Intelligent Robotics and Applications: 15th International Conference, ICIRA 2022, Harbin, China, August 1–3, 2022, Proceedings, Part I

Preface
Organization
Contents – Part I
Vision-Based Human-Robot Interaction and Applications
Knowledge-Enhanced Scene Context Embedding for Object-Oriented Navigation of Autonomous Robots
	1 Introduction
	2 Definition and Methodology
		2.1 Task Definition
		2.2 Knowledge Graph Based on Matterport3D (MattKG)
		2.3 6-D Scene Context Embedding
		2.4 End-to-End Learning
	3 Experiments
	4 Conclusion
	References
An End-to-End Object Detector with Spatiotemporal Context Learning for Machine-Assisted Rehabilitation
	1 Introduction
	2 Related Work
	3 Proposed Method
		3.1 SEFP-RepVGG
		3.2 Conv-DETR
	4 Experimental Results and Discussion
		4.1 Experimental Settings
		4.2 Ablation Study
		4.3 Comparison with State-of-the-Arts
		4.4 Applications in Rehabilitation System
	5 Conclusion
	References
Skeleton-Based Hand Gesture Recognition by Using Multi-input Fusion Lightweight Network
	1 Introduction
	2 Related Works
		2.1 Static and Motion Features
		2.2 Skeleton-Based Gesture Recognition
	3 Methodology
		3.1 Modeling Static Feature by Center Joint Oriented Method
		3.2 Extracting Global and Local Motion Features by Different Frames
		3.3 Dimension Adjustment and Feature Fusion by CNN Embedding
	4 Experiments
		4.1 Dataset
		4.2 Training Details
		4.3 Ablation Studies
		4.4 Comparison with Previous Methods
	5 Conclusion
	References
Multiple-Point Obstacle Avoidance Based on 3D Depth Camera Skeleton Modeling and Virtual Potential Field for the Redundant Manipulator
	1 Introduction
	2 Skeleton Algorithm Based on 3D Depth Camera
		2.1 Building the Skeleton
		2.2 Constructing Bounding Box
		2.3 Finding Possible Collision Multiple-Points
	3 Collision Avoidance for the Redundant Manipulator
		3.1 Attractive Potential Field and Force
		3.2 Repulsive Potential Field and Force
		3.3 Modified Representation of Repulsive Force
		3.4 Relation Between Forces and Joint Angles
	4 Simulation
	5 Conclusion
	References
A Novel Grasping Approach with Dynamic Annotation Mechanism
	1 Introduction
	2 Related Work
	3 Dataset
		3.1 Overview
		3.2 Basic and Decent Annotation
		3.3 Annotation Transform
		3.4 Evaluation
	4 Grasping Detection Network
		4.1 Network Structure
		4.2 Loss Function
	5 Experiments
		5.1 Comparison Experiment of Datasets
		5.2 Comparison Experiment of Methods
		5.3 Robot Grasping Experiment
	6 Conclusion
	References
Tracking and Counting Method for Tomato Fruits Scouting Robot in Greenhouse
	1 Introduction
	2 Material and Method
		2.1 Tomato Sample and Scouting Robot
		2.2 Image Acquisition
		2.3 Tomato Fruit Detection
		2.4 Tracking and Counting of Tomato Fruit
		2.5 Result Output
	3 Result and Discussion
	4 Conclusion and Future Work
	References
Interaction, Control and Application Technologies of Welfare Robots
Safety Assistance Strategy of Nursing Robot in Stand-To-Sit Movement
	1 Introduction
	2 Method
		2.1 The Intelligent Assistant Model of Nursing Robot
		2.2 Model Predicted Intelligent Auxiliary Control System
	3 Experiment
	4 Discussion
	5 Conclusion
	References
Motion Planning Method for Home Service Robot Based on Bezier Curve
	1 Introduction
	2 Motion Planning
		2.1 Overall Structure
		2.2 Trajectory Generation Based on Minimum Snap
		2.3 Trajectory Optimization Based on Bezier Curve
	3 Experiment
	4 Conclusion
	References
A Current Location Confidence Algorithm for Service Robot in Elder-Care Environment
	1 Introduction
	2 Current Location Confidence Algorithm
		2.1 Offline Part of the CLCA
		2.2 Online Part of the CLCA
		2.3 Safety Module
	3 Experiment
	4 Conclusion and Future Work
	References
A Smart Home Based on Multi-heterogeneous Robots and Sensor Networks for Elderly Care
	1 Introduction
	2 Overall Concept of MHSH Architecture
		2.1 Homecare Robot
		2.2 Sensor Network and Home Gateway
		2.3 Smart Home Environment
	3 Multi-heterogeneous Robot System Architecture
	4 Experiment
		4.1 Performance Comparison of the Smart Home
		4.2 Experiments on Real Robotics
	5 Conclusion
	References
A Study of Virtual Reality Systems for Attention Stabilization
	1 Introduction
	2 Attention Stability Test Platform
		2.1 Hardware Platform
		2.2 Test Program
		2.3 Experimental Subjects and Screening
	3 Experiment and Data Analysis
		3.1 Experiment
		3.2 Data Analysis
	4 Conclusion
	References
Design and Verification of an Active Lower Limb Exoskeleton for Micro-low Gravity Simulation Training
	1 Introduction
	2 System Design of the Exoskeleton
		2.1 Mechanical Structure Design
		2.2 Control System Design
	3 Experimental Verification
		3.1 Lifting Leg in Testing Platform
		3.2 Resetting End Position of the Model
		3.3 Counteracting Gravity
	4 Conclusion
	References
Trajectory Tracking Control of Omnidirectional Robot Based on Center of Gravity Offset Parameter Estimation
	1 Introduction
	2 System and Modeling of OWTR
	3 Controller Design
		3.1 Acceleration PD Controller with Center of Gravity Offset Compensation
		3.2 Estimation of Parameters
		3.3 Convergence Analysis of Tracking Errors
	4 Simulations and Discussion
	5 Conclusion
	References
Force Coordination Control of Dual-Arm Robot Based on Modified Sliding Mode Impedance Control
	1 Introduction
	2 The Model of Dual-Arm Robot
		2.1 Motion Constraint Relationship of the Dual-Arm Robot
		2.2 Force Analysis of the Object
		2.3 Dynamic Model of Dual-Arm Robot
	3 Modified Sliding Mode Coordination Impedance Control for Dual-Arm Robot
		3.1 Cooperative Impedance Control
		3.2 Modified Sliding Mode Control Based on Impedance Control
		3.3 Stability and Convergence Analysis
	4 Simulation
		4.1 Simulation Environment
		4.2 Simulation Results
	5 Conclusion
	References
Finger Disability Recognition Based on Holistically-Nested Edge Detection
	1 Introduction
	2 Data Collection
	3 Finger Disability Evaluation Algorithm
		3.1 Edge Detection
		3.2 Finger Similarity
		3.3 Finger Disability Recognition
	4 Experimental Results
	5 Conclusion
	References
Electrocardiograph Based Emotion Recognition via WGAN-GP Data Enhancement and Improved CNN
	1 Introduction
	2 WGAN-GP
		2.1 GAN
		2.2 WGAN-GP
	3 Experiment
	4 Emotion Recognition
		4.1 WGAN-GP Settings
		4.2 Attention-Based and Multi-convolutional Neural Network
		4.3 ECG Signal Preprocessing
	5 Conclusion
	References
Multi-objective Optimization of Intelligent Wheelchair Paths Taking into Account User Preferences
	1 Introduction
	2 Path Length Calculation
		2.1 Simulation Scenarios
		2.2 Calculation of Path Length
	3 Path Preference Calculation Based on Evidence Network
		3.1 Path Segmentation
		3.2 Calculation of Path Preferences
	4 Multi-objective Path Optimization Based on MOPSO
		4.1 Multi-objective Optimization Model for User Preferences and Path Length
		4.2 Results and Discussion
	5 Conclusion
	References
Motion Control and Interactive Technology for Mobile Robots
What and Where to See: Deep Attention Aggregation Network for Action Detection
	1 Introduction
	2 Related Work
		2.1 Attention in Computer Vision
		2.2 Action Detection
	3 Method
		3.1 Channel-wise Attention Module
		3.2 Spatial-wise Attention Module
		3.3 Residual Channel-Spatial Attention Module
		3.4 Deep Attention Aggregation Network
	4 Experiments
		4.1 Datasets and Evaluation Metrics
		4.2 Comparison with State-of-the-Arts
		4.3 Ablation Study
	5 Conclusion
	References
Road Environment Perception for Unmanned Motion Platform Based on Binocular Vision
	1 Introduction
	2 Binocular Stereo Vision
		2.1 Principles of Stereo Vision
		2.2 Key Steps of Realizing a Binocular System
	3 Real-time Semantic Segmentation Network
	4 Experiment Results
		4.1 Experiments on the KITTI Dataset
		4.2 Experiments on the Unmanned Platform
	5 Conclusion
	References
Design and Control of a Porous Helical Microdrill with a Magnetic Field for Motions
	1 Introduction
	2 Materials and Methods
		2.1 Magnetic Control System Setup
		2.2 Structure Design and Surface Optimization
	3 Experimental Results and Discussion
		3.1 Computational Fluid Dynamics Simulation of the Optimized Microdrill
		3.2 Mobility of Microdrills
		3.3 Magnetic Actuation and Control Based on Visual Feedback
		3.4 Biocompatibility and Biodegradability of Microdrills
	4 Conclusions
	References
Optimal Control Method of Motor Torque Loading Based on Genetic Algorithm
	1 Introduction
	2 Working Principle of Motor Automatic Calibration System
	3 Optimization of PID Parameters by Genetic Algorithm
	4 Optimization Simulation of Loading Control System
	5 Automatic Calibration Experiment of Motor Torque
	6 Conclusion
	References
A Multi-AGV Scheduling Model with Obstacle Impact Factor in Uncertain Workshop Environment
	1 Introduction
	2 Mathematical Modelling
		2.1 Derivation of the Model
		2.2 Derivation of the Obstacle Impact Factor
	3 Scheduling Algorithm
		3.1 Encoding and Decoding
		3.2 Competition Selection
		3.3 Crossover Operation
		3.4 Mutation Operation
	4 Path Search Algorithm
		4.1 A* Algorithm Overview
		4.2 Improvement of A* Algorithm
	5 Simulation of Scheduling Model
	6 Conclusions
	References
Type Synthesis of Six Degrees of Freedom Parallel Mechanism with Decoupled Translation and Rotation
	1 Introduction
	2 The Kinematic Model of PMs
	3 The Type Synthesis Principle of Six DOFs PM with DTR
	4 The Type Synthesis Process of Six DOFs PM with DTR
		4.1 Limb Type Synthesis Conditions
		4.2 The Type Synthesis of the First, Second and Third Limb
		4.3 The Type Synthesis of the Fourth, Fifth and Sixth Limb
		4.4 Example of Six DOFs PM with DTR
	5 Conclusions
	References
Limited Time Fault Tolerant Control for Attitude Stabilization of Quadrotor UAV
	1 Introduction
	2 Mathematical Model of Quadrotor UAV
	3 Controller Design
		3.1 Attitude Controller Design
		3.2 Position Controller Design
	4 Adaptive Timing Fault-Tolerant Controller Design
	5 Simulation Experiment
	6 Conclusion
	References
Leg Mechanism Design of a Jumping Robot with Variable Reduction Ratio Joint
	1 Introduction
	2 Leg Mechanism with a Variable Reduction Ratio Joint Realized by Ball Screw - Push Rod Mechanism
	3 Mechanism Parameter Optimization
		3.1 One-Legged Robot Modeling
		3.2 Mechanism Parameter Optimization
	4 Simulation and Experiment
		4.1 Simulation and Evaluation
		4.2 Experiment
	5 Conclusion
	References
Adaptive Method of Position-Pose for the Robot to Locate the End face’s Hole of the Blade
	1 Introduction
	2 System Structure Design and Parameterization
		2.1 System Structure
		2.2 System Calibration
	3 Adaptive Position-Pose Transformation of the Robot
		3.1 Construct TCP Coordinate System
		3.2 The Calculation of the Robot Positioning Parameters
	4 Experiment and Result Analysis
		4.1 The Positioning Experiment of Seven-Point Calibration Board
		4.2 The Positioning Experiment of the End face’s Hole of the Blade
	5 Conclusion
	References
An AGV Positioning Algorithm for Reducing the Number of Reflectors
	1 Introduction
	2 The AGV Positioning Process Based on the Reflector
	3 Algorithm Model
		3.1 Preprocessing
		3.2 Clustering and Fitting
		3.3 Data Matching
		3.4 Position Calculation
	4 Experiment and Analysis
	5 Conclusion
	References
Research on Local Optimization Algorithm of 5-Axis CNC Machining Tool Axis Vector Based on Kinematic Constraints
	1 Introduction
	2 The Proposed Method
	3 Tool Axis Vector Optimization Interval Selection
	4 Tool Axis Vector Optimization Method
	5 Experimental Verification
	6 Summary
	References
Research on Modeling and Application of Milling Process Information of Blisk Blade
	1 Introduction
	2 Blade Milling Process Information Integration Model
		2.1 Blade Milling Process Information Integration
		2.2 Feature-Oriented and Modular Information Model for Blade Milling
	3 Blade Milling Process Information Data Management
		3.1 Composition of Blade Milling Process Database
		3.2 Development of Blade Milling Process Data Management System
		3.3 Application of Data Management System
	4 Conclusion
	References
Structural Design and Gait Planning of Mobile Robot Based on the Rubik's Cube Mechanism
	1 Introduction
	2 Structural Design of the WLMR
		2.1 The Design of the Chute Third-Order RCM
		2.2 The Overall Design of the WLMR
	3 Gait Planning of the WLMR
	4 Experimental Verification
	5 Conclusion
	References
Design and Evaluation of the Terrestrial Gait of the Bionic Robotic Duck
	1 Introduction
	2 Mechanical Structure of the Bionic Robotic Duck
		2.1 Head Structure
		2.2 Legs Structure
		2.3 Webbed Structure
	3 Overland Gait Design
		3.1 Walking Gait Design
		3.2 Running and Jumping Gait Design
	4 Simulation and Evaluation of the Gait
		4.1 Simulation Experiment of the Gait
		4.2 Analysis of the Gait
	5 Result
	References
AI Meets the Challenges of Autism
Realtime Interpersonal Human Synchrony Detection Based on Action Segmentation
	1 Introduction
	2 Protocol Details
		2.1 Action Definition
		2.2 Apparatus
		2.3 Protocol Procedure
	3 Method
		3.1 Network Architecture
		3.2 Loss Function
	4 Experiments and Discussion
		4.1 Dataset and Evaluation Metrics
		4.2 Implementation Details
		4.3 Results and Discussions
	5 Conclusion
	6 Future Works
	References
Graph Convolutional Networks Based on Relational Attention Mechanism for Autism Spectrum Disorders Diagnosis
	1 Introduction
	2 Methods
		2.1 Data Acquisition and Preprocessing
		2.2 Population Graph Construction
		2.3 Graph Convolutional Network (GCN) Based on Relational Attention Mechanism
		2.4 MLP for Classification
	3 Experiments Settings
	4 Results and Discussion
		4.1 Ablation Experiments
		4.2 Effect of Different Brain Atlas
		4.3 Comparison with Other Methods
	5 Conclusion
	References
Outlier Constrained Unsupervised Domain Adaptation Algorithm for Gaze Estimation
	1 Introduction
	2 Related Work
		2.1 Gaze Estimation
		2.2 Unsupervised Domain Adaptation
	3 Methodology
		3.1 Task Definition
		3.2 Adversarial Learning
		3.3 Outlier Loss
	4 Experiments
		4.1 Datasets
		4.2 Implementation Details
		4.3 Results
	5 Conclusion and Future Work
	References
Assessment System for Imitative Ability for Children with Autism Spectrum Disorder Based on Human Pose Estimation
	1 Introduction
	2 Method
		2.1 System Design
		2.2 Human Pose Estimation Model
		2.3 Implementation
		2.4 Imitation Ability Assessment
	3 Experiment
		3.1 Preparation
		3.2 Process
		3.3 Result
	4 Conclusion
	References
Vision-Based Action Detection for RTI Protocol of ASD Early Screening
	1 Introduction
	2 Related Work
		2.1 ASD Early Screening
		2.2 Vision-Based Action Detection
	3 Approach
		3.1 RTI Protocol
		3.2 Network Architecture
		3.3 Loss Function
	4 Experiment
		4.1 Dataset and Metrics
		4.2 Implementation Details
		4.3 Results and Discussions
	5 Conclusion
	References
Multi-task Facial Landmark Detection Network for Early ASD Screening
	1 Introduction
	2 Related Work
		2.1 Application of Visual Methods in the Field of Autism
		2.2 Facial Landmark Detection
	3 Methodology
		3.1 Facial Landmark Detection
		3.2 Head-State Classification
		3.3 Loss Function
	4 Experiments and Results
		4.1 Children-Based Facial Landmark Dataset
		4.2 Implementation Details
		4.3 Experiments
		4.4 Results and Discussion
	5 Conclusion
	References
An Eye Movement Study of Joint Attention Deficits in Children with Autism Spectrum Disorders
	1 Introduction
	2 Method
		2.1 Participants
		2.2 Instruments
		2.3 Materials
		2.4 Procedure
		2.5 Design
		2.6 Areas of Interest, Data Analysis Indicators and Statistical Methods
		2.7 Experimental Results and Data Analysis
	3 Results
		3.1 Gaze in the Dynamic Object Area of Interest
		3.2 Pay Attention to the Number of Conversions
		3.3 Model Building Between IQ and CARS Scales and Attention
	4 Discussion
	5 Conclusion
	References
Recent Development on Robot Assisted Social Skills Intervention of Children with ASD
	1 Introduction
	2 ASD Children Assisted Diagnosis and Treatment Robots
		2.1 KASPER Robot
		2.2 NAO Robot
		2.3 KIBO Robot
		2.4 Rero Robot
		2.5 Beidou-Based Autism Children Rehabilitation Robot
		2.6 Trends and Difficulties of Robot Development
	3 Robot Assisted Social Skills Intervention for ASD Children
		3.1 Imitation
		3.2 Joint Attention
		3.3 Emotion Recognition and Expression
		3.4 Rotation and Cooperation
		3.5 Active Communication
		3.6 Advantages and Disadvantages of Robot-Assisted Intervention in Social Interaction of ASD Children
	4 Future Development Direction of Robots for Assisted Diagnosis and Treatment of ASD Children
		4.1 Combination of Big Data and Treatment of Children with ASD
		4.2 Portable Robot Development
		4.3 Development of Semi-autonomous Robots
		4.4 Affordable Robots that Tend to Be Customized
	5 Conclusion
	References
Assistive Robot Design for Handwriting Skill Therapy of Children with Autism
	1 Introduction
	2 Material and Methods
		2.1 System Architecture
		2.2 Hardware Design
		2.3 Software Design
		2.4 Experimental Setup
	3 Result
	4 Conclusion and Future Work
	References
Children with ASD Prefer Observing Social Scenarios from Third-Person Perspective
	1 Introduction
	2 Methods
		2.1 Subjects
		2.2 Experimental Materials
		2.3 Experimental Design
		2.4 Experimental Procedures
		2.5 Experimental Apparatus
		2.6 Areas of Interest and Analysis Metrics
	3 Results
		3.1 Analysis of Social Information, Non-social Information Full Map
		3.2 Detailed Analysis of Social Information
	4 Discussion
		4.1 Early Processing of Social Scenarios by Children with ASD
		4.2 Perspective Influences Children with ASD’s Gaze on Social Scenarios
	5 Conclusion
	References
Early Screening of ASD Based on Hand Gesture Analysis
	1 Introduction
	2 Related Works
		2.1 Diagnosis of Neurodevelopmental Disorders
		2.2 Hand Gesture Recognition
	3 Method
		3.1 Hand Detection
		3.2 Hand Gesture Recognition and Classification
	4 Experiments and Results
		4.1 Dataset
		4.2 Experiments
		4.3 Results
	5 Conclusion
	References
A Coarse-to-Fine Human Visual Focus Estimation for ASD Toddlers in Early Screening
	1 Introduction
	2 Related Work
	3 Method
		3.1 Coarse-to-Fine Regression Module
		3.2 Fov-Guided Regression Module
	4 Experiments
		4.1 Datasets and Metrics
		4.2 Evaluation on ASD-attention Dataset
	5 Summary and Future Work
	References
Space Robot and Space Mechanism
Motion Parameters and State Estimation of Non-cooperative Target
	1 Introduction
	2 Non-cooperative Tumbling Target Motion Characteristics Analysis
	3 Target Motion Parameters Estimation
		3.1 Mass Center Motion Related Parameters Estimation
		3.2 Rotational Motion Related Parameters Estimation
	4 Attitude Filtering and Angular Velocity Estimation
	5 Simulation Experiment
	6 Conclusion
	References
Event-Triggered Adaptive Control for Practically Finite-Time Position-Constrained Tracking of Space Robot Manipulators
	1 Introduction
	2 Problrm Formulation
	3 Event-Triggered Adaptive Tracking Control for Space Robot
		3.1 Controller Design
		3.2 Stability Analysis
		3.3 Fesibility Analysis
	4 Numerical Simulations
	5 Conclusions
	References
A Compliant Strategy of a Underactuated Gripper to Grasp a Space Cooperative Target Based on Hybrid Impedance Control
	1 Introduction
	2 Gripper Mechanism and Planning of Grasping Task
		2.1 Gripper Mechanism
		2.2 Analysis and Planning of Grasping Constrained Target
	3 Six DOFs Hybrid Impedance Control
	4 Variable Desired Force Algorithm and Variable Impedance Parameter Algorithm
	5 Simulation and Capture Experiment
		5.1 Simulation Results
		5.2 Capture Experiments
	6 Conclusion
	References
Multi-agent Pathfinding with Communication Reinforcement Learning and Deadlock Detection
	1 Introduction
	2 Related Work
		2.1 Learning Based Methods
		2.2 Multi Agents Communication Learning
	3 Problem Formulation
		3.1 MAPF Definition
		3.2 Observation Space
		3.3 Communication Setting
		3.4 Reward Design
	4 Communication Reinforcement Learning Based on Priority with Deadlock Detection
		4.1 DQN Framework
		4.2 Priority Based Communication Selection
		4.3 Hyper Cross Network Communication
		4.4 Abnormal Status Detection
	5 Experiments
		5.1 Training and Testing Setting
		5.2 Experiment Results
	6 Conclusions
	References
Agile Running Control for Bipedal Robot Based on 3D-SLIP Model Regulation in Task-Space
	1 Introduction
	2 3D-SLIP Model and Apex Controller Optimization
		2.1 3D-SLIP Model and Gait Cycle
		2.2 Apex Mapping and Controller Optimization
	3 Task-Space Based Robot Running Control
		3.1 Robot Dynamic Model
		3.2 Task-space Based Cost Function Design
		3.3 QP Optimization Formulation and the Control Framework
	4 Simulation
		4.1 Running with Constant Target
		4.2 Running with Varied Target
	5 Conclusion
	References
The Multi-objective Optimization of a Multi-loop Mechanism for Space Applications
	1 Introduction
	2 The Architecture of the DTMLM
	3 Kinematics Performance Index
		3.1 The Generalized-Velocity Ellipsoid
		3.2 The Kinematics-Performance Atlas
	4 Dynamics Performance Index
		4.1 The Generalized-Velocity Ellipsoid
		4.2 The Dynamics-Performance Atlas
	5 Multi-objective Optimization
	6 Conclusions
	References
Mechanism Design, Control and Application of Reconfigurable Robots
A Flexible Rod-Driven Multimode Spatial Variable Geometry Truss Manipulator for Morphing Wings
	1 Introduction
	2 Structure Description
	3 Degree of Freedom and Control Analysis
	4 Kinematic Modeling and Control Strategy Analysis
		4.1 Kinematic Modeling
		4.2 Control Strategy
	5 The Prototype and Deformation Mode
	6 Conclusion
	References
Obstacle Avoidance Planning and Experimental Study of Reconfigurable Cable-Driven Parallel Robot Based on Deep Reinforcement Learning
	1 Introduction
	2 Structure Description and Kinematic Analysis
	3 Improved Soft AC Algorithm
		3.1 Soft AC and Expected SARSA
		3.2 Adaptive Policy Target
		3.3 Deep Expected SRASA
	4 Obstacle Avoidance Planning and Experimental Study
		4.1 Task Settings
		4.2 Collision Detection
		4.3 Training and Experimental Study
	5 Conclusion
	References
Ant3DBot: A Modular Self-reconfigurable Robot with Multiple Configurations
	1 Introduction
	2 Mechanical Design
		2.1 Ant3DBot Design
		2.2 Connector
	3 Motion of Ant3DBot
		3.1 Individual Motion
		3.2 Connection and Separation
		3.3 Reconfiguration
	4 Simulation Results
		4.1 Performance of Single Ant3DBot
		4.2 Two Ant3DBots to Collaborate to Pass Through a Gap with the Width of 20 cm
		4.3 Two Ant3DBots to Collaborate to Cross a Step with the height of 10 cm
		4.4 Loading Experiment
	5 Conclusions and Future Work
	References
Design, Modeling and Experiments of a Modular Robotic Finger
	1 Introduction
	2 Modular Robotic Finger Design
		2.1 Mechanism Design
		2.2 Transmission Structure Design
	3 Kinematic Modeling
		3.1 Mapping Relationship Between Drive Space and Joint Space
		3.2 Mapping Between Joint Space and Workspace
	4 Experiments
		4.1 Simulation
		4.2 Modular Robotic Finger Experiment
	5 Conclusions
	References
Robotic Replacement System for Thermocouple Components in the Nuclear Power Plant
	1 Introduction
	2 Scheme Design
		2.1 Environmental Analysis
		2.2 Requirement
		2.3 System Overview
		2.4 Workflow
	3 System Design
		3.1 Tool Changer System and End Effector
		3.2 Control System
	4 Experimental Evaluation
	5 Conclusion
	References
Design and Modeling of a Dexterous Robotic Hand Based on Dielectric Elastomer Actuator and Origami Structure
	1 Introduction
	2 Design of the Dexterous Hand
	3 Modeling
		3.1 Analysis Model of DEA
		3.2 Analysis Model of the Knuckle
	4 Experiment and Discussion
		4.1 Experiment of Deformation
		4.2 Discussion of Driving Force
	5 Conclusion
	References
Autonomous Intelligent Robot Systems for Unconstrained Environments
Planning with Q-Values in Sparse Reward Reinforcement Learning
	1 Introduction
	2 Related Work
	3 Preliminaries
	4 Method
		4.1 PlanQ Framework
		4.2 Planning Actions
	5 Experiments
		5.1 Experimental Setup
		5.2 Results and Analysis
	6 Conclusions
	References
Recent Progress of an Underwater Robotic Avatar
	1 Introduction
	2 System Overview
	3 Dexterous Manipulation System
		3.1 Foldable Compliant Robotic Arm
		3.2 Stiffness Adjustable Flexible Gripper
	4 Human-robot Shared Control Scheme
	5 Experiments
		5.1 Foldable Arm Movability
		5.2 Gripper Stiffness Adjustment
		5.3 Shared Control Task
	6 Conclusion
	References
Mixline: A Hybrid Reinforcement Learning Framework for Long-Horizon Bimanual Coffee Stirring Task
	1 Introduction
	2 Task Definition and Environment
		2.1 Task Definition
		2.2 Isaac Gym Environment
	3 Methodology
		3.1 Background of Reinforcement Learning
		3.2 Proximal Policy Optimization
		3.3 Wait Training Mechanism for Bimanual Learning
		3.4 Mixline Method for Learning Long-Horizon Tasks
	4 Experiments
		4.1 Simulation Environment
		4.2 Design of Reward Function
		4.3 Reset Condition
		4.4 Results
		4.5 Ablation Study
	5 Conclusion
	References
Information Diffusion for Few-Shot Learning in Robotic Residual Errors Compensation
	1 Introduction
	2 Residual Errors Estimation and Compensation Method
		2.1 Information-Diffusion-Based Dataset Enhancement
		2.2 Residual Errors Prediction and Compensation Based on ID-GBDTs
	3 Experimental Setup and Verification
		3.1 Experimental Setup
		3.2 ID-DE Evaluation and Residual Errors Compensation
	4 Conclusions
	References
An Integrated Power Wheel Module for Automated Guided Vehicle
	1 Introduction
	2 Motor Design for Integrated Power Wheel Moudule
	3 High Reliability and High Performance Redundant Drives
		3.1 Open Winding Fault Tolerant Drive System
		3.2 High Power Density Servo Driver
	4 The Intrgration of Power Wheel Module Structure
	5 Experiment of the Power Wheel Module Structure
	6 Conclusion
	References
Human Following for Mobile Robots
	1 Introduction
	2 Methodology
		2.1 Hardware
		2.2 Human Detection
		2.3 Target Human Identification
		2.4 Human Following Algorithm
	3 Experiments
		3.1 Experiment and Result
	4 Conclusion
	References
Multi-objective RL with Preference Exploration
	1 Introduction
	2 Background
	3 Multi-objective RL with Preference Exploration
	4 Experiment
	5 Conclusion
	References
Rehabilitation and Assistive Robotics
Design and Iterative Learning Control of Intelligent Cooperative Manipulator
	1 Introduction
	2 Humanoid Manipulator with Seven Joints
		2.1 The Mechanical Arm Configuration Design
		2.2 The Structure of the Drive Integration Design
	3 The Kinematics Modeling
		3.1 Gear Modeling
		3.2 Tendon-Sheath Modeling
	4 Position Tracking Control
		4.1 Proportional-Integral-Derivative Controllers
		4.2 Iterative Learning Controller
	5 Prototype and Experiment
		5.1 The Prototype Platform
		5.2 Position Tracking Control Experiment
	6 Conclusion
	References
Design and Motion Planning of a Pelvic-Assisted Walking Training Robot
	1 Introduction
	2 Structural Design of PAWTR
		2.1 Overall Structure of PAWTR
		2.2 Structural Design of PAWU
		2.3 Structural Design of Self-preloading Seat
	3 Modeling and Analysis of PAWTR
		3.1 Positive Kinematics Modeling of PAWU
		3.2 Inverse Kinematics Modeling of PAWU
		3.3 Size Parameters of PAWU
	4 Motion Planning of PAWTR
		4.1 Motion Planning for Single-Leg Swing Training
		4.2 Motion Planning for Double-Leg Coordination Swing Training
		4.3 Simulation Analysis
	5 Conclusion
	References
Simulation of Model Reference Adaptive Compliance Control Based on Environmental Stiffness Parameter Identification
	1 Introduction
	2 Environmental Stiffness Identification
	3 Adaptive Compliance Control
	4 Simulation Verification
		4.1 Simulation Model Construction
		4.2 Simulation Results
	5 Conclusions
	References
Vision-Based Fall Detection and Alarm System for Older Adults in the Family Environment
	1 Introduction
	2 Proposed Method
		2.1 Overall Structure of Fall Detection and Alarm System
		2.2 Data Set
		2.3 Object Detection Algorithm
		2.4 Loss Function of the Model
	3 Experiment
		3.1 Model Training
		3.2 Model Deployment and Test
	4 Conclusion
	References
Research on the Application of Visual Technology in Sorting Packaging Boxes
	1 Introduction
	2 Pose Estimation of Box
		2.1 Image Distortion Correction
		2.2 Perspective Transformation
		2.3 Detect Feature Points Using SIFT Algorithm
		2.4 Feature Point Matching Based on FLANN Algorithm
		2.5 Calculate the Homography Matrix
		2.6 Solve the Pose by the EPnP Algorithm
	3 Hand-Eye Calibration
		3.1 Coordinate Systems in Visual Grasping
		3.2 Nine-Point Calibration
	4 Experiments
	5 Conclusion
	References
Structural Design and Aerodynamic Characteristics of Two Types of Fold-Able Flapping-Wings
	1 Introduction
	2 Mechanism of the Bionic Fold-Able Wing
		2.1 Characteristics of Bird Flying
		2.2 Fold-Able Flapping-Wing Shape and Motion Analysis
		2.3 Fold-Able Wing Geometry and Kinematics
	3 Simulation Scheme Setting
		3.1 Effect of the Flapping Frequency on the Aerodynamic Characteristics
		3.2 Effect of the Velocity on the Aerodynamic Characteristics
	4 Conclusion
	References
Master-Slave Control of the Robotic Hand Driven by Tendon-Sheath Transmission
	1 Introduction
	2 Robotic Hand with Fingers
		2.1 Bionic Design of the Hand
		2.2 Configuration of the Hand
		2.3 Electrical Control System
	3 Master-Slave Control
		3.1 Gesture Feature Capture
		3.2 Master-Slave Mapping Algorithm
	4 Verification Experiments
		4.1 Gesture Experiments
	5 Conclusion
	References
Design of a Cable-Driven Interactive Rehabilitation Device with 3D Trajectory Tracking and Force Feedback
	1 Introduction
	2 System Design and Analysis
		2.1 Mechanical Design
		2.2 Motion Space Analysis
		2.3 Control System Design
		2.4 Interactive Game Design
	3 Force Controller Design and Validation
		3.1 Force Controller Design
		3.2 Experiment Setup
		3.3 Experiment and Results
	4 Conclusion
	References
An EEG-EMG-Based Motor Intention Recognition for Walking Assistive Exoskeletons
	1 Introduction
	2 Method
		2.1 Signal Preprocessing
		2.2 EEG-MIR Classifier
		2.3 EMG-LRD Classifier
	3 Experiments
		3.1 Experiments Setup
	4 Experimental Results and Discussions
		4.1 Results of EEG-MIR
		4.2 Results of EMG-LRD
		4.3 Results of Online Recognition of Motor Intention
	5 Conclusions
	References
Design and Analysis of New Multi-DOF Parallel Mechanisms for Haptic Use
	1 Introduction
	2 Design Multi-DOF Parallel Mechanisms
		2.1 Two Configurable Platforms
		2.2 Design 2R3T Parallel Mechanisms
		2.3 Design 3R3T Parallel Mechanisms
		2.4 Haptic Use
	3 Rotational Capability Analysis
	4 Conclusions
	References
Author Index