Conference Program of WCICA 2012

WCICA 2012
Book of Abstracts: Friday Sessions
Zhou, Yali
Beijing Information Sci. & Tech. Univ.
Simultaneous localization and mapping (SLAM) problem of a mobile
robot is studied in this paper. An improved particle filters approach is
adopted to reduce the number of particles. A laser range finder is utilized
to measure the distance of obstructs, and the accurate proposal
distribution are obtained by scan match method, which is realized by
a hierarchical iterative closest point (ICP) algorithm. A roughly global
optimal estimation of robot pose is first obtained by directly searching in
the discrete space of pose, and then the estimation of robot pose is refined
by gradient descend method. So an accurate estimation of robot
pose can be obtained by the hierarchical scan match approach. Experimental
tests are carried out with our real mobile robot in an indoor environment.
Experimental results show that the consistent map can be obtained
by the proposed scan match approach. The efficiency of the proposed
scan match approach is also validated by the RoboCup@Home
competition.
◁ PFrC-45
A Solution of Inverse Kinematics for 7-DOF Manipulators and Its Application,
pp.3711–3717
Huang, Qiulan
Wu, Jun
Xiong, Rong
Zhejiang Univ.
Zhejiang Univ.
Zhejiang Univ.
This paper provides a solution of inverse kinematics for 7-DOF manipulators,
which is derived by homogeneous transformation matrix described
in equivalent angle-axis representation. The end-effector’s
posture calculated by this approach has excellent precision. The manipulator
can avoid collision and singularity while meeting the parameters
of the joints through the optimization of the redundancy. Moreover,
in order to increase the comfort level of the arm, we improve the
method based on Jacobian pseudo-inverse to calculate the angular velocity.
The time it takes is so short that it can be applied to on-line
application. We applied this method to a manipulator of a ping-pong
robot and proved its validity.
◁ PFrC-46
Acquisition of the Horse Movement Trajectory and Its Reproduction in
the 6-DOF Parellel Robot Horse, pp.3718–3723
Xiao, Jinzhuang
Li, Pengfei
Wang, Hongrui
Wang, Liling
Hebei Univ.
Hebei Univ.
Hebei Univ.
Hebei Univ.
The robot horse sports is a modern fitness development direction. By
analyzing the 6-DOF parallel robot horse platform mechanical structure
and motion characteristics, its model of spatial movement was established.
ADIS16355 was used as the sensor to collect acceleration data
and angular velocity data, which was stored in SD card by the serial
interface of AVR microcontroller. Matlab was used to read the data and
establish the mathematical formula of spatial movement to obtain the
displacement data and angle data, consequently the periodic motion
data of horse was extracted. The data was made into a loop and transplanted
into robot horse to reproduce the movement trajectory of the
real horse.
◁ PFrC-47
A self-localization method based on omnidirectional vision and MTi for
soccer robots, pp.3731–3736
Xiong, Dan
Lu, Huimin
Zheng, Zhiqiang
National Univ. of Defense Tech.
National Univ. of Defense Tech.
National Univ. of Defense Tech.
Self-Localization is the basis to realize mobile robot’s autonomous
ability such as motion planning, control decision and cooperation. Omnidirectional
vision is one of the most important sensors for RoboCup
Middle Size League soccer robots, and Motion Trackers instrument
(MTi) is a kind of inertial sensors which can measure the attitude
of the robot in real-time and accurately. In this paper we propose a
self-localization method which is based on omnidirectional vision and
MTi. By combining with matching optimization localization, global localization
and localization tracking can be realized quickly for our soccer
robots.The experimental results show that global localization can
be realized effectively while highly accurate localization is achieved in
real-time.
◁ PFrC-48
Modeling and Simulation of Omni-directional Lower Limbs Rehabilitation
Training Robot, pp.3737–3740
Jiang, Ying
Bai, Baodong
Wang, Shuoyu
Shenyang Univ. of Tech.
Shenyang Univ. of Tech.
Kochi Univ. of Tech.
An omni-directional lower limbs rehabilitation training robot is designed
to improve patient’s locomotion, who suffers from impairment in walking
ability after neurology injuries. By analyzing the kinematic and dynamic
characteristics of the robot, its motion control model is provided.
A multi-body dynamic model of a full robot is established by using
ADAMS software. In addition, the co-simulations under Matlab and
ADAMS are carried out by defining I/O interface. The results show that
the established model of robot is correct.
◁ PFrC-49
A Decentralized Adaptive Controller Design for Lower Extremity Rehabilitation
Robot, pp.3753–3757
Mi, Wenjun
Wu, Zhizheng
Qian, Jinwu
Shanghai Univ.
Shanghai Univ.
Shanghai Univ.
Rehabilitation is the major therapy in stroke and spinal cord injured individuals.
Robot-aided treadmill training has been applied for several
years to assist, enhance and evaluate neurological and orthopedic rehabilitation.
This paper presents a compliant patient cooperative control
approach for Lower Extremity Rehabilitation Robot (LERR) with automatic
gait adaption. Firstly, based on nonlinear inverbility decoupling
theory the system is decoupled into some independent second-order
integral systems. Then based on the decoupled sub-systems, the admittance
and adaptive control methods are further investigated for the
gait trajectory planning and tracking. Finally, the performance of the
proposed controller is verified in the MATLAB-Adams co-simulation environment.
◁ PFrC-50
A Fuzzy-Model-Based Gravity Center Adjustment and Inclination Control
for Stair-climbing wheelchair, pp.3764–3769
Wang, Dongxiao
Gao, Xueshan
DUAN, Xingguang
Zhang, Weimin
HUANG, Qiang
Liu, Yun-Hui
Beijing Inst. of Tech. (BIT)
Beijing Inst. of Tech.
Beijing Inst. of Tech.
Beijing Inst. of Tech.
Beijing Inst. of Tech.
The Chinese Univ. of Hong Kong
Balance control is a critical step to ensure tip-over stability for stairclimbing
wheelchair. This paper presents a novel fuzzy method for adjusting
the gravity center and controlling inclination of a stair-climbing
wheelchair. The proposed fuzzy controller is designed based the kinematic
relationship between the position of the gravity centre and the
obliquity of the wheelchair in obstacle environments. It optimally compensates
for changing of the gravity centre by adjusting obliquity of the
wheelchair using a pair of actuators. To validate the proposed method,
we have carried out simulations and experiments. The results demonstrate
that the proposed method can efficiently compensate for changing
of the gravity center to prevent the overturn.
◁ PFrC-51
Autonomic Mission Planning for Lunar Rovers in Complex Environment,
pp.3782–3787
Xu, Hongxia
Beijing Univ. of Tech.
Autonomic mission-planning is important to lunar rover because it can
improve the reliability and efficiency of science exploration. The complex
environment of rovers makes the planned results are affected by
many factors. A practical mission sequence could not be made without
considering these comprehensive factors. Aimed at the practical need
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