Intelligent robotics and applications : 10th International Conference, ICIRA 2017, Wuhan, China, August 16-18, 2017, Proceedings. Part I

910 Pages·2017·153.401 MB·English

by  Huang, YongAn, Liu, Honghai, Wu, Hao, Yin, Zhouping

YongAn Huang · Hao Wu
Honghai Liu · Zhouping Yin (Eds.)
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I and Applications
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10th International Conference, ICIRA 2017
Wuhan, China, August 16–18, 2017
Proceedings, Part I
123
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Lecture Notes in Arti cial Intelligence 10462
Subseries of Lecture Notes in Computer Science
LNAI Series Editors
Randy Goebel
University of Alberta, Edmonton, Canada
Yuzuru Tanaka
Hokkaido University, Sapporo, Japan
Wolfgang Wahlster
DFKI and Saarland University, Saarbrücken, Germany
LNAI Founding Series Editor
Joerg Siekmann
DFKI and Saarland University, Saarbrücken, Germany
More information about this series at http://www.springer.com/series/1244
YongAn Huang Hao Wu
(cid:129)
Honghai Liu Zhouping Yin (Eds.)
(cid:129)
Intelligent Robotics
and Applications
10th International Conference, ICIRA 2017
–
Wuhan, China, August 16 18, 2017
Proceedings, Part I
123
Editors
YongAnHuang Honghai Liu
Schoolof MechanicalScience Institute of Industrial Research
andEngineering University of Portsmouth
HuazhongUniversity of Science Portsmouth
andTechnology UK
Wuhan
ZhoupingYin
China
Schoolof MechanicalScience
Hao Wu andEngineering
Schoolof MechanicalScience HuazhongUniversity of Science
andEngineering andTechnology
HuazhongUniversity of Science Wuhan
andTechnology China
Wuhan
China
ISSN 0302-9743 ISSN 1611-3349 (electronic)
Lecture Notesin Artificial Intelligence
ISBN 978-3-319-65288-7 ISBN978-3-319-65289-4 (eBook)
DOI 10.1007/978-3-319-65289-4
LibraryofCongressControlNumber:2017948191
LNCSSublibrary:SL7–ArtificialIntelligence
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Preface
The International Conference on Intelligent Robotics and Applications (ICIRA 2017)
washeldatHuazhongUniversityofScienceandTechnology(HUST),Wuhan,China,
during August 16–18, 2017. ICIRA 2017 was the 10th event of the conference series,
which focuses on: (a) fundamental robotics research, including a wide spectrum
rangingfromthefirstindustrialmanipulatortoMarsrovers,andfromsurgeryrobotics
to cognitive robotics, etc.; and (b) industrial and real-world applications of robotics,
which are the force driving the research further.
This volume of Lecture Notes in Computer Science contains the papers that were
presented at ICIRA 2017. The regular papers in this volume were selected from more
than 350 submissions covering various topics on scientific methods and industrial
applications for intelligent robotics, such as soft and liquid-metal robotics, rehabilita-
tion robotics, robotic dynamics and control, robot vision and application, robotic
structuredesignandmechanism,robotlearning,bio-inspiredrobotics,human–machine
interaction, space robotics, mobile robotics, intelligent manufacturing and metrology,
benchmarkingandmeasuringservicerobots,real-worldapplications,andsoon.Papers
describing original works on abstractions, algorithms, theories, methodologies, and
casestudiesarealsoincludedinthisvolume.Eachsubmissionwasreviewedbyatleast
twoProgramCommitteemembers,withtheassistanceofexternalreferees.Theauthors
of the papers and the plenary and invited speakers come from the following countries
and areas: Australia, Austria, China, Cyprus, Germany, Hong Kong, Japan, Korea,
Singapore, Spain, Switzerland, UK, and USA.
We wish to thank all who made this conference possible: the authors of the sub-
missions,theexternalreferees(listedintheproceedings)fortheirscrupulouswork,the
sixinvitedspeakersfortheirexcellenttalks,theAdvisoryCommitteefortheirguidance
and advice, and the Program Committee and the Organizing Committee members for
their rigorous and efficient work. Sincere thanks also go to the editors of the Lecture
NotesinComputerScienceseriesandSpringerfortheirhelpinpublishingthisvolume
in a timely manner.
In addition, we greatly appreciate the following organizations for their support:
National Natural Science Foundation of China
School of Mechanical Science and Engineering, HUST
State KeyLaboratory ofDigitalManufacturingEquipmentand Technology,China
State Key Laboratory of Robotic Technology and System, China
State Key Laboratory of Mechanical System and Vibration, China
State Key Laboratory of Robotics, China
August 2017 YongAn Huang
Hao Wu
Honghai Liu
Zhouping Yin
Organization
Honorary Chair
Youlun Xiong HUST, China
General Chair
Han Ding HUST, China
General Co-chairs
Naoyuki Kubota Tokyo Metropolitan University, Japan
Kok-Meng Lee Georgia Institute of Technology, USA
Xiangyang Zhu Shanghai Jiao Tong University, China
Program Co-chairs
YongAn Huang HUST, China
Honghai Liu University of Portsmouth, UK
Jinggang Yi Rutgers University, USA
Advisory Committee Chairs
Jorge Angeles McGill University, Canada
Tamio Arai University of Tokyo, Japan
Hegao Cai Harbin Institute of Technology, China
Xiang Chen Windsor University, Canada
Toshio Fukuda Nagoya University, Japan
Huosheng Hu University of Essex, UK
Sabina Jesehke RWTH Aachen University, Germany
Yinan Lai National Natural Science Foundation of China, China
Jangmyung Lee Pusan National University, Korea
Ming Li National Natural Science Foundation of China, China
Peter Luh University of Connecticut, USA
Zhongqin Lin Shanghai Jiao Tong University, China
Xinyu Shao HUST, China
Xiaobo Tan Michigan State University, USA
Guobiao Wang National Natural Science Foundation of China, China
Michael Wang The Hong Kong University of Science and Technology,
SAR China
Yang Wang Georgia Institute of Technology, USA
VIII Organization
Huayong Yang Zhejiang University, China
Haibin Yu Chinese Academy of Science, China
Organizing Committee Chairs
Feng Gao Shanghai Jiao Tong University, China
Lei Ren The University of Manchester, UK
Chunyi Su Concordia University, Canada
Jeremy L. Wyatt University of Birmingham, UK
Caihua Xiong HUST, China
Jie Zhao Harbin Institute of Technology, China
Organizing Committee Co-chairs
Tian Huang Tianjin University, China
Youfu Li City University of Hong Kong, SAR China
Hong Liu Harbin Institute of Technology, China
Xuesong Mei Xi’an Jiaotong University, China
Tianmiao Wang Beihang University, China
Local Chairs
Kun Bai HUST, China
Bo Tao HUST, China
Hao Wu HUST, China
Zhigang Wu HUST, China
Wenlong Li HUST, China
Technical Theme Committee
Gary Feng City University of Hong Kong, SAR China
Ming Xie Nanyang Technological University, Singapore
Financial Chair
Huan Zeng HUST, China
Registration Chair
Jingrong Ge HUST, China
General Secretariat
Hao Wu HUST, China
Organization IX
Sponsoring Organizations
National Natural Science Foundation of China (NSFC), China
Huazhong University of Science and Technology (HUST), China
School of Mechanical Science and Engineering, HUST, China
University of Portsmouth, UK
State Key Laboratory of Digital Manufacturing Equipment and Technology, HUST,
China
State Key Laboratory of Robotic Technology and System, Harbin Institute
of Technology, China
State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong
University, China
State Key Laboratory of Robotics, Shenyang Institute of Automation, China
Contents – Part I
Soft, Micro-Nano, Bio-inspired Robotics
Ankle Active Rehabilitation Strategies Analysis Based
on the Characteristics of Human and Robotic Integrated
Biomechanics Simulation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Zhiwei Liao, Zongxin Lu, Chen Peng, Yang Li, Jun Zhang,
and Ligang Yao
Dynamic Drive Performances of the Bionic Suction Cup Actuator Based
on Shape Memory Alloy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Yunhao Ge, Jihao Liu, Bin Li, Huihua Miao, Weixin Yan,
and Yanzheng Zhao
Piezoelectric Micro-Pump Suction Cup Design and Research
on the Optimal Static Driving Characteristics . . . . . . . . . . . . . . . . . . . . . . . 26
EnguangGuan,YunhaoGe,JihaoLiu,WeixinYan,andYanzhengZhao
The Research on the Method of Gait Planning for Biped Robot . . . . . . . . . . 39
Pan Li, Kaichao Li, and Yifan Wei
Control Strategy and Experiment of a Novel Hydraulic-Driven Upper
Extremity Exoskeleton. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Zirong Luo, Guohen Wu, Xing Li, and Jianzhong Shang
ResearchontheLocomotionofGermanShepherdDogatDifferentSpeeds
and Slopes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Weijun Tian, Qi Zhang, Zhen Yang, Jiyue Wang, Ming Li,
and Qian Cong
Prehension of an Anthropomorphic Metamorphic Robotic Hand Based
on Opposition Space Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Guowu Wei, Lei Ren, and Jian S. Dai
Multi-directionalCharacterizationforPollenTubesBasedonaNanorobotic
Manipulation System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Wenfeng Wan, Yang Liu, Haojian Lu, and Yajing Shen
A Review on Vibration Characteristics of Carbon Nanotubes
and Its Application Via Vacuum. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Dongliang Huang, Zhan Yang, and Lining Sun