2018 3rd International Conference on Robotics and Automation Engineering (ICRAE)

17-19 Nov. 2018

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  • [Front cover]

    Publication Year: 2018, Page(s): c1
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  • [Front cover]

    Publication Year: 2018, Page(s): c1
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  • [Copyright notice]

    Publication Year: 2018, Page(s): i
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  • Table of Contents

    Publication Year: 2018, Page(s):iii - vi
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  • ICRAE 2018 Preface

    Publication Year: 2018, Page(s):vii - ix
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  • The Grasping Force Control for Force Sensor-less Robot through Point Clouds Mask Segmentation

    Publication Year: 2018, Page(s):1 - 4
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (296 KB) | HTML iconHTML

    It's difficult for a robot to adjust its sensor-less parallel gripper to a proper degree, holding the object with a tolerable deformation and no slipping, when operating deformable objects with unknown physical property (OUPP). This paper introduces a grasping strategy to solve this problem. Firstly, a semantic segmentation model was applied to monitor the deformation of the object by generating t... View full abstract»

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  • Design and Analysis of Intelligent Data Acquisition System Based on Robotic Arms

    Publication Year: 2018, Page(s):5 - 9
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    In unstructured environment, robots can not effectively capture different shape and weight objects efficiently. In view of this situation, this paper has designed a platform of intelligent data acquisition based on the Dexterous Manipulator hand, which consists of a Kinect 2.0 camera, BH8-282 three-finger dexterous hand, UR5 six-DOF robot arm and so on. According to the automatic identification an... View full abstract»

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  • Walking Mechanism and Gait Design of a Novel Compound Quadruped Robot

    Publication Year: 2018, Page(s):10 - 13
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    A novel compound quadruped Robot is designed in this paper. The proposed walking mechanism contains four compound mechanical legs. Each compound leg mimic the walking mechanism of human which has a waist, a right leg and a left leg. The new robot combined the quadruped robot and the biped robot rationally which makes it have agility, high speed, high stability and high load capacity at the same ti... View full abstract»

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  • Design of a Soft Robot Using Pneumatic Muscles for Elbow Rehabilitation

    Publication Year: 2018, Page(s):14 - 18
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    The field of rehabilitation robot has grown rapidly in these years. And soft actuated rehabilitation robots prove to have some unique advantages over rigid body motor-driven rehabilitative robots. In this paper, a soft robot with two degree of freedom (DOF) was designed to assist the rehabilitation of elbow. Pneumatic muscles were built up and tested. They were assembled to make the whole device. ... View full abstract»

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  • Design and Control of the Lower Part of Humanoid Biped Robot

    Publication Year: 2018, Page(s):19 - 23
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    This manuscript describes the design methodology of a lower limb bipedal robot which was controlled to achieve a stable walking gait. The proposed design has 12 DOF to mimic human gait in the most daily living activities. The design process started by creating dynamically equivalent lower limb segments based on the human anthropometric data. A linear inverted pendulum model of human walking was de... View full abstract»

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  • Static Balancing of Robotic Bicycle through Nonlinear Modeling and Control

    Publication Year: 2018, Page(s):24 - 28
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    In this paper we present a method that can balance a robotic bicycle at zero velocity. Based on our earlier work of nonlinear bicycle dynamic model, we developed a novel linearized dynamic equation near large steer angle. The newly developed linear equation is analyzed for its stability and a LQR controller is designed for balancing the robotic bicycle at zero velocity. We also built a prototype r... View full abstract»

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  • Robotic Grasp Control Policy with Target Pre-detection Based on Deep Q-learning

    Publication Year: 2018, Page(s):29 - 33
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (349 KB) | HTML iconHTML

    We present an accurate, real-time approach combined target pre-detection with robotic grasp based on deep Q-learning. Skilled robotic manipulation benefits from learning approach between target pre-detection and robotic grasp actions: target pre-detection recognizes the object and finds a good grasp rectangle in a single step; meanwhile, grasping can help displace objects to make target detection ... View full abstract»

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  • A Novel Hybrid Path Planning Algorithm at Macroscopic Level for Autonomous Climbing Robot

    Publication Year: 2018, Page(s):34 - 38
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    This paper proposed a novel hybrid algorithm for path planning at macroscopic level for autonomous climbing robot. The path planning is an Asymmetric Traveling Salesman Problem (ATSP). The problem can be decomposed into some groups with small-scale points by Density Peaks Clustering algorithm (DPC), and these groups are divided into two types based on the node distribution: dense groups and sparse... View full abstract»

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  • Simultaneous Localization and Mapping of Mobile Robot Based on Image Enhancement

    Publication Year: 2018, Page(s):39 - 43
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    For the camera optical system aberration, scene image observed by the robot will be disturbed by noise such as illumination, motion, and other noise interference, which will bring visual positioning error, lead to wrong expression of topological structure for the environment, and affect the robustness of Simultaneous Localization and Mapping (SLAM). How to control the accumulation effectively and ... View full abstract»

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  • Time-Energy-Jerk Dynamic Optimal Trajectory Planning for Manipulators Based on Quintic NURBS

    Publication Year: 2018, Page(s):44 - 49
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    In this paper, the multi-objective dynamic optimal trajectory planning of an industrial robot manipulator by considering its kinematic and dynamic constraints is presented. Two multi-objective algorithms viz., a fast and elitist multi- objective genetic algorithm (NSGA-II) and multi-objective particle swarm optimization algorithm (MOPSO) are proposed to settle this matter. Trajectories are defined... View full abstract»

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  • Motion Planning of Robot Manipulator for Cucumber Picking

    Publication Year: 2018, Page(s):50 - 54
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    In order to realize the automation and intelligence of agricultural product picking operations, and to improve the efficiency of picking operations, a cucumber picking motion planning scheme at velocity level is presented based on the pseudoinverse method. For convenience of discussion, the kinematics model of the picking robot is given out using the Denavit-Hartenberg parameters method. To improv... View full abstract»

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  • Configuration Optimization of a Dual-Arm Rehabilitation Robot

    Publication Year: 2018, Page(s):55 - 59
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (317 KB) | HTML iconHTML

    Robotic rehabilitation devices have gained high popularity in upper limb physical therapy for stroke patients. Dual-Arm rehabilitation robot system has advantages in achieving coordinated motions for the upper arm and forearm segments. In this paper, an efficient method for the design and evaluation of the kinematics of a dual-arm robot for upper limb rehabilitation, is presented. First, requireme... View full abstract»

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  • Octree-Based Repetitive Pose Detection of Large-Scale Cyclic Environments

    Publication Year: 2018, Page(s):60 - 64
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (637 KB) | HTML iconHTML

    In order to achieve the pose detection in real-time by eliminating delay in large-scale cyclic environments, this paper presents an octree-based repetitive pose detection approach. Compared with the traditional detection method, the novelty of our algorithm lies in the high accuracy, in particular, consuming time does not rise with the expansion of the storage of poses. Based on the octree, the 3D... View full abstract»

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  • Incremental Mapping Based on Line-Segments Relation for Mobile Robot

    Publication Year: 2018, Page(s):65 - 70
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    The recent research trend in deploying mobile robots in the indoor environments require the development of efficient map presentation techniques. A novel method is proposed for building maps of the indoor structured environments by using line-segment relation extracted from laser range scans. Compared with the more common grid representation, the map built with the line segments is more compact an... View full abstract»

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  • Simulation Research on Direct-Drive SCARA Robot

    Publication Year: 2018, Page(s):71 - 75
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    This is a small light-load, seft-designed, direct-drive SCARA robot. Firstly, the kinematics of the virtual prototype model is verified in cartesian space. Then, in the MATLAB and ADAMS software environment, the virtual prototype model was jointly simulated to obtain the dynamic response curve of the robot. The rationality of the direct drive SCARA's design scheme is verified, which provides refer... View full abstract»

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  • Joint Robot and Aircraft Carriers Combinatorial Systems in the Sea in 5G OGCE

    Publication Year: 2018, Page(s):76 - 81
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    Based on the fifth generation of mobile communication (5G), 5G open grid computing environment (5G OGCE), in order to adapt to “civil-military integration strategy” in region from deep sea to space, at the same time to meet the needs of ocean engineering development, a joint (connecting or docking-and-berthing) robot and aircraft carriers combinatorial systems are presented in this paper, the aim ... View full abstract»

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  • Challenges of Dynamic Environment for Visual-Inertial Odometry

    Publication Year: 2018, Page(s):82 - 86
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    Challenging scenes that break the assumptions of visual-inertial odometry (VIO) and bring about incorrect measurements into visual-inertial fusion can be regarded as the interference factors from dynamic environment. Interferences of dynamic environment actually exist in both visual and inertial measurements, they also affect the accuracy and robustness of VIO systems. Therefore, comprehensive and... View full abstract»

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  • Performance Comparison of Typical Spatial Domain Image Enhancement for a Mobile Robot in Low Contrast Environment

    Publication Year: 2018, Page(s):87 - 91
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (588 KB) | HTML iconHTML

    Images could be understood and analyzed more easily through enhance processing. Generally, image enhancement can be divided into spatial domain enhancement and frequency domain enhancement according to different processing domains. Yet compared with frequency domain processing, spatial domain enhancement is more easily to realize real-time enhancement of images, namely, spatial domain processing i... View full abstract»

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  • Global Loop Closure Detection of Multi-Robot Based on Particle Filter

    Publication Year: 2018, Page(s):92 - 96
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    A loop closure detection method based on the combination of CSM (correlative scan matching) and particle filter is proposed for the uncertainty of initial relative pose of the robot during the multi-robot SLAM(simultaneous localization and mapping). This method applies the concept of particle filter location to multi-robot loop closure detection, and use the matching of sub-maps to calculate the s... View full abstract»

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  • Indoor Robot Visual Positioning System Based on Floor Features

    Publication Year: 2018, Page(s):97 - 101
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (177 KB) | HTML iconHTML

    In order to solve the positioning problem of indoor robots, we present visual positioning system for indoor robots based on ground features. The system firstly collects the ground image through the fisheye camera, then uses the Canny operator to perform edge detection on the captured images, then performs the distortion correction of the fisheye camera on the contour points obtained by the edge de... View full abstract»

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