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On behalf of the Conference Organizing Committee, we welcome you to Qingdao, China for the 2016 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO2016)!
With the advantage of vector propulsion that it can provide better mobility with any speed, especially at low speed, than using rudder for AUV navigation, a novel four-axis vector water-jet propulsion underwater vehicle is proposed. Based on the characteristics of the structure of the vehicle and the motion features, the kinematic and dynamic models are established and analyzed. Focusing on the vertical...
A novel active suspension of Mars rover based on six-wheeled rocker-bogie suspension is proposed and the design is given from the 2D modularization concept. The proposed suspension not only can operate as same as normal six-wheeled rocker-bogie suspension, but also provides active fold-unfold ability on the platform, great wheel-legged passing ability in soft terrain and steep slopes. The most important...
Aiming at exploration tasks in complex amphibious environments, quadruped gaits were designed, implemented and evaluated for our amphibious spherical robot to enhance its adaptabilities to various terrains. A simplified locomotion model of the robot was established to analyze the walking process. Then three types of walk gait were implemented on the robotic platform using FPGA, which provided different...
Loop closure is a well-known problem in the research of laser based simultaneous localization and mapping, especially for applications in large-scale environments. The cumulative errors in the estimated pose and map make the loop detection difficult, no matter using particle filter-based or graph-based SLAM methods. Camera has the advantage of rich information but suffers from short distance and relative...
This paper proposes a new joint mechanism for a snake-like robot to travel in hazardous areas for rescue tasks. In a complex environment, it is necessary to preform an efficient three-dimensional motion. But, a serial snake-like robot could hardly do that because of the limitation of its 1-DOF joint structure. To meet the requirement of flexible locomotion, a parallel mechanism was proposed which...
We present the design, fabrication and feedback control of an earthworm-inspired multi-material multi-actuator soft robot capable of locomoting inside pipes. The bodies of natural earthworms are composed of repeated deformable structural units, called metameres, that generate the peristaltic body motions required for limbless underground burrowing and above-ground crawling. In an earthworm, each individual...
This study aims to verify the accuracy of a cervical traction therapy simulation model by comparing the intervertebral separations of six normal male adults when traction applied to their cervical spines. The subjects were tested on two mechanical traction devices, representing the inclined and sitting positions. Radiographic images of their cervical spines were taken before, during and after traction...
In this paper, we evaluate the clinical practicality of our hemiplegic upper limb rehabilitation system. This system consists of a selective DOF constrainable mechanism and a facilitative stimulation timing and duration control system. The selective DOF constrainable mechanism enables the separation of synergic movement during shoulder flexion and elbow extension training by constraining each individual...
Minimally invasive surgery offers the benefits of reduced patient trauma, faster recovery and shorter hospital stay to the patients, what motivates its development towards further less invasive applications. In this work, we present a concept for adapting our 3D-printed overtube manipulator to single incision laparoscopic surgery. Furthermore, we describe the integration of a surgeon supporting ultrasound...
In order to achieve high safety of the surgery robot, this paper presents a vibration signal acquiring and processing method to estimate the tool position during bone milling process. The dynamic of surgical milling is analyzed theoretically, and then it is proved that the vibration magnitude of the milling device decreases when the burr is close to the bone boundary. During the real milling operation,...
Rigid point-based registration is commonly used in many aspects of image-guided surgery (IGS). The registration task is usually performed by first identifying corresponding fiducials (markers) in two spaces. Since the localization of fiduicals is imprecise, the performed registration is not perfect and has some error inevitably. Extensive work has been done to estimate the registration error when...
Minimally invasive surgery gives surgeons the ability to operator through a few small incisions made in the patient's body. During the surgery, the forceps and laparoscope are inserted into the visceral cavity through the trocar that is fixed on the abdominal wall. Conventional instruments are constrained, however, through having only five degrees of freedom (DOF), as well as having scaled and mirrored...
Quadruped animals realize dynamic motions such as fast running and high and long jumping with the utilization of the flexibility of their bodies. It is known that the motions of their front and rear legs couple with the flexion and extension of their spine when running or jumping. In recent years, quadruped robots inspired by cats and cheetahs have been developed. In our group, a small quadruped robot...
Since the legged robot has a strong complex terrain adaptability and other advantages, this article is designed to develop a Hexapod Robot used to climbing, track navigation, outdoor adventure, search and rescue in dangerous environment. The aluminum frame design of the robot body uses to achieve a light weight and high strength. The design of the universal foot used to increase the adaptability in...
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