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 Zhiyong Chen · Alexandre Mendes
Yamin Yan · Shifeng Chen (Eds.)
LNAI 10985

Intelligent Robotics
and Applications
11th International Conference, ICIRA 2018
Newcastle, NSW, Australia, August 9–11, 2018
Proceedings, Part II

123
Lecture Notes in Artificial Intelligence 10985

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
Zhiyong Chen Alexandre Mendes
•

Yamin Yan Shifeng Chen (Eds.)

•

Intelligent Robotics
and Applications
11th International Conference, ICIRA 2018
Newcastle, NSW, Australia, August 9–11, 2018
Proceedings, Part II

123
Editors
Zhiyong Chen Yamin Yan
University of Newcastle University of Newcastle
Callaghan, NSW Callaghan, NSW
Australia Australia
Alexandre Mendes Shifeng Chen
University of Newcastle Shenzhen Institutes of Advanced
Callaghan, NSW Technology
Australia Shenzhen
China

ISSN 0302-9743 ISSN 1611-3349 (electronic)

Lecture Notes in Artificial Intelligence
ISBN 978-3-319-97588-7 ISBN 978-3-319-97589-4 (eBook)
https://doi.org/10.1007/978-3-319-97589-4

Library of Congress Control Number: 2018950091

LNCS Sublibrary: SL7 – Artificial Intelligence

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 Preface

The 11th International Conference on Intelligent Robotics and Applications

(ICIRA 2018) was hosted by the School of Electrical Engineering and Computing,
Faculty of Engineering and Built Environment, The University of Newcastle, Australia,
during August 9–11, 2018. The conference aimed at bringing researchers from several
countries and organizations together to encourage new collaborations in the areas of
robotics, automation, and mechatronics.
In this edition of the event, we had some outstanding contributions in the areas of
multi-agent systems and distributed control, mobile robotics and path planning, robotic
vision, human–machine interaction, and robot intelligence and learning. In addition,
there were many contributions in application areas, including rehabilitation robotics
and industrial robots.
The conference attracted a total of 129 submissions by researchers from 13
countries, and 81 manuscripts were accepted for presentation and inclusion in the
conference proceedings. All manuscripts accepted were peer-reviewed by at least two
reviewers, and represent valuable contributions to the state of the art in robotics
research.
We acknowledge the contribution of the Program Committee as well as all the
reviewers in supporting this event. We also thank the four plenary speakers who
participated in the conference: Emeritus Laureate Professor Graham Goodwin from
The University of Newcastle, Australia, Professor Toshio Fukuda from Nagoya
University, Japan, Professor Eduardo Nebot from The University of Sydney, Australia,
and Professor Richard Middleton from The University of Newcastle, Australia. Special
thanks go to Laureate Professor Graham Goodwin for his contributed paper, included
in these proceedings. We also thank all authors who chose this event to submit their
work and hope it met their expectations. Finally, we thank Springer for the support and
for providing access to the conference organization system, which streamlined the
entire process.

June 2018 Zhiyong Chen

Alexandre Mendes
Yamin Yan
Shifeng Chen
 Organization

General Chair
Zhiyong Chen The University of Newcastle, Australia

Program Chair
Alexandre Mendes The University of Newcastle, Australia

Program Co-chair
Stephan Chalup The University of Newcastle, Australia

Publicity Chairs
Haitao Zhang Huazhong University of Science and Technology,
China
Hongyu Zhang The University of Newcastle, Australia

Publication Chairs
David Cornforth The University of Newcastle, Australia
Shifeng Chen Chinese Academy of Sciences, China
Yamin Yan The University of Newcastle, Australia

Award Chair
Minyue Fu The University of Newcastle, Australia

Financial Chair
Raymond Chiong The University of Newcastle, Australia

Invited Session Chairs

Lijun Zhu The University of Hong Kong, SAR China
Aurelio Tergolina Salton PUCRS, Brazil
Yuenkuan Yong The University of Newcastle, Australia
VIII Organization

Local Arrangements Chairs

Mohsen Zamani The University of Newcastle, Australia
Min Xu University of Technology Sydney, Australia
Weihua Li University of Wollongong, Australia

Conference Secretariat
Jayne Disney The University of Newcastle, Australia

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
Gamini Dissanayake University of Technology Sydney, Australia
Toshio Fukuda Nagoya University, Japan
Huosheng Hu University of Essex, UK
Sabina Jeschke 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
Brett Ninness The University of Newcastle, Australia
Xinyu Shao Huazhong University of Science and Technology,
China
Xiaobo Tan Michigan State University, USA
Dacheng Tao University of Sydney, Australia
Michael Wang Hong Kong University of Science and Technology,
China
Yang Wang Georgia Institute of Technology, USA
Youlun Xiong Huazhong University of Science and Technology,
China
Huayong Yang Zhejiang University, China
Haibin Yu Chinese Academy of Science, China
 Contents – Part II

Robot Grasping and Control

A Self-adaptive Robot Finger with a Novel Locking Mechanism

for Adjustable Pre-shaping Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Xingming Long and Wenzeng Zhang

Development of a Novel Linear-Parallel Robot Hand. . . . . . . . . . . . . . . . . . 16

Chao Luo and Wenzeng Zhang

Capability Analysis and Optimal Design of Tendon-Driven Cluster-Tube

Self-Adaptive Robot Hand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Haokun Yang, Hong Fu, and Wenzeng Zhang

A Novel Linearly Parallel and Self-adaptive Robot Hand with the Swing
Slider Mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Ruoxuan Jiang, Chao Luo, and Wenzeng Zhang

Design and Analysis of Underactuated Robotic Hand Suitable

for Desktop Grasping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Xiangxiang Wang, Xiangrong Xu, Wenzeng Zhang, and Ke Li

DSCL Hand: A Novel Underactuated Robot Hand of Linearly Parallel

Pinch and Self-adaptive Grasp with Double-Slider Co-circular
Linkage Mechanisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Xiaofeng Guo, An Mo, Chao Luo, and Wenzeng Zhang

A Novel Self-adaptive Robot Hand with Pin-array Structure Driven

by Negative Pressure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Hong Fu and Wenzeng Zhang

A Flexible Grasping Policy Based on Simple Robot-Camera Calibration

and Pose Repeatability of Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Guowei Cui, Guangda Chen, Zekun Zhang, and Xiaoping Chen

A Universal Gripper Base on Pivoted Pin Array with Chasing Tip . . . . . . . . 100
An Mo, Hong Fu, and Wenzeng Zhang

A Gecko-Inspired Gripper with Controllable Adhesion. . . . . . . . . . . . . . . . . 112

Zhongyuan Wang, Xiaoyi Liu, Mohong Zheng, Fangfang Zhang,
Qi Zhang, Xiuwan Wang, Stanislav N. Gorb, and Zhendong Dai
X Contents – Part II

Mobile Robotics and Path Planning

Three Dimensional AUV Complete Coverage Path Planning

with Glasius Bio-inspired Neural Network . . . . . . . . . . . . . . . . . . . . . . . . . 125
Bing Sun, Xixi Zhu, Wei Zhang, Daqi Zhu, and Zhenzhong Chu

Adaptive Trajectory Tracking Control for Remotely Operated

Vehicles Based on Disturbance Observer . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Zhenzhong Chu, Daqi Zhu, and Bing Sun

Error Transformation-Based Accelerated Adaptive Tracking Control

of Uncertain Robotic Manipulators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Kai Zhao

Online Update Siamese Network for Unmanned Surface Vehicle Tracking . . . 159
Kaicheng Gong, Zhiguo Cao, Yang Xiao, and Zhiwen Fang

MPC Control and Path Planning of Omni-Directional Mobile Robot

with Potential Field Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Xiaofeng Liu, Hailin Chen, Chengcheng Wang, Fang Hu,
and Xianqiang Yang

Unified Nonlinear Control for Car-like Mobile Robot 4 Wheels Steering . . . . 182
Mario F. Vargas, Darwin S. Sarzosa, and Víctor H. Andaluz

Collision and Singularity Avoidance Path Planning of 6-DOF

Dual-Arm Manipulator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Dong-Eon Kim, Dong-Ju Park, Jin-Hyun Park, and Jang-Myung Lee

An Adaptive Policy Based Control Framework for Land Vehicle Systems . . . 208
Glen Pearce, Benjamin Campbell, Ant Perry, Brendan Sims,
Mohammad Zamani, Lance Newby, Daniel Nesbitt, Greg Bowering,
Stephen Franklin, and Robert Hunjet

DSP Accelerated Interpolation Using Zero-Padding FFT Algorithm

for High Speed Numerical Control of Robots . . . . . . . . . . . . . . . . . . . . . . . 223
Fei Luo and Weihao Liao

Comparison of Gradeability of a Wheel-Legged Rover in Wheeled

Mode and Wheel-Legged Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
Junqiang Zheng, Baofeng Yuan, Zhen Liu, Haibo Gao, Haitao Yu,
Baichao Chen, and Zongquan Deng

A Zone Control Method for Ship Heading Under Wave Disturbance . . . . . . . 246
Xudong Wang, Tao Geng, Zuopeng Chen, and Jin Zhao
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