Intelligent Robotics and Applications : 14th International Conference, ICIRA 2021, Yantai, China, October 22–25, 2021, Proceedings, Part I / / edited by Xin-Jun Liu, Zhenguo Nie, Jingjun Yu, Fugui Xie, Rui Song

• Record Nr.: UNINA9910506395203321
• Pubbl/distr/stampa: Cham : , : Springer International Publishing : , : Imprint : Springer, , 2021
• ISBN: 3-030-89095-3
• Edizione: [1st ed. 2021.]
• Descrizione fisica: 1 online resource (834 pages)
• Collana: Lecture Notes in Artificial Intelligence, , 2945-9141 ; ; 13013
• Disciplina: 629.892
• Soggetti: Artificial intelligence; User interfaces (Computer systems); Human-computer interaction; Software engineering; Computer vision; Computer engineering; Computer networks; Artificial Intelligence; User Interfaces and Human Computer Interaction; Software Engineering; Computer Vision; Computer Engineering and Networks
• Lingua di pubblicazione: Inglese
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Note generali: Includes index.
• Nota di contenuto: Intro -- Preface -- Organization -- Contents - Part I -- Robotic Dexterous Manipulation -- A Spatial Layout Method of Robots Relative to Operating Space Based on Its Flexible Workspace Simulation -- 1 Introduction -- 2 Kinematics Analysis Based on Screw Theory -- 3 Workspace Optimization and Layout of the Six-DOFs Robot -- 3.1 Workspace Optimization of the Six-DOFs Robot -- 3.2 Layout of the Six-DOFs Robot -- 4 Simulation Example and Its Analysis -- 5 Conclusion and Future Work -- References -- Hand Posture Reconstruction Through Task-Dependent Hand Synergies -- 1 ; Introduction -- 2 Experiment Description -- 2.1 Participants -- 2.2 Apparatus and Experimental Procedure -- 3 Hand Synergies Extraction -- 3.1 Grasp Types Clustering -- 3.2 Task-Dependent Hand Synergies Extraction -- 4 Results and Discussion -- 4.1 Clustering Results of the GRASP Taxonomy -- 4.2 Overall Dependencies Between Finger Joints -- 4.3 The Joint Contribution to Task-Dependent Hand Synergies -- 5 Conclusion -- References -- Application of CG Pseudo-spectral Method to Optimal Posture Adjustment of Robot Manipulator -- 1 Introduction -- 2 Problem Formulation -- 2.1 Dynamic Model of the Robot Manipulator -- 2.2 Optimal Control -- 3 CG Pseudo-spectral Method -- 3.1 The Affine Transformation of Time and Approximation of Variable -- 3.2 Procedure of Optimization -- 4 Simulation Results -- 4.1 Parameters and Objective Settings -- 4.2 Results of Three Cases -- 4.3 Discussions -- 5 Conclusions -- References -- Semi-autonomous Robotic Manipulation by Tele-Operation with Master-Slave Robots and Autonomy Based on Vision and Force Sensing -- 1 Introduction -- 2 Architecture of the Semi-autonomous System -- 3 Master-Slave Mapping for Teleopertation -- 4 Identification and Location of Screw Nut by Vision -- 5 Fitting Screw Nut Based on Force Sensing -- 6 Implementation and Experiments.; 7 Conclusion -- References -- Adaptive Grasping Strategy of Dexterous Hand Based on T-test -- 1 Introduction -- 2 Hardware Setup -- 3 Method -- 3.1 Slip Detection Algorithm Based on T-test -- 3.2 Adaptive Grasping Strategy -- 4 Experimental Evaluation -- 4.1 Experimental Evaluation of Slip Detection Algorithm -- 4.2 Experimental Evaluation of Adaptive Grasping Strategy -- 5 Conclusion -- References -- Reinforcement Learning Strategy Based on Multimodal Representations for High-Precision Assembly Tasks -- 1 Introduction -- 2 Learning Strategy Based on Multimodal Fusion -- 2.1 Latent Representation -- 2.2 Pose Estimation Based on Supervised Learning -- 2.3 Policy Learning -- 2.4 Controller -- 3 Simulation and Results Analysis -- 3.1 Simulation Environment -- 3.2 Design of Reward Function -- 3.3 Implementation Details -- 3.4 Results -- 4 Conclusions -- References -- A Scalable Resource Management Architecture for Industrial Fog Robots -- 1 Introduction -- 2 Architecture -- 2.1 Resource Management -- 2.2 The Architecture -- 3 Case Study -- 3.1 Difficulties -- 3.2 The Proposed Solution -- 4 Evaluation -- 4.1 Simulation Environment -- 4.2 Single Pod -- 4.3 Architecture Evaluation -- 5 Conclusion -- References -- Robot Predictive Maintenance Method Based on Program-Position Cycle -- 1 Introduction -- 2 Condition Monitoring Method Based on Robot Program-Position Cycle -- 2.1 Data Background -- 2.2 Exploration of Periodic Laws -- 2.3 Process of the Predictive Maintenance Method -- 3 Verification of Monitoring Methods Under Factory Conditions -- 3.1 The Robot Balancing Cylinder Problem Case -- 3.2 Shaft Spline Ware Case -- 4 Conclusion -- References -- Design of Manipulator Control System Based on Leap Motion -- 1 Introduction -- 1.1 Manipulator Introduction -- 1.2 The Principle of Leap Motion and Filter -- 2 System Structure and Main Program.; 2.1 System Construction -- 2.2 Manipulator Communication and Control -- 2.3 Data Control -- 2.4 UI and Monitoring Screen -- 3 Filtering Data from Leap Motion -- 4 Experimental verification -- 5 Conclusion -- References -- Contouring Errors and Feedrate Fluctuation of Serial Industrial Robot in Complex Toolpath with Different Controller -- 1 Introduction -- 2 Toolpath Contouring Errors of Industrial Robot -- 3 Experiment and Discussion -- 4 Conclusion -- References -- Research on a New Flexible Tactile Sensor for Detecting Vertical and Sliding Tactile Signals -- 1 Introduction -- 2 ; The Working Principle of the Flexible Tactile Sensor -- 3 The Finite Element Analysis of the Flexible Tactile Sensor -- 3.1 Model Building -- 3.2 Material Parameter Setting -- 3.3 Mesh Division -- 4 Performance Analysis of the Flexible Tactile Sensor -- 4.1 Force- Electrical Response Analysis -- 4.2 Dynamic Force Measurement Analysis -- 4.3 Transient Analysis -- 5 Conclusions -- References -- Sensors, Actuators, and Controllers for Soft and Hybrid Robots -- Analysis of Kinematic Parameter Identification Method Based on Genetic Algorithm -- 1 Introduction -- 2 Forward Kinematics Model and Verification of UR10 -- 3 Parameter Identification Method of Kinematic Model -- 3.1 Introduction of Identification Method -- 3.2 Parameter Identification Based on Multi-population Genetic Algorithm -- 4 Comparison of Four Identification Models -- 4.1 Evaluation and Analysis of Identification Accuracy Under Ideal Conditions -- 4.2 Identification Accuracy and Anti-interference Ability Analysis Under Ideal Conditions -- 4.3 Identification Accuracy and Anti-interference Ability Analysis Under Error Conditions -- 5 Conclusions -- References -- Design and Analysis of a Muti-Degree-of-Freedom Dexterous Gripper with Variable Stiffness -- 1 Introduction -- 2 Inspiration and Design -- 3 Modeling.; 3.1 Forward Kinematics -- 3.2 Inverse Kinematics -- 3.3 Mathematical Model Simulation Analysis -- 4 The MDOF Variable Stiffness Performance Analysis -- 5 Multiple Objects Gripping -- 6 Conclusion -- References -- Design of an Antagonistic Variable Stiffness Finger for Interactions and Its Analysis -- 1 Introduction -- 2 Finger Mechanical Design -- 2.1 Antagonistic Variable Stiffness Finger Mechanism -- 2.2 Compliant Actuation Unit -- 2.3 Joint Differential Mechanism -- 3 Kinematics and Dynamics Modeling -- 3.1 Finger Kinematics -- 3.2 Dynamics Modeling -- 4 Motion Control and Simulations -- 5 Conclusions -- References -- Directivity Analysis of Ultrasonic Array in Directional Sound System -- 1 Introduction -- 2 Simulation -- 2.1 Relationship Between Directivity of the Ultrasonic Array and DSS -- 2.2 Model of the Ultrasonic Transducer and Array -- 2.3 Directional Simulation -- 3 Experiments -- 3.1 Directional Experimental Platform -- 3.2 Design for the Three-Dimensional Array and Construction of DSS -- 3.3 Experimental Data -- 4 Conclusion -- References -- Design of Space Manipulator Trajectory Optimization Algorithm Based on Optimal Capture -- 1 Overview -- 2 Capture Process Analysis -- 3 Trajectory Planning Algorithm Design of Manipulator Based on Optimal Capture -- 3.1 Analysis of Factors Influencing the Capture Contact Force of Flexible Wire Rope -- 3.2 Snare Type Rope Catcher -- 4 Simulation Verification -- 5 Summary -- References -- Fall Detection and Protection System Based on Characteristic Areas Algorithm -- 1 Introduction -- 2 Overall Design of the Fall Detection and Protection System -- 3 Study of Fall Detection Algorithm -- 4 System Integration and Experimental Validation -- 4.1 Fall Detection Experiment -- 4.2 Airbag Inflating Experiment -- 4.3 The Whole Experiment -- 5 Conclusion -- References.; Design of Flexure Hinges Using Geometrically Nonlinear Topology Optimization -- 1 Introduction -- 2 Problem Formulation -- 3 Geometrically Nonlinear Topology Optimization -- 3.1 The SIMP-based Finite Element Analysis -- 3.2 Sensitivity Analysis -- 4 Numerical Implementations -- 5 Results and Discussions -- 6 Conclusions -- References -- Fully Compliant Electroactive Bistable Actuator Utilizing Twisting and Coiled Artificial Muscle -- 1 Introduction -- 2 The Design and Fabrication of the Actuator -- 3 Performance Characterization of Actuation -- 4 Conclusion -- References -- Design and PerformanceAnalysis of Artificial Muscle Driven by Vacuum ; with Large Contract Ratio and Large Load -- 1 Introduction -- 2 Structure and Preparation of Artificial Muscles -- 3 Theoretical Modeling -- 4 Performance Testing and Result Analysis -- 5 Conclusions -- References -- Parameter Adaptive Multi-robot Formation Based on Fuzzy Theory -- 1 Introduction -- 2 Introduction to the Formation Model of Robots -- 3 Design and Analysis of Control Law -- 4 Fuzzy Tracking Controller Design -- 5 Experiments -- 5.1 Contrast Test of Control Law -- 5.2 Fuzzy Control Formation Experiment -- 6 Conclusion -- References -- Design and Experiment of Super Redundant Continuous Arm Driven by Pneumatic Muscle -- 1 Introduction -- 2 Structure Design of Super Redundant Continuous Arm -- 2.1 Design of Super-Redundant Joints -- 2.2 Structure Design of Continuous Arm -- 3 Kinematics Modeling of Super Redundant Joint -- 3.1 Single Segment -- 3.2 Multi-segments -- 3.3 Motion Space Simulation -- 4 Experimental Verification -- 4.1 Bending and Loading Experiments -- 4.2 Sensing Test Experiments -- 5 Conclusion -- Appendix -- References -- Testing Method and Experiment of Magnetic Flux Leakage of Spiral Rising Steel Wire Rope.; 1 Analysis of Magnetic Flux Leakage Detection Principle of Cable Broken Wire.
• Sommario/riassunto: The 4-volume set LNAI 13013 – 13016 constitutes the proceedings of the 14th International Conference on Intelligent Robotics and Applications, ICIRA 2021, which took place in Yantai, China, during October 22-25, 2021. The 299 papers included in these proceedings were carefully reviewed and selected from 386 submissions. They were organized in topical sections as follows: Robotics dexterous manipulation; sensors, actuators, and controllers for soft and hybrid robots; cable-driven parallel robot; human-centered wearable robotics; hybrid system modeling and human-machine interface; robot manipulation skills learning; micro_nano materials, devices, and systems for biomedical applications; actuating, sensing, control, and instrumentation for ultra-precision engineering; human-robot collaboration; robotic machining; medical robot; machine intelligence for human motion analytics; human-robot interaction for service robots; novel mechanisms, robots and applications; space robot and on-orbit service; neural learning enhanced motion planning and control for human robot interaction; medical engineering.