• Six laser range finders are radially
arranged in the capturing device to
sense the nozzle pose.
A figure here
Capturing Nozzle Device
Based on Laser Range Finders
Guidance
27
F01: Simulation Systems
Session Chairs: Christian Groth and Weidong Chen
Room AMHERSTIA II, 9:40-10:55, Sunday, 7 December, 2014
F01(1) 9:40-9:55
F01(2) 9:55-10:10
One-shot Robot Programming by Demonstration
for a Robot Manipulator using an Online Oriented
Particles Simulation
Modeling and Simulation of EAST Flexible In-vessel
Inspection Robot based on Absolute Nodal
Coordinate Formulation
Christian Groth and Dominik Henrich
Li Lin,Junguo Lu,Weidong Chen and Jingchuan Wang
Department of Automation,Shanghai Jiao Tong University,China
Robotics and Embedded Systems
University of Bayreuth
Germany
• Dynamic model of a flexible in-vessel
inspection robot for EAST
• 3D curved beam elements and sliding joint of
the absolute nodal coordinate
• Calculation of the static deformation and the
compensation angle
• Calculation of the dynamic simulation and the
tip vibration
• Single demonstration of a task
• Oriented particle simulation to adapt a
demonstration to a new situation
• Online adaption
• Integrated collision avoidance
F01(3) 10:10-10:25
F01(4) 10:25-10:40
Dynamic Simulation of Cervical Traction Therapy:
Comparison between Sitting and Inclined Positions
RT-MaG: an open-source SIMULINK Toolbox
for Linux-Based Real-Time Robotic Applications
Lawrence KF Wong and Zhiwei Luo
Biorobotics Dept., Aix-Marseille Univ., CNRS, ISM UMR 7287, France
Nobuyuki Kurusu
GIPSA-Lab, Control Systems Dept., CNRS Univ. Of Grenoble, France
Augustin Manecy and Stéphane Viollet
Graduate School of System Informatics, Kobe University, Japan
Nicolas Marchand
Minato Medical Science Co.,Ltd, Japan
• Evaluated the efficacy of the sitting
and inclined positions used in cervical
traction therapy
• Computer simulation model was
constructed using a physics engine
• Results suggested that the inclined
position creates greater intervertebral
separation
• Convert Simulink Models to embedded Linux
Real Time applications.
• Both Processor-In-the-Loop (PIL)
and Normal modes available.
• Real-Time monitoring & parameters tuning
using Simulink.
• Direct access from Simulink to the classic
robotic buses and I/Os (UART, SPI, I2C, Wifi,
PWM, etc.)
http://www.gipsa-lab.fr/projet/RT-MaG/
Dynamic Simulation of
Cervical Traction Therapy
F01(5) 10:40-10:55
Design, Control and Planning for a Crustal
Movement Simulation System
Qingzeng Ma, Guodong Yang, En Li and Zize Liang
Institute of Automation, Chinese Academy of Science
Beijing, China
• A crustal movement simulation system is
proposed.
• A special parallel mechanism is designed.
• A simplified kinematics analysis for parallel
mechanism is introduced.
• Experiments for landform simulation are
conducted.
28
A02: Biologically Inspired Robots and Systems I
Session Chairs: Yantao Shen and Steffen Ruehl
A02(1) 11:15-11:30
A02(2) 11:30-11:45
A new device to measure load and motion in
lower limb prosthesis – tested on different
prosthetic feet
Development of a Biomimetic Non-invasive Radial
Pulse Sensor: Design, Calibration, and Applications
Jochen Schuy, Alexander Burkl,
Philipp Beckerle and Stephan Rinderknecht
*
Institute for Mechatronic Systems in Mechanical Engineering,
Technical University Darmstadt, Germany
• Measurement of load & motion in six degrees
of freedom synchronously
• Load measurement with 14 Wheatstone
Bridges
• Motion measurement with IMU/ AHRS
 Enables new possibilities in course design,
amputees’ gait assessment and basic
knowledge
Yudong Luo*, Sanku Niu*†, Jose Cordero*, Yantao Shen*
Dept. of Electrical and Biomedical Engineering, Univ. of Nevada,Reno, USA
of Mechatronic Engineering, Beijing Institute of Tech., Beijing, China
† Dept.
• Developed a low-cost, portable, high-accuracy,
biomimetic non-invasive radial pulse sensor.
A figure here
• The sensor design functionally mimics
physiological structure of human fingertip.
A figure here
• The sensor performance is validated through
extensive calibration and experiments.
• In the clinic application, the sensor is capable of
accurately measuring arterial stiffness.
Illustration of the biommietic non-
System (top) implemented
in prosthesis (below)
invasive radial pulse sensor
A02(3) 11:45-12:00
A02(4) 12:00-12:15
Design of self-moving gel
driven by chemical energy
KAIRO 3: A Modular Reconfigurable Robot
for Search and Rescue Field Missions
Ryoya Okada, Tkanobu Kogure
Sumito Nagasawa, and Shingo Maeda
L. Pfotzer, S. Ruehl, G. Heppner, A. Roennau and R. Dillmann
FZI Research Center for Information Technology, Germany
Division of Mechanical Engineering, Shibaura institute of Technology, Japan
• We report the autonomous driving actuator
using the self-oscillating gels like living
organisms. (BZ gel)
• Success in observing that the BZ gel with the
asymmetric shapes could walk autonomously.
• The BZ gel could oscillate swelling-deswelling
without external stimuli.
• he asymmetric shapes of the gel were
fabricated by molding.
• KAIRO 3: new generation of snake-like,
modular and reconfigurable inspection robot
• Increased robustness through strong
mechatronics and reliable control software
• Increased flexibility through fast adaption
and reconfiguration of hardware modules
• Field application and evaluation at the
European civil protection exercise TARANIS
2mmA figure here
The BZ gel
with asymmetric shapes
A02(5) 12:15-12:30
Modeling, Control and Stabilization Analysis on
a Two-link Active Tumbler System
Sanku Niu, Hongbin Deng, and Jie Li
Dept. of Mechatronic Engineering, Beijing Institute of Technology, China
Yantao Shen
Dept. of Electrical and Biomedical Engineering, Univ. of Nevada, Reno, USA
• Combines passive with active stabilization
mechanisms on a two-link tumbler system for
attenuating disturbances.
• A new hybrid inertial stabilization mechanism
is being applied to stabilize coaxial helicopter
MAV outdoor.
• Fast recovery responses and optimal
parameters for two-link tumbler system are
Illustration of hybrid inertial stabilization
investigated and found via simulation.
on a two-link tumbler system
29
KAIRO 3 searching for
buried persons in a crashed
building at TARANIS
B02: Surgical Robots II
Session Chairs: Ying Hu and Jackrit Suthakorn
B02(1) 11:15-11:30
B02(2) 11:30-11:45
A New Circular-Guided Remote Center of Motion
Mechanism for Assistive Surgical Robots
Design of a novel Surgical instrument for
minimally invasive robotic surgery
Hiu Man Yip, Peng Li, David Navarro-Alarcon, Zerui Wang, and
Yun-hui Liu
Bo Pan, Guojun Niu, Yili Fu, Dianguo Xu, Yongsheng Wang
State Key Laboratory of Robotics and System,
Harbin Institute of Technology, Harbin, China
Department of Mechanical and Automation Engineering,
The Chinese University of Hong Kong, Hong Kong S.A.R
• A novel four DOFS surgical instrument
• A linearly-actuated-arc-guided RCM
mechanism which improves system rigidity is
presented.
• The mechanism provides an alternative to the
use of tendon-driven mechanisms.
• The mechanism is extended to a 3-DOF one,
which can later be applied to surgical robots.
• In-body RCM can be obtained as space
between the robot and the RCM is increased.
without coupled motions is developed
adopting pulley-tendon mechanism.
• The developed instrument has force
limited function and quick change
interface.
• Experiments show that the developed
surgical instrument can realize four DOFs
motions, and don’t exist coupled motion.
B02(3) 11:45-12:00
The final prototype of instrument
B02(4) 12:00-12:15
Spinal Physiological Motion Simulator and Compensation
Method for a Robotic Spinal Surgical System
Flexible robotic device for spinal surgery
Samir Morad, Justin Chan, Ravi Vaidyanathan, Kim Parker
Bing Li and Min Fang
Mechanical Engineering/Bioengineering, Imperial College, London, UK
Christian Ulbricht
Harbin Institute of Technology Shenzhen Graduate School, Shenzhen, China
Haiyang Jin, Ying Hu and Peng Zhang
Shenzhen Institutes of Advanced Technology, Shenzhen, China
Charing Cross Hospital, London, UK
Paul Harkin
Changing Structures, Lincolnshire, UK
• A respiratory model based on the ventilator
flow waves is proposed.
• A spinal physiological motion simulator
(SPMS), which is based on a 3-RPS parallel
mechanism, is developed for simulating the
SPM due to the respiratory model.
• A compensation algorithm based on weighted
frequency linear combiner (WFLC), is
proposed for a robotic surgical system in this
paper.
• A robot platform has been designed that acts as a
mount for the cutting system.
• A flexible probe and the dissection system have
been designed to go around the spinal column.
• A graphical user interface (GUI) has been created
to provide an interface for control by a surgeon.
• Experimentally; the prototypes of both the drill
and water jet cutter are able to go around angles
up to 120° and remove soft tissues.
Motion compensation
experiments with SPMS
B02(5) 12:15-12:30
Workspace Determination and Robot Design of
A Prototyped Surgical Robotic System Based on A
Cadaveric Study in Endonasal Transsphenoidal Surgery
Suwiphat Chalongwongse and Jackrit Suthakorn, Ph.D.
Department of Biomedical Engineering, and
Center for Biomedical and Robotics Technology (BART LAB),
Faculty of Engineering, Mahidol University, Thailand
• Real experiment of endonasal transsphenoidal
surgery (ETSS)on cadaveric case
• Study of workspace and surgical path of ETSS
• Development of a prototyped surgical robotic
system to assist neurosurgeon for ETSS
• Delta parallel robot is applied in the prototyped
ETSS surgical robotic system
A figure here
For figure caption (optional),
use arial narrow 20pt font
30
A figure here
C02: Mobile Robots II
Session Chairs: George Fourlas and Min Li
C02(1) 11:15-11:30
C02(2) 11:30-11:45
A Camera-based Real-time Polarization Sensor
and Its Application to Mobile Robot Navigation
Shuai Zhang and Daobin Wang
A New Approach to Battery Power Tracking and
Predicting for Mobile Robot Transportation Using
Wavelet Decomposition and ANFIS Networks
Huawei Liang, Hui Zhu and Biao Yu
Center for Life Science Automation-celisca, University of Rostock, Germany
Hui Liu, Kerstin Thurow
Department of Automation,University of Science and Technology of China
Norbert Stoll, Steffen Junginger
Institute of Advanced Manufacturing Technology, Chinese Academy of
Sciences
• A real-time three-channel camera-based
polarization navigation sensor is proposed in
this paper.
• The sensor is with its significant advantage of
real-time and synchronous characteristics..
• The low-cost sensor can be a useful
alternative to compass for navigation.
Institute of Automation, University of Rostock, Germany
• A new approach is proposed to track and predict
the robot battery power.
• The wavelet algorithm is adopted to decompose
the original raw power data.
• The ANFIS networks are used to predict the
decomposed power data.
• Two real experiments are provided to validate
the proposed method.
Polarization Navigation
Sensor
C02(3) 11:45-12:00
C02(4) 12:00-12:15
Control of a Four-Wheel Independently Driven
Electric Vehicle with a Large Sideslip Angle
On the Application of Structural Analysis to
Fault Diagnosis of a Mobile Robot
George K. Fourlas
Hiroshi Nakano, Jun Kinugawa and Kazuhiro Kosuge
Department of Informatics
Technological Educational Institute (T. E. I.) of Central Greece, Lamia, Greece
• Model based fault diagnosis method of a four
wheel skid steering mobile robot (SSMR).
• Residual generation using structural analysis.
• The method offers an achievable solution to
the residual generation of nonlinear systems.
• The experimental procedure was carried out
using a Pioneer 3-AT mobile robot.
Graduate School of Engineering, Tohoku University, Japan
• A motion-control algorithm for a vehicle with a
large sideslip angle is proposed.
• This algorithm is designed based on the
concept of linearization by nonlinear feedback
and on a computed torque method.
• Simulation and experimental results show the
effectiveness of the proposed method.
Four-Wheel Skid Steering
Mobile Robot
C02(5) 12:15-12:30
A Socially Multi-Robot Target Tracking Method
Based on Extended Cooperative Game Theory
Yang Li, Min Li, Lianhang Dou, Qing-Ying Zhao Zhongya Wang
and Jie Li
School of Mechatronic Engineering and Automation, Shanghai University, China
• A cooperative, dynamic and complete
information game scheme for socially
multi-robot tracking is presented.
• The concept of ‘variable order’ is
introduced to specify the order of
trackers’ movement.
• The effectiveness of the method has
been validated by simulation results.
Group Trajectory
31
D02: Vision-based Object Detection
Session Chairs: Franziska S.Goerlach and P.B. Sujit
D02(1) 11:15-11:30
D02(2) 11:30-11:45
Collision Avoidance for a Low-cost Robot using
SVM-based Monocular Vision
A Volumetric Representation for Obstacle
Detection in Vegetated Terrain
Ajay Shankar, Mayank Vatsa, and P.B. Sujit
Indraprastha Institute of Information Technology Delhi
New Delhi, India
A. Lourenço1, F. Marques1, P. Santana2 and J. Barata1
1- CTS-UNINOVA, New University of Lisbon, Portugal
2- DCTI, University Institute of Lisbon (ISCTE-IUL), Portugal
• Collision avoidance for low cost robots using
vision is essential and have low complexity
A figure here
• A SVM-based monocular vision algorithm for
collision avoidance is developed which can be
used for outdoor and indoor applications
• Optical-flow vectors are calculated for a SVMbased scene classifier
• SVM classifier experimentally validated on a robot Robot avoiding the obstacles
in outdoors
using webcam and Rpi for indoor and outdoor
environments
• A method for laser based obstacle
detection on autonomous vehicles
navigating in vegetated environments;
• Coarse to fine hybrid representation with
voxel based, on-scan, and inter-scan
analysis;
• Validation on autonomous surface
vehicle and four-wheeled ground vehicle.
D02(3) 11:45-12:00
D02(4) 12:00-12:15
Lane Marking Detection Based on Adaptive
Threshold Segmentation and Road Classification
A framework for detecting road curb on-line
under various road conditions
Junjie Huang and Yao Deng
Jian Liu
Department of Automation,University of Science and Technology of China,CHINA
Huawei Liang, Zhiling Wang and Yan Song
Department of Automation,University of Science and Technology of China
Huawei Liang, Zhiling Wang
Chinese Academy of Sciences. CHINA
Institute of Advanced Manufacturing Technology, Chinese Academy of Sciences
• This paper proposed a robust adaptive method
of image segmentation.
• This paper proposed a method of classing road
conditions by use of row information of image.
• We used the different methods for three
different road conditions to detect lane
markings.
imaging principle and detection
• The algorithm is suitable for the highway and
results of three road conditions
the urban road.
• A framework for detecting the road curb
online based on a dynamic threshold with
the velodyne lidar is proposed in this article,
which fits for various environment.
• The experiment is taken on our unmanned
vehicle and the result turnes out to be
robust and meet the requirement of online
process
D02(5) 12:15-12:30
Precision of Near-Infrared Laser Spot Detection
on Diffent Skin Tissues Featuring an NDI Stereo
Camera
Franziska S. Goerlach, Arne Menz, Vincent Karas
and Tim C. Lueth
Institute of Micro Technology and Medical Device Technology (MIMED),
Technische Universitaet Muenchen, Germany
• Development of an 3D scanning system by
means of IR light and an NDI stereo camera
• Contactless, flexible and easy to use system
with the possibility of medical certification in
future
• Experimental determination of an ideal
parameter setting based on an 850nm laser
and human tissue
Surface scan of human
tissue
32
A figure here
The tested car and one frame of
pointcloud obtained using the
Velodyne Lidar
E02: Smart Actuators
Session Chairs: Yangmin Li and Ze Cui
E02(1) 11:15-11:30
E02(2) 11:30-11:45
Evaluation of Energy Efficiency of Insertion-Type
Peristalsis Pump Using Pneumatic Artificial Muscles
Electromagnetically Driven Elastic Actuator
Fries1,
Federico
Shuhei
Daniela
Rolf Pfeifer3 and Dana D. Damian4
1School
Miyashita2,
Rus2,
Ryosuke Ban, Yoshiki Kimura and Taro Nakamura
Department of Precision Mechanics, Chuo University, Japan
of Engineering, Zurich University of Applied Sciences, Switzerland,
2CSAIL, Massachussetts Institute Technology, USA
3Artificial Intelligence Lab, University of Zurich, Switzerland
4Boston Children’s Hospital, Harvard University, USA
• We evaluate the energy efficiency of the
insertion-type peristalsis pump that, have
developed by us, for comparison with that
of conventional pumps.
• To evaluate the energy efficiency, we
measured the flow rate of water, and the
air quantity that is applied to the
expansion unit.
• We concluded that the insertion-type
peristalsis pump has excellent energy
efficiency.
• Fabrication of elastic structures with
ferromagnetic properties.
• Reaches a stress of up to -2700 N/m2
stress, a strain of ~17% when
embedded in a solenoid coil
• Applications include low-profile
actuation for magnetic mediums and
The elastic actuator linear displacement
human-robot interaction
of 2.85mm at 6A in a stamp demo
E02(3) 11:45-12:00
Fixing part
Fixing part
Air tube
Joint
Units
Expansion
Units
φ24
Joint
Units
590
Expansion
Units
Overview of Insertion type
peristalsis pump
E02(4) 12:00-12:15
Design and Optimization of a Dual-Axis PZT
Actuation Gripper
Development of a Novel Variable Stiffness Actuator
with Automatic Rigidity/Compliance Switching
Yukun Jia, Xiaozhi Zhang, and Qingsong Xu
School of Mechatronics Engineering and Automation, Shanghai University
Ze Cui, Haiwei Yang, Donghai Qian, Yuqian Cui, Yun Peng
Department of Electromechanical Engineering, University of Macau
Macau, China
• a variable stiffness actuator with
automatic rigidity/ compliance
switching
• The actuator contains two motors
– one for position control and the
other for adjusting the stiffness
• The function of automatic
rigidity/compliance switching is
realized through turning four
electromagnets on or off to make
sucker up or down
• A new design of compliant two-axis PZT
actuated gripper is proposed based on
flexure mechanisms
• The gripper parameters are optimized by
using genetic algorithm to achieve the
highest natural frequency under constraints
• Analytical computation and finite element
analysis are conducted. A prototype is
fabricated for experimental verification
Prototype of the variable stiffness actuator
E02(5) 12:15-12:30
Comparative Study of Two 3-CRU Transalational
Parallel Manipulators
Bin Li¹, Yangmin Li¹ ², Xinhua Zhao¹ and Weimin Ge¹
¹Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced
Mechatronical System,Tianjin University of Technology, China
²Department of Electromechanical Engineering, University of Macau, Macao
• A comparative study of two 3-CRU TPMs is
investigated
• The workspaces of the two 3-CRU TPMs have
some differences in shape and volume
• In order to ensure good kinematic performance
of the symmetrical and asymmetrical 3-CRU
TPM , the actuator layout is considered
Moving platform
Universal joint
Supporting rail
Cylindrical joint
Revolute joint
A 3-CRU TPM.
33
F02: Human Robot Interaction I
Session Chairs: Toshinobu Takei and Uwe Handmann
F02(1) 11:15-11:30
F02(2) 11:30-11:45
Multi-modal Biometrics for Real-Life
Person-Specific Human-Robot-Interaction
Development of Motorized Shoes for Wearable
Personal Mobility Operated by Human Posture Angle
Ahmad Rabie and Uwe Handmann
Toshinobu Takei and Yu’ya Chikazawa
Institute of Computer Sciences
University of Applied Sciences Ruhr-West, Germany
Department of Systems Design Engineering, Seikei University, Japan
• A novel wearable mobility and simple control
method.
• User can move by following five kinds of
motion with the mobility, going front and
backward, walking motion, going up/down on
the step, and striding over some obstacle.
• Only two motions, vending and stretching each
user’s left and right knee, are used for control
Prototype of Motorized Shoes for
the mobility.
Wearable Personal Mobility
• Multi-modal Biometrics
• Face, Finger Vein, Hand Palm Vein
• Multi-modal Emotion Recognition
• Facial Expressions, Speech Prosody
• Person-Specific HRI
• Person-Specific Services
• Person-Dependent Emotional HRI
F02(3) 11:45-12:00
F02(4) 12:00-12:15
A Situation-Aware Action Selection
based on Individual’s Preference
using Emotion Estimation
Human Robot Cooperation based on Human
Intention Inference
Tingting Liu, Jiaole Wang and Max Q.-H. Meng
Kazumi Kumagai, Baek Jeonghun and Ikuo Mizuuchi
Electronic Engineering Department
The Chinese University of Hong Kong, China
• A human intention recognition method for various
cooperative assembly tasks was proposed.
• The method can handle undo behaviors due to
mind changing during the tasks.
• The method can cope with noisy observations in
the real scenes.
• Experiment has been used to show the reliability
and effectiveness of the method.
Department of Mechanical Systems Engineering, Tokyo University of
Agriculture and Technology, Japan
• Foresting an affinity to robot will
bring a stable long-term relationship
with robots.
• We present a system of selecting a
behavior favorable to a human using
emotion estimation.
• We found that robot learns with our
system and estimate emotion based
on human’s habits.
Experiment Platform
F02(5) 12:15-12:30
Human Behavioural Responses to Robot Head
Gaze during Robot-to-Human Handovers
Minhua Zheng1, AJung Moon2, Brian Gleeson3, Daniel Troniak3,
Matthew Pan2, Benjamin Blumer2, Max Meng1, Elizabeth Croft2
1
Basic Architecture of whole
system
Dept. of Electronic Engineering, The Chinese University of Hong Kong
of Mechanical Engineering, University of British Columbia, Canada
3 Dept. of Computer Science, University of British Columbia, Canada
2 Dept.
• Impacts of robot’s head
gaze on human receiver’s
reaching and gaze
behaviours during robot-tohuman handovers.
• Analysis through frame-byframe video annotations
and statistical tests.
Annotations in ELAN about the robot’s and human’s
behaviours during a robot-to-human handover.
34
A03: Biologically Inspired Robots and Systems II
Session Chairs: Hongliang Ren and Kai Xu
A03(1) 14:00-14:15
A03(2) 14:15-14:30
On the Kinematic Modeling of a Class of
Continuum Manipulators
Modular Body of the Multi Arm Snake-Like Robot
Othman Lakhal, Achille Melingui, Thor Morales Bieze, Coralie
Escande, Blaise Conrard and Rochdi Merzouki
Daniel B. Roppenecker, Lucia Schuster, Johannes A. Coy, Mattias
F. Traeger, Konrad Entsfellner and Tim C. Lueth
Institute of Micro Technology and Medical Device Technology (MiMed) of the
Technische Universität München, Munich, Germany
Polytech'Lille, LAGIS, CNRS-UMR 8219,
Avenue Paul Langevin, 59655 Villeneuve d'Ascq, France
• The CBHA is considered as a concatenation
of hybrid (parallel and serial) vertebrae along
backbones.
• A neural network-based approximation
approach.
• Forward kinematic model (FKM) of compact
bionic handling assistant (CBHA)
• Robot for minimally-invasive surgery as
NOTES or single-port surgery.
• 3D printed by selective laser sintering
(SLS)
• Monolithical snake-like flexible structures
based on flexure hinges
• Modular designed to be adapted to
different kinds of patients, surgeries and
standard endoscopic equipment
Structure of 3UPS-1UP
robot
A03(3) 14:30-14:45
A03(4) 14:45-15:00
Design of a Hyper-Redundant Continuum
Manipulator for Intra-Cavity Tasks
An Image Based Targeting Method to Guide a
Tentacle-like Curvilinear Concentric Tube Robot
Kai Xu, Wukun Mei, Zhixiong Yang,
Keyu Wu, Liao Wu and Hongliang Ren*
UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai, China
Department of Biomedical Engineering, National University of Singapore,
Singapore
Liangliang Han, and Xiangyang Zhu
ME School, Shanghai Jiao Tong University, Shanghai, China
• This paper proposes the design of a hyperredundant continuum manipulator with 12
DoFs (Degrees of Freedom).
• The manipulator is expected to navigate
through arrays of holes to perform inspections
or manipulations at remote locations in a deep
cavity.
• Kinematics modeling, simulations, and system
descriptions are elaborated.
• Realize model-less feedback control of
concentric tube robots based on visual
servoing
• Achieve optimal control based on an objective
function proposed specifically for concentric
tube robots
• Prove the effectiveness and accuracy of the
proposed algorithm
A03(5) 15:00-15:15
Head Stabilization Control for Snake-Like Robots
during Lateral Undulating Locomotion
Guifang Qiao, Guangming Song, Ying Zhang, Jun Zhang, and
Yuya Li
School of Instrument Science and Engineering, Southeast University, Nanjing
210096, China
• The head motion of the snake-like robots is
analyzed through the discrete kinematic
method.
• The head swings within the range of ±30˚ and
±90mm when the head stabilization control is
not applied.
• With two neck joints used, the direction and
position of the head can be controlled within
the range of ±5˚ and ±10mm respectively.
Tip of the Multi Arm SnakeLike Robot, monolithically
manufactured by SLS
A figure here
35
Working mechanism of the
System.
B03: Medical Robotics I
Session Chairs: Jackrit Suthakorn and Yao Li
B03(1) 14:00-14:15
B03(2) 14:15-14:30
An Intuitive Control Console
for Robotic Surgery System
A Path Generation Algorithm for Biopsy Needle Insertion
in A Robotic Breast Biopsy Navigation System
Narucha Tanaiutchawoot1,2, Bantita Treepong1,2,
Cholatip Wiratkapan, M.D.3 and Jackrit Suthakorn, Ph.D.1,2,*
Yizhi Shi, Rahman Davoodi, Jianting Fu, Xiaoying Song and Yao Li
Chongqing Institute of Green and Intelligent Technology,
Chinese Academy of Sciences, China
of Biomedical Engineering,
for Biomedical and Robotics Technology (BART LAB),
3Department of Radiology, Mahidol University, Thailand
2Center
1Department
• A Breast biopsy navigation system with GUI
and a passive robotic needle holder was
developed.
• An algorithm of trajectory path is formulated
and implemented in this system to improve the
performance.
• Lagrange Multipliers and Vector in 3D Space
are applied for trajectory’s path algorithm.
• We developed an intuitive control console for a
minimally invasive surgical robotic system.
• The system has five degrees of freedom
(DOF), which are configured to imitate the
traditional laparoscopic forceps.
• A MSMS-based virtual-reality surgery training
system along with the prowere tested for a
standard forceps grasping task which reduces
the training time for new surgeons.
A figure here
Breast Biopsy Navigation System
with A Path Generation Algorithm
B03(3) 14:30-14:45
B03(4) 14:45-15:00
EMG Estimation from EEGs for
Constructing a Power Assist System
Fuzzy Logic Control of a Continuum Manipulator
for Surgical Applications
Hongbo Liang, Chi Zhu, Yuichiro Yoshikawa,
Masataka Yoshioka, and Kazuhiro Uemoto,
Peng Qi1, Chuang Liu1, Linan Zhang2,
Shuxin Wang2, Hak-Keung Lam1, Kaspar Althoefer1
Department of Systems Life Engineering,
Maebashi Institute of Technology, Japan.
1King’s
• The relationship between electromyography
(EMG) and electroencephalography
(EEG) is modeled as a linear equation by
Principal Components Analysis (PCA).
• The approach of EMG estimation from
EEG by PCA and Recursive Least
Squares is explained.
• The proposed approach is verified by
experiments, the results show that the
approach is possible, and this implies a
great potential for supporting human activities.
College London, UK
University, China
2Tianjin
• Robotic control mode of continuum manipulator
for surgical applications is presented.
• Fuzzy logic controller is proposed based on
state-feedback control of the system.
• Performance is investigated in MATLAB
simulation and manipulator tip is autonomously
navigated to the designated target.
• Comparison results for optimized and non3-DOF robotic platform with a
optimized controllers are presented.
surgical manipulator attached.
B03(5) 15:00-15:15
Forces in Minimally Invasive Surgery: Reliable
Manipulation of Gastric Mucosa and the Sigmoid Colon
Mattias F. Traeger, Daniel B. Roppenecker, Johannes Coy, Tim C. Lueth
Institute of Micro Technology and Medical Device Technology (MIMED),
Technische Universität München, Germany
Adam Fiolka, Dirk Wilhelm, Armin Schneider, Alexander Meining, Hubertus Feussner
Klinikum rechts der Isar, Technische Universität München, Germany
• Development of a single-port robot for
minimally invasive surgery (MIS)
• Force measurements in a porcine
model and prediction of expected
maximum forces
• Characteristics for Endoscopic
Submucosal Dissection (ESD) and
Laparoscopic Sigmoid Resection (LSR)
The virtual forceps grasping task in the MSMS
software: (a) starting point (b) ending point
Expected maximum forces for ESD.
36
C03: Field Robots
Session Chairs: Huayan Pu and Yuqing He
C03(1) 14:00-14:15
C03(2) 14:15-14:30
Influence of Moving Direction on Normal Force
Acting on a Single Lug during Translational
Motion in Sandy Soil
Quasi-LPV Modeling and Identification for a
Water-Jet Propulsion USV: an Experimental Study
Yang Yang, Yi Sun, Ryohei Yamamoto and Shugen Ma
Junfeng Xiong, Yuqing He, Feng Gu, Decai Li and Jianda Han
State Key Laboratory of Robotics of Shenyang Institute of Automation,
University of Chinese Academy of Sciences
Department of Robotics, Ritsumeikan University, Japan
• Normal force of an actively actuated lug on dry
sandy terrain have been measured.
• Normal force is a quadratic function of lug
sinkage length during vertical shearing motion.
• The lug horizontal displacement mainly causes
the ground swell.
• The lug vertical displacement generates the
local soil compression.
• Quasi-LPV Modeling for a
Water-Jet Propulsion USV
• Experimental Setup for qLPV
Model Identification
• Quasi-LPV Model Identification
Results and Comparison
The phenomenon of ground swell
in horizontal shearing experiments
C03(3) 14:30-14:45
C03(4) 14:45-15:00
An Autonomous Surface-Aerial Marsupial
Robotic Team for Riverine Environmental
Monitoring: Benefiting from Coordinated Aerial,
Underwater, and Surface Level Perception
Improved Effective Design of the Eccentric
Paddle Mechanism for Amphibious Robots
Yayi Shen, Huayan Pu, Jinglei Zhao, Jun Luo and Zhenbang Gong
Mechatronics Engineering and Automation, Shanghai University, China
E. Pinto1, F. Marques1
R. Mendonça1, A. Lourenço1, P. Santana2 and J. Barata1
Yi Sun and Shugen Ma
1- CTS-UNINOVA, New University of Lisbon, Portugal
2- DCTI, University Institute of Lisbon (ISCTE-IUL), Portugal
• The eccentric paddle module is based on the
epicyclic gear mechanism.
• Various gaits make the amphibious robot adapt
to multi-terrains after nature disasters.
• The improved design ePaddle-EGM2 achieves
lightness, accuracy and stability.
• Experiments on land have verified the
performance and tests in water will be after.
• We present a autonomous surface-aerial
marsupial robotic for riverine
environmental monitoring;
• The ASV provides long-range
transportation while the UAV assures an
augmented perception of the environment;
• The robotic system was validated in a set
of field trials;
C03(5) 15:00-15:15
Characteristics of Lug-Soil Interaction Forces
Acting on a Rotating Lug in Sandy Soil
Ryohei Yamamoto, Yang Yang, Yi Sun and Shugen Ma
• We measured lug-soil interaction forces acting
on a single actively actuated lug.
• Characteristics of rotating motion is defined by
rotating angular velocity, maximum sinkage
length and initial inclination angle.
• The influences of above three motion parameters
affecting on lug-soil interaction forces have been
demonstrated.
Measuring Lug-soil
interaction Forces Acting on a
Single Actively Actuated Lug
in Sandy soil
37
The ASV-UAV marsupial
robotic team.
D03: Vision-based Recognition
Session Chairs: Jun Ota and Kazuyuki Ito
D03(1) 14:00-14:15
D03(2) 14:15-14:30
Real-time Vision-based
Telepresence Robot Hand Control
Simultaneous Design of Image Conversion Parameters
and Classifier in Object Recognition for a Picking Task
K. Tsujimoto1, Y. Huang2, T. Arai3, T. Ueyama4, T. Ogata5 & J. Ota5
Chuanyun Deng, Jie Lu, and Tin Lun Lam
1Dept.
of Precision Engineering, The University of Tokyo, Japan
of Mechanical and Automotive Engineering, South China University of
Technology, China
3Center for Promotion of Educational Innovation, Shibaura Institute of Technology, Japan
4DENSO WAVE INCORPORATED, Japan
5Research into Artifacts, Center for Engineering, The University of Tokyo, Japan
Intelligent Robotics Research Centre,
Smart China (Holdings) Limited, Hong Kong
2School
• We proposed a method of telepresence
robot hand control based on computer
vision in real-time.
• The system consists of five modules: hand
detection, tracking, recognition, position and
control.
• The experiment results get good
performance of detection, recognition,
remote and real-time control.
• Automation of designing object recognition system
is required in manufacturing setting.
• Many variables (e.g. image conversion methods
and classifiers) have to be designed simultaneously.
• We simplified the design variables by knowledge in
A target image and a converted
manufacturing field and used an optimization
image for object recognition
approach.
• The results showed sufficiently high performance.
D03(3) 14:30-14:45
Figure 1. The robot’s hand is
controlled by the operator using our
computer vision based method.
D03(4) 14:45-15:00
Automatic Zona Pellucida Dissection Position
Selection for Embryo Biopsy in Pre-implantation
Genetic Diagnosis
Estimation Method for Time to Contact from Visual Information
–A Simple Approach That Requires No Recognition of Objects-
Yuichi Kawai
Ze Nan Wang and Wei Tech Ang
Graduate School of Science and Engineering, HOSEI University, Japan
Mechanical and Arospace Engineering,
Nanyang Technological University, Singapore
Kazuyuki Ito
Dept. of Electrical and Electronics Engineering, HOSEI University, Japan
• Animals use visual information related to
the time to contact instead of distance
information.
• This time to contact is calculated from the
apparent size of the approaching object.
• We propose an algorithm to estimate the
time to contact from visual information.
• We verified its effectiveness by using a
1/10-scale model and actual situations.
• Both the internal and external zona
pellucida boundaries are identified
automatically.
• A suitable ZP cutting position is
identified by edge value adjustment
method.
• Success rates of above algorithm is
93%
D03(5) 15:00-15:15
Adaptive Discrete Curve Evolution for Shape
Recognition
Dameng Hu1, Weiguo Huang1, Li Shang2, Z. K. Zhu1 and Jianyu
Yang1
1.School of Urban Rail Transportation, Soochow University, China
2.School of Electronics and Information, Suzhou Vocational University, China
• A new shape descriptor, A-DCE is
proposed for contour deformation and
recognition.
• The stop function, EADF function is
effective to control the degree of DCE.
• This descriptor is effective for shape
recognition in anti-noise performance,
accuracy and efficiency.
A figure here
Two renderings of A-DCE
evolution.
38
E03: Micro Manipulation
Session Chairs: Cheah Chien Chern and Mingzhu Sun
E03(1) 14:00-14:15
E03(2) 14:15-14:30
Vision Based Optical Manipulation of Biological
Cell with Unknown Trapping Stiffness
Analysis of Visual-based Micromanipulation
for Patch Clamp Recording
Runhuai Yang, Chi Ho Tam, Ka Lun Cheung, Kai Chun Wong and
King W. C. Lai
X. Li, C. C. Cheah, and S. O. Kamal
School of EEE, Nanyang Technological University, Singapore
Department of Mechanical and Biomedical Engineering,
City University of Hong Kong, Hong Kong
• The trapping stiffness of optical trap is
dependent on the interaction between cell and
laser, and it may vary according to the size of
the trapped particles.
• A setpoint control scheme is proposed for
optical manipulation with unknown trapping
stiffness.
• The design and implementation of a
micromanipulation system for patch
clamp recording.
• Visual-based identification of cells and
pipette.
• Calibration and alignment methods
based on the coordinate frames of the
Illustration of
camera and micromanipulator.
micromanipulation system.
• The controller allows the laser to automatically trap and manipulate the cell
to a desired position when the cell is not inside the trap.
E03(3) 14:30-14:45
E03(4) 14:45-15:00
A Cell Polar Body Positioning Method based on
SVM Classification
Multi-Cell Formation Following in a Concurrent
Control Framework
Reza Haghighi and Chien Chern Cheah
Di Chen, Mingzhu Sun and Xin Zhao
School of Electrical and Electronic Engineering, Nanyang Technological University,
Republic of Singapore
• Automatic manipulation of cells by merely
controlling the optical traps restricts our
automated manipulation area or workspace to
the FoV.
• To achieve multi-cell manipulation beyond the
FoV, a concurrent control methodology is
needed to control the optical traps and
motorized stage, for both individual
manipulations of cells and collective
manipulation of the group respectively.
Dynamic Trapping and Manipulation
with Unknown Stiffness
Institute of Robotics and Automatic Information System and the Tianjin Key
Lavoratory of Intelligent Robotic, NanKai University, Tianjin, China
• Using a machine learning method (SVM) for
positioning the polar body.
• The results of positioning have a high
accuracy. Precision can reach 97%
• Multiple types of polar bodies can be detected
accurately. The application of our method is
better than other methods.
Laser-cell allocation. The ”+” represents the
positions of the laser beams.
Snapshots of yeast cells and laser beams at
different time instants.
E03(5) 15:00-15:15
Dumbbell fluidic tweezers: enhanced trapping
and manipulation of microscale objects using
mobile microvortices
Qi Zhou and Li Zhang
Mechanical and Automation Engineering, Chinese University of Hong Kong, HK
Tristan Petit and Bradley J. Nelson
Institute of Robotics and Intelligent Systems, ETH Zurich, Switzerland
• A dumbbell-like magnetic microactuactor as a
new type of fluidic tweezers (DB FT)
• Stronger trapping effect due to increased shear
rates and intensified 3D flow confinement
• Selective trapping and controlled manipulation of
microobjects under a low-strength magnetic field
• Enhanced capability and efficiency of transporting
microobjects than the prototype of nanowire
fluidic tweezers (NW FT)
39
Various polar bodies positioning
F03: Human Robot Interaction II
Session Chairs: Jan Babič and Kathrin Wegener
F03(1) 14:00-14:15
F03(2) 14:15-14:30
ROBEE: A homeostatic-based social behavior
controller for robots in HRI experiments
Robostar: An Interaction Game with Humanoid
Robots For Learning Sign Language
Hoang-Long Cao, Pablo Gomez Esteban, Albert De Beir, Ramona
Simut
Greet Van de Perre, Dirk Lefeber, Bram Vanderborght
Ahmet Özkul, Hatice Köse, Rabia Yorgancı
and Gökhan İnce
Faculty Of Computer and Informatics, İstanbul Technical University, Turkey
Vrije Universiteit Brussel, Belgium
• A social behavior controller for robots with
a focus on HRI studies
• Homeostatic drive theory: behaviors are
selected in order to maintain the needs within
a range
• Robee: Homeostasis subsystem, Behavior
subsystem, (Emotion subsystem)
• Robee is implemented in NAO
• Motivation: Sign Language (SL) tutoring for
children using humanoid robots within
multimodal interaction games
• Implementing a mobile game for android based
mobile devices.
• An interaction game proposed with a set of 10
signs from Turkish Sign Language
• Aim of this study is to teach both the semantics
and the realization of the words to the
participants.
F03(3) 14:30-14:45
Robot asking a sign
F03(4) 14:45-15:00
Other-Oriented Robot Deception:
A Computational Approach for Deceptive Action
Generation to Benefit the Mark
A robot assistant for unscrewing in
hybrid human-robot disassembly
School of Electrical and Computer Engineering, Georgia Tech, USA
School of Mechanical & Manufacturing Engineering, UNSW, Australia
School of Interactive Computing, Georgia Tech, USA
Inst. of Machine Tools & Production Technology, TU Braunschweig, Germany
Wei Hua Chen
Jaeeun Shim
Kathrin Wegener and Franz Dietrich
Ronald C. Arkin
• Disassembly requires systems that are
flexible and easily-applicable to new products
• User demonstration may allow disassembly
robot assistants to operate where product and
vision information are unavailable
• For unscrewing different types of bolts, a
novel bit change mechanism without external
actuation is presented
• Robot compliance and control strategies
compensate for positioning errors
• Defined a robot’s other-oriented deception and
aimed to develop the computational model
• Developed computational models inspired by
Criminology; deception is analyzed by three
criteria--motives, methods, and opportunity
• Main contribution: We proposed the methods
model for a robot’s deceptive action generation
• Two deceptive action generation mechanisms:
1) Deception by Omission (hiding) and 2)
Deception by Commission (false information)
F03(5) 15:00-15:15
Switchable task-priority framework for combining
human-demonstrated and inverse kinematics
tasks
Luka Peternel and Jan Babič
Dept. of Automation, Biocybernetics and Robotics,
Jožef Stefan Institute, Slovenia
• We propose a method for combining humandemonstrated posture-control skill with
inverse kinematics solution for arm motion.
• The posture-control skill was demonstarted to
the humanoid robot by human-in-the-loop
teaching approach.
• The combining framework is enhanced with
task-priority switching approach to delegate
the control of leg joints between posture
control and arm task
Experiment on real humanoid
robot
40
Fig. 1: Proposed hybrid
disassembly work station
A04: Snake Robots
Session Chairs: Shugen Ma and Giancarlo Marafioti
A04(1) 15:35-15:50
A04(2) 15:50-16:05
On Planar Grasping with Snake Robots: Formclosure with Enveloping Grasps
Maneuvering Control of Planar Snake Robots
Based on a Simplified Model
Ehsan Rezapour, Andreas Hofmann and Kristin Y. Pettersen
Fabian Reyes and Shugen Ma
Department of Engineering Cybernetics, Norwegian University of Science
and Technology (NTNU), Norway
• We use the method of Virtual Holonomic
Constraints to solve the maneuvering control
problem for the snake robots.
• We use a dynamic feedback control law to
control the body shape of the snake robot to a
desired gait pattern.
• We use the gait parameters as additional
control terms in order to control the position
and orientation of the robot.
• Extensive simulation results are presented.
• A snake robot uses an enveloping grasp to
grasp an object with form-closure.
• It is analyzed if the object can be grasped
depending on its relative size.
• The grasp is done with three links, the
minimum number necessary for form-closure.
• Then, it is analyzed if the object is within reach
of the snake robot.
A figure here
A04(3) 16:05-16:20
A04(4) 16:20-16:35
Motion Fusion of Rectilinear and Serpentine Gait
in Snake Robot
A study of Nonlinear Model Predictive Control
(NMPC) for snake robot path following
Giancarlo Marafioti1 and Pål Liljebäck1,2 and Aksel A.Transeth1
Kundong Wang, Chengdong Xiao, Yao Ge
(1)
(2)
Department of Instrument Engineering, Shanghai Jiao Tong University, China
Dept. of Applied Cybernetics, SINTEF ICT, N-7465 Trondheim, Norway
Dept. of Engineering Cybernetics, Norwegian University of Science and
Technology (NTNU), N-7491 Trondheim, Norway
•
•
•
•
NMPC is applied to achieve straight line path following control.
NMPC allows to define and handle constraints in a straightforward manner.
An optimization problem is solved online every time step.
A model is used to predict the snake robot behavior while respecting the
Path of the snake robot and snake robot at 1, 17, 31, 44, 55 seconds
constraints.
1
• The figure illustrates how the snake
0.5
robot is able to follow the desired
0
straight line path.
Y [m]
• A snake-like robot is proposed to verify the
motion fusion of rectilinear and serpentine gait.
• The two gaits ant their fusions are analyzed
and modeled.
• The robot mechanism is designed to realize
these gaits and their fusions independently.
• Some experiments are performed to verify our
ideas.
Three cases. Only in (A)
there is form-closure
Robot Prototype
−0.5
−0.5
A04(5) 16:35-16:50
0
0.5
1
1.5
2
2.5
X [m]
3
3.5
4
4.5
A04(6) 16:50-17:05
Stability Analysis of Underwater Snake Robot
Locomotion Based on Averaging Theory
Locomotion Control of a Snake-like Robot
Based on Velocity Disturbance
E. Kelasidi, K. Y. Pettersen and J. T. Gravdahl
Xian Guo, Shugen Ma, Bin Li and Minghui Wang
Dept. of Engineering Cybernetics, NTNU, Norway
Shenyang Institute of Automation, Chinese Academy of Sciences and
University of Chinese Academy of Sciences, China
• An averaged model of the velocity
dynamics of underwater snake robots is
proposed.
• It is shown that the averaged velocity will
converge exponentially to a steady state
velocity.
• An explicit analytical relation was given
between the steady state velocity and the
amplitude, the frequency, the phase shift
and the offset of the joint motion.
• A simplified dynamics equations based on the
differential geometry theory are derived.
• Velocity disturbance vertical to the desired
velocity is introduced.
• Controlling the velocity disturbance can control
the locomotion of the snake-like robot.
• Singular postures are avoided. Translational
Translationa and turning motion
and turning motion are validated.
for the snake-like robot
41
5
B04: Medical Robotics II
Session Chairs: Atsushi Konno and Jackrit Suthakorn
B04(1) 15:35-15:50
B04(2) 15:50-16:05
Toward Biomimic Breast Deformable Model for
Robotic Breast Biopsy Navigation Development
Optimization of Retraction in Neurosurgery
to Avoid Damage Caused by Deformation of Brain Tissues
Akira Fukuhara*, Teppei Tsujita*, Kazuya Sase**, Atushi Konno**,
Xin Jiang*, Satoko Abiko* and Masaru Uchiyama*
Maria Chatrasingh and Jackrit Suthakorn
Department of Biomedical Engineering
Center for Biomedical and Robotics Technology (BART LAB)
Faculty of Engineering, Mahidol University, Thailand
*Department
of Mechanical System and Design, Graduate School of Engineering, Tohoku Univ.
**Division of System Science and Informatics, Graduate School of Information Science and Technology,
Hokkaido Univ.
• This paper shows a scheme which combines
FEM (Finite Element Method) and an
optimization method for retraction in
neurosurgery to avoid damage caused by
deformation of brain tissues.
• Accuracy of breast biopsy suffers from breast
deformation
• Medical Navigation with breast deformable
model could increase efficiency of breast
biopsy guidance
• The concept of real-time deformable model for
breast biopsy navigation
• Pattern Search Algorithm and Genetic
Algorithm are compared in optimization of
retraction of a simple shape FE model.
• The result of simulation of opening a brain
fissure is reported.
The experiment to proof concept
of model breast biopsy navigation
B04(3) 16:05-16:20
B04(4) 16:20-16:35
Development of an anatomic heart model for the
minimally-invasive closure of the left atrial
appendage
Real-time Break-through Detection of Bone Drilling
Based on Wavelet Transform for Robot Assisted
Orthopaedic Surgery
Eva C. Graf, Daniel B. Roppenecker and Tim C. Lueth
Lin Qi and Max Q.-H Meng
Faculty of Mechnical Engineering, TU Munich, Germany
Department of Electronic Engineering
the Chinese University of Hong Kong, Hong Kong, SAR, China
• Discrete wavelet transform based on search
of modulus maxima for bone drilling breakthrough detection was implemented.
• The configuration of robot assisted
orthopaedic surgery was presented.
• In- vitro experiment was conducted for
verification of the proposed algorithm.
Klaus Tiemann
Faculty of Medicine, TU Munich, Germany
Victor D. Samper
General Electric Global Research Center Europe, Garching, Germany
A figure here
• The left atrial appendage of the heart can be
occluded to decrease the risk of strokes
• A phantom was developed to simulate this
minimally-invasive procedure
• The anatomically correct heart model was built
by silicone casting based on patient CT data
Phantom model containing the
silicone heart model
• The heart model is compatible with two and
three dimensional ultrasound and fluoroscopy
B04(5) 16:35-16:50
B04(6) 16:50-17:05
A new human middle ear model for the
biomechanical evaluation of a prosthesis for the
ossicular chain reconstruction
Safety Oriented Evaluation of Robot-assisted
Minimally Invasive Surgery (MIS) Performance Skill
Yuan Xing, Ke Liang, Shuxin Wang, Jianmin Li ,Xuesheng Wang
Ismail Kuru1 Mathias Müller2, Konrad Entsfellner1, Thomas
Lenarz2, Hannes Maier2 and Tim C. Lueth1
School of Mechanical Engineering, Tianjin University, Tianjin, China
Aimin Li
1: Micro Technology and Medical Device Technology, TU München, Germany
2: Klinik für Hals-Nasen-Ohrenheilkunde, MHH, Germany
• A new 3D printed human middle ear model
with all the functional parts
• 3D printed bony anatomical structures
• 3D printed forms for silicone rubber casting
of soft anatomical structures
• Similar auditory properties like a human
middle ear
A figure here
The second artillery general hospital of Chinese people’s liberation army, China
• The SOE score system depends on surgeons’
experiences and performance parameters
gathered in real-time training.
• SOE is helpful in trainee’s skills evaluation and
surgical robot technologies development.
• ‘MicroHand’ was developed in 2012 by Tianjin
University and announced in 2014.
• By several original master-slave motion control
strategies, ‘MicroHand’ is easily to be accepted
by surgeons.
A figure here
Top and side view of the
model: (1) Upper window, (2)
ear canal, (3) ossicles, (4)
inner ear window, (5) round
window with reflector.
42
Training on ‘MicroHand S’ in
the second artillery general
hospital of Chinese people’s
liberation army
C04: Multi-sensor Based Navigation and Localization
Session Chairs: Yongsheng Ou and Guohui Tian
C04(1) 15:35-15:50
C04(2) 15:50-16:05
A low-cost localization system based on
Artificial Landmarks with two Degree of
Freedom Platform Camera
On Real-Time Obstacle Avoidance Using 3-D
Point Clouds
Yiqun Fu, Guolai Jiang, Wei Feng, Yimin Zhou and Yongsheng Ou
Diansheng Chen, Zhaoliang Peng, Xiao Ling
Shenzhen Institutes of Advanced Technology, China
School of Mechanical Engineering, Beihang University, China
• To build up a 3D environment in an intelligent
surveillance robot through registration of point
clouds and present a method for obstacle
avoidance;
• To register the point clouds from an RGB-D
Kinect by applying an ICP (Iterative Closest
Point) algorithm;
• To propose an approach to avoid obstacles by
projecting 3D data to a plane thus 2D
technologies used due to less computation
burden.
• A 2-DOF pan-tilt has been used to help the
camera track landmarks so that the landmark
velocity in the picture is low enough to avoid that
A figure here
the robot can’t recognize landmarks because of the
high speed.
• Using the pan-tilt can also expand the recognition
range and decrease the number of landmarks.
• The experiments have shown that the robot can
recognize landmarks well when it moves fast by
using the 2-DOF pan-tilt, besides, the localization
works very well.
C04(3) 16:05-16:20
C04(4) 16:20-16:35
A Multi-sensor-based Mobile Robot Localization
Framework
Webots-based Simulation for Biped Navigation
In Human-living Environments
Peng Duan, Guohui Tian, and Hao Wu
Zeyang Xia1,2, Xiaojun Wang1,2, Yangzhou Gan1,2, Thomas-Glyn
Hunter Cox3, Xue Zhang1,2, Huang Li1,2, Jing Xiong1
School of Control Science and Engineering, Shandong University,
Jinan, China
1.Shenzhen Institues of Advanced Technology, Chinese Academy of Sciences
2.The Chines University of Hong Kong
3.Purdue Shool of Engineering and Technology, Indiana University Purdue
University Inidianpolis
• Sampling-based Footstep Planner
• Element Step Library for NAO robot
• Real-time adjustable footstep sequence for
dynamic environment
• Two sets of experiments conducted within
Webots
• Overview of the closed-loop robot
localization framework
• Scheme of the coarse place
recognition
• Particles-based accurate robot
localization and particles state
monitoring mechanism
• Experimental results and analysis
Ball Tracking&
Reaction to Dynamic
C04(5) 16:35-16:50
Overview of the proposed closed-loop
localization framework
C04(6) 16:50-17:05
Robot Control via Output Regulation in Cardiac
Surgery
Dynamic Hand Gesture Early Recognition based
on Hidden Semi-Markov Models
Qianqian Wang1,2 and Yong Wang1
Xiaorui Zhu and Jingdan Min
Harbin Institute of Technology Shenzhen Graduate School, China
Wei Lin
Case Western Reserve University, USA
1.Lab of Vibration Control&Vehicle Control,
University of Science and Technology of China, China
Yuanrong Xu2 , Yen-lun Chen2 and Xinyu Wu2,3
2.Shenzhen Institutes of Advanced Technology, Chinese Academy of Science
3.Dept. Mechanical and Automation Engineering,
The Chinese University of Hong Kong ,China
• Analyzed the heart motion data using
dual Fourier series model.
• Presented an output regulation control
approach for tracking of a beating
heart.
• Proved the effectiveness of an output
regulator with reduced-order observer.
• Demonstrated the advantage of
output regulator over model predictive
control.
• A dynamic hand gesture early
recognition system is proposed.
• A better model is based on the
Hidden semi-Markov Model.
• HSMM, allowing the underlying
process to be a semi-Markov chain.
43
D04: Stereo Vision
Session Chairs: Hong Liang and Mu Fang
D04(1) 15:35-15:50
D04(2) 15:50-16:05
Difference of Visual Perception Performance in
Detection of Imminent Collision Events in Stereo
and Non-stereo Viewing Conditions
View enhancement in stereo streams
assisted by object model
Mu Fang, Yunhui Liu, Ronald C.-K. Chung and Luyang Li
Ya Zhao, Yanyu Lu, Dan Huang, and Shan Fu
Department of Mechanical and Automation Engineering,
The Chinese University of Hong Kong, Hong Kong
School of Aeronautics & Astronautics, Shanghai Jiao Tong U, China
• Participants participate the visual experiments in
both stereo and non-stereo viewing conditions.
A figure here
• Stimuli simulated a 3D scene of imminent
collision events.
• Hit rate, false alarm rate, sensitivity, and bias
were calculated and analyzed.
The experiment environment
• Performance of participants’ visual perception in
and one sample scene.
stereo viewing condition are better.
Objective: Object registration
between virtual model and real
object in a 3D-3D way.
Method:
• Dense reconstruction by stereo-motion under perspective camera model;
• ICP based registration between partial reconstructions and model templates;
• Visual augmentation.
D04(3) 16:05-16:20
D04(4) 16:20-16:35
The Real-time Segmentation of Indoor
Scene Based on RGB-D Sensor
Motion Recovery Using the Image Interpolation
Algorithm and an RBG-D Camera
Chunnian Zeng and Hong Liang
the School of Automation,Wuhan University of
Technology, China
Jiefei Wang, Matthew Garratt, Ping Li, Sreenatha Anavatti
Chengpeng Du and Fan Xu
School of Engineering and Information Technology, UNSW, Canberra, Australia
the School of Information and Engineering,Wuhan
University of Technology,China
• The real-time indoor scene segmentation
can be obtained at frame rate of 22Hz
• The depth filtering may decrease the white
hole to get the better detail information
• The segmented regions were extended to get
the better edge information
• The segmentation results were applied into the
object recognition to validate the effectiveness
of segmentation
A figure here
Kinect sensor mounted on a
Pioneer-AT Wheeled Robot
D04(5) 16:35-16:50
The segmentation and
recognition of doll
D04(6) 16:50-17:05
Person Verification based on Skeleton
Biometrics by RGB-D Camera
Real Time Person Detection and Tracking by Mobile
Robots using RGB-D Images
Wenzheng Chi, Jiaole Wang and Max Q.-H. Meng
Duc My Vo, Lixing Jiang and Andreas Zell
Electronic Engineering Dept., The Chinese University of Hong Kong, China
Department of Cognitive Systems, University of Tuebingen, Germany
• A hierarchical skeleton feature model (HSFM)
was proposed based on skeletal data for
person verification.
• 2-fold cross-validations with SVM and KNN
were carried out 200 times to validate our
method.
• Experiments results show that HSFM have
obtained good performances in accuracy and
efficiency aspects.
• An algorithm for mobile robots to detect and
track people reliably.
• Robust to complicated changes of human
poses and partial occlusions.
• Real time performance.
44
A figure here
E04: Multi-scale Robot Sensing and Manipulation
Session Chairs: Yajing Shen and Qing Shi
E04(1) 15:35-15:50
E04(2) 15:50-16:05
Development of an Omnidirectional Vision
System for Environment Perception
Output Torque Regulation through Series Elastic
Actuation with Torsion Spring Hysteresis
Yongbo Song, Qing Shi, Qiang Huang and Toshio Fukuda
Wei Wang and Shigeki Sugano
Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China
Department of Modern Mechanical Engineering, Waseda University, Japan
Qing Shi
Faculty of Science and Engineering, Waseda University, Tokyo, Japan
• A portable omnidirectional vision system for
environment perception (OVSEP) is developed
with five cameras (a stereo camera and three
wide angle cameras).
• OVSEP can provide surrounding information for
different kinds of robots, and it especially shows
promise in preventing a humanoid robot from
falling.
• OVSEP is endowed with advanced visual
processing modules as face recognition and 3D
reconstruction.
• A prototype device has been developed for
output torque regulation through series elastic
actuation.
• Hysteresis effect of torsion spring is well
investigated and identified through an
experimental procedure.
• A compensated feedback control scheme is
developed in order to alleviate the hysteresis
effect and achieve high quality of output torque
regulation
OVSEP
E04(3) 16:05-16:20
A figure here
E04(4) 16:20-16:35
Development of a Nerve Model of Eyeball Motion
Nerves to Simulate the Disorders of Eyeball
Movements for Neurologic Examination Training
Development of a Human-like Motor Nerve Model
to Simulate the Diseases Effects on Muscle
Tension for Neurologic Examination Training
Lin Wang1,2,Chunbao Wang1,2,3,6,Lihong Duan6, Ai Nibori3,Yusaku Miura3, Yurina
Sugamiya3, Weisheng Kong3, Qing Shi4, Hiroyuki Ishii3, Salvatore SESSA3,
Massimiliano ZECCA7, Atsuo Takanishi3, Zhengzhi Wu3, Jian Qin1, Weiguang Li5
1, Sun Yat-sen University, China; 2, Shenzhen Second People’s Hospital;
3,Takanishi Lab, Waseda University, Japan; 4, Beijing Institute of Technology;
5, South China of University; 6, Shenzhen Institute of Geriatrics, China;
7, Loughborough University, United Kingdom
Chunbao Wang1,2,3,6, Lihong Duan6, Qing Shi4, Ai Nibori3, Yusaku Miura3, Yurina
Sugamiya3, Weisheng Kong3, Di Zhang3, Hiroyuki Ishii3, Salvatore SESSA3,
Massimiliano ZECCA7, Atsuo Takanishi3, Zhengzhi Wu3, Jian Qin1, Weiguang Li5
1, Sun Yat-sen University, China; 2, Shenzhen Second People’s Hospital;
3,Takanishi Lab, Waseda University, Japan; 4, Beijing Institute of Technology;
5, South China of University; 6, Shenzhen Institute of Geriatrics, China;
7, Loughborough University, United Kingdom
• Developed a novel humanlike elbow robot to
simulate the symptoms of motor nerve disorders
• Developed a humanlike motor nerve model from
mimicking the human real motor nerve structure
• Simulated the abilities and disease effects of
main regions and pathway
• Provided a new methodology for humanlike nerve
system simulation
• Developed a novel head robot to simulate the
disorders of eyeball movements
• Designed the eyeball presenter with LCD
screen and Lens
• Developed an eyeball movements nerve model
to simulate the effects of diseases
The normal eyeball image and
• Proposed a new methodology for humanlike the abnormal eyeball image with
oculomotor palsy
ability simulating
E04(5) 16:35-16:50
Motor nerve simulation model
E04(6) 16:50-17:05
Effect of Endeffector’s Contact Area on Single
Cell Manipulation at Small Scale
Action and Digit Recognition of Finger
Using Kinect
Yajing Shen
Wanfeng Shang, Hongwei Ma, Hailong Zang
Mechanical and Biomedical Engineering Departmeng,
City University of Hong Kong,
Hong Kong, China
• Endeffectors with different tip size are
fabricated by focused ion beam (FIB) etching.
• Cell pushing is performed by endeffector with
small tip size. The pushing force is calculated
based image processing.
• The cell can be picked up if the contact area is
large between the tip and the cell.
• Effect of the endeffector on the cell
manipulation is discussed.
School of Mechanical Engineering,
Xi’an University of Science & Technology,
Xi’an, Shaanxi, China
• The paper will achieve the action and
digit recognition of finger using depth
map and skeleton joint information
captured by somatosensory system of
Kinect.
• The hand digit recognition mainly
depends on the hand tracking data by
hand segment, contour extraction,
fitting hand contour with polygons.
ESEM Images of single cell
pushing by nanomanipualtor
45
Hand polygon fitting
F04: Underwater Robots
Session Chairs: Eleni Kelasidi and Naoyuki Takesue
F04(1) 15:35-15:50
F04(2) 15:50-16:05
Dynamic Modeling and Path Planning of a
Hybrid Autonomous Underwater Vehicle
Null-Space-Based Behavior Guidance of Planar
Dual-Arm UVMS
Bilal Wehbe, Elie Shammas, and Daniel Asmar
Center for Autonomous Marine Operations and Systems, Norwegian University
of Science and Technology, Norway
Signe Moe and Kristin Y. Pettersen
Mechanical Engineering, American University of Beirut, Lebanon
Gianluca Antonelli
Joseph Zeaiter
Department of Electrical and Information Engineering, University of Cassino
and Southern Lazio, Italy
Chemical Engineering, American University of Beirut, Lebanon
• Proposed a novel motion planning technique
to generate three-dimensional trajectories
from a start to a goal configuration
• Our method integrates two Dubins curves.
• A mechanical design of a conceptual hybrid
autonomous underwater vehicle is
presented
• Developed a dynamic model to perform path
tracking simulations
• Calculating reference trajectories for dual-arm
underwater vehicle manipulator system
• Several tasks with different priorities
• Jacobian pseudo-inverse and nullspace
• A leader-unit (vehicle body and manipulator 1)
and a follower unit (manipulator 2)
Intersection of two Dubins
curves extrusions
F04(3) 16:05-16:20
F04(4) 16:20-16:35
A Control–Oriented Model of Underwater Snake
Robots
A Miniature Mobile Robot Developed to be
Socially Integrated with Species of Small Fish
F. Bonnet, S. Binder, M. E. de Oliveira and F. Mondada
E. Kelasidi, K. Y. Pettersen and J. T. Gravdahl
School of Engineering, Polytechnic School of Lausanne, Switzerland
Dept. of Engineering Cybernetics, NTNU, Norway
J. Halloy
Laboratory of Tomorrow’s Energies, University Paris Diderot VII, France
• A model of the kinematics and dynamics of a
planar underwater snake robot
• A robotic system was designed for fish-robot
interaction experiments
• The acceptance of the fish-mimicking robot by
a group of living zebrafish was analyzed
• Different factors were studied, such as the size
of the lure and the speed of the robot
• Results showed that the living zebrafish could
be attracted by the robotic fish
• Extensive analysis of the Complex model has
been presented
• A control – oriented model of underwater snake
robots is proposed, aimed at control design
and stability analysis
F04(5) 16:35-16:50
A figure here
F04(6) 16:50-17:05
MINAMO: Multidirectional INtuitive Aquatic Mobility
--- Improvement of Stability and Maneuverability ---
Development of a Sea Snake-like Underwater
Robot
Daiki Kobayashi and Naoyuki Takesue
Aiguo Ming, Takahiro Ichikawa, Wenjing Zhao and Makoto Shimojo
Graduate School of System Design,
Tokyo Metropolitan University, Japan
• We have developed the robotic vehicle on
water that moves by the rider's balance.
• In this paper, the appropriate body shape and
size that improves the stability was modeled.
• In addition, a force plate is introduced to
improve the maneuverability as an interface.
• MINAMO realized the straight and whirl
movement by the control of the rider weight
shifting.
Department of Mechanical Engineering and Intelligent Systems,
The Univerisity of Electro-Communications, Japan
• A sea snake-like underwater
robot has been designed by
simulation with considering the
inertia effect from fluid
• A prototype based on the
design has been fabricated.
• Efficient propulsion is
confirmed by experimental
results.
A figure here
MINAMO
46
Prototype in swimming

A01: Soft Robotics

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