State Transformation Combined Adaptive Robust Control for Motor Driven Joint with State Constraints and Input Saturation
The control problem of the motor driven joint system under the state and input constraints is discussed in this paper. Firstly, a state transform function is introduced to transfer the state-constrained motor driven joint system to a transformed ...
A Transcutaneous Electrical Stimulation Method for Sensory Substitution of Wrist Extension and Flexion - a preliminary study
mong the need of improvement of the sensory function in myoelectric prosthesis, this paper focuses on the position sense substitution of the prosthetic wrist joint. The study proposes a transcutaneous electrical stimulation method by using the ...
Vision-based Moving Target Tracking of Certain Target for Quadruped Robots
Due to the high flexibility of quadruped robots compared with some traditional robots, it has become an important branch in the field of mobile robot research. Target detection and tracking technology is important for the environment perception ...
Multi-Tree Guided Efficient Robot Motion Planning
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in the state space. However, they perform not well in ...
Quadrotor Autonomous Landing on Moving Platform
This paper introduces a quadrotor's autonomous take-off and landing system on a moving platform. The designed system addresses three challenging problems: fast pose estimation, restricted external localization, and effective obstacle avoidance. ...
A small family service robot system with uncalibrated monocular camera for visual servoing tracking fast moving family targets in short range
Small family service robots are essential applications in service robots, and their accurate tracking of moving targets is the primary condition for robot-human interaction. Compared with long-range target tracking, the limited family space leads ...
Effect Analysis of Elastic Components on Jumping Performance of Bionic Leg
Most species of bipeds walk with "bouncing gait" in nature, which plays an important role in their rapid and energy-saving movement. From the perspective of bionics, the "bouncing gait" for an ostrich-like one-leg is introduced in this paper, the ...
Humanoid Biped Robot Locomotion via Quadratic Programming with Compound Constraints
This paper introduces a quadratic programming-based stable motion control method for humanoid robots. This method is based on the virtual model and the optimal force distribution. We added a six-dimensional mixed constraint on the sole of the foot ...
A Dual-Arm Concentric-Tube Robot System for Transnasal Surgery
This paper proposes a novel dual-arm concentric-tube robot (CTR) system in transnasal minimally-invasive surgery (MIS) of nasopharyngeal carcinoma (NPC) resection. Firstly, the design of the robot system is described including the manipulators ...
Realization of indoor and outdoor localization and navigation for quadruped robots
The quadruped robot has the advantages of flexible movement and large load because of the bionic leg structure. In order to improve their intelligence and autonomy in the complex environment, we build a highly integrated sensing system with lidar ...
Full length image stitching algorithm for spinal deformity surgery
In the orthopedic surgery of the spine, obtaining a full-length spine image play an important role in evaluating the quality of the procedure. The most common imaging devices used to obtain spine images are C-arm x-ray machines, which requires ...
Attention-inspired RNN Encoder-Decoder for Sensory Time Series Forecasting
As an emerging application of biomimetic intelligence, attention mechanism in deep learning has been actively studied for intelligent monitoring. The present paper proposes an attention-based recurrent neural network that can make multi-step ...
Joint Identification, Detection and Channel Estimation in Industrial IoT
Rapid identification and analysis of faulty or degraded sensors and devices are key challenge in Industrial Internet of Things (IIoT). Wireless communication is emerging as a viable solution to support the massive sensors and devices with sporadic ...
Controllable Scene Generation from Natural Language
We propose a novel framework to generate recognizable scenes conditioned on natural language (NL) descriptions. The proposed modular approach decomposes the scene synthesis process into several manageable steps, in which it first infers a spatial ...
A TD-Learning Based Bionic Cerebellar Model Controller For Humanoid Robots
The cerebellum is a crucial component of the human body that plays a vital role in human walking. To design a robot gait controller by referring the working mechanism of the cerebellum is one of the hotspots in the bionic control field. This paper ...
An Alignment Method for Magnetically Actuated Flexible Endoscope in Colonoscopy
Magnetically-actuated flexible endoscopes (MAFE) have been well used in minimally-invasive surgery because they can be remotely steered by a magnetic field thus achieving more flexible visual feedback than traditional endoscopes. By controlling ...
Finite Element Analysis for the Effects of the Descending Aorta Tortuosity on Aortic Hemodynamics
Large arteries in the human body, such as the aorta, are susceptible to atherosclerosis, and aortic hemodynamic analysis has been widely used to predict cardiovascular disease. In this study, we aim to explore whether the tortuosity of the ...