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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

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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

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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
 Contents – Part II XI

Resonant Gain Scheduling Controller for Spiral Scanning Patterns

in Atomic Force Microscopy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
Matheus S. de Oliveira, Aurélio T. Salton, Jeferson V. Flores,
and Guilherme A. Pimentel

Stationary Random Vibration Analysis of Planetary-Wheeled Robotic

Vehicle Based on Pseudo Excitation Method . . . . . . . . . . . . . . . . . . . . . . . 268
Yuchuan Lu, Bo Su, and Lei Jiang

Evaluation of Out-of-the-Box ROS 2D SLAMs for Autonomous

Exploration of Unknown Indoor Environments . . . . . . . . . . . . . . . . . . . . . . 283
Xuan Sang Le, Luc Fabresse, Noury Bouraqadi,
and Guillaume Lozenguez

Enhancing Adaptability of a Legged Walking Robot with Limit-Cycle

Based Local Reflex Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
Jun Li, Haitao Yu, Haibo Gao, Lixian Zhang,
and Zongquan Deng

Robotic Vision, Recognition and Reconstruction

A Multi-view Images Generation Method for Object Recognition . . . . . . . . . 313

Zhongxiao Jin, Guowei Cui, Guangda Chen, and Xiaoping Chen

CCDN: Checkerboard Corner Detection Network for Robust

Camera Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
Ben Chen, Caihua Xiong, and Qi Zhang

Pedestrian Detection at Night Based on Faster R-CNN and Far

Infrared Images. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
Michelle A. Galarza-Bravo and Marco J. Flores-Calero

Sea Surface Object Recognition Under the Low-Light Environment . . . . . . . 346

Zihan Yue, Liang Shen, Wei Lin, Wu Lv, Shihao Liu, Tao Geng,
and Jie Ma

Point Pair Features Based Object Recognition with Improved

Training Pipeline. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
Yuke Zhu, Xu Zhang, Limin Zhu, and Yongkai Cai

Complex Water Surface Segmentation with RGBP-FCN . . . . . . . . . . . . . . . 367

Shihao Liu, Quan Chen, Zihan Yue, and Jie Ma

Real-Time Stereo Matching System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377

Angfan Zhu, Zhiguo Cao, and Yang Xiao
XII Contents – Part II

Robot Intelligence and Learning

Iterative Learning Control for Spiral Scanning Patterns in Atomic

Force Microscopy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Matheus S. de Oliveira and Aurélio T. Salton

Online Versus Offline Reinforcement Learning for False Target

Control Against Known Threat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400
Duong D. Nguyen, Arvind Rajagopalan, and Cheng-Chew Lim

A Deep Learnable Framework for 3D Point Clouds Pose

Transformation Regression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413
Shangyou Ai, Chungang Zhuang, Lei Jia, and Han Ding

A Real-Time Detection Framework for On-Tree Mango Based

on SSD Network. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423
Qiaokang Liang, Wei Zhu, Jianyong Long, Yaonan Wang, Wei Sun,
and Wanneng Wu

A Reconfigurable Pick-Place System Under Robot Operating System . . . . . . 437

Cheng Ding, Jianhua Wu, Zhenhua Xiong, and Chao Liu

Review of Research on the Key Technologies, Application Fields

and Development Trends of Intelligent Robots . . . . . . . . . . . . . . . . . . . . . . 449
Rongshen Lai, Wenguang Lin, and Yongming Wu

Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459

 Contents – Part I

A Critique of Observers Used in the Context of Feedback Control . . . . . . . . 1

Graham C. Goodwin

Multi-agent Systems and Distributed Control

Semi-global Leaderless Consensus of Circular Motion

with Input Saturation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Bowen Xu, Haofei Meng, Duxin Chen, and Hai-Tao Zhang

Some Necessary and Sufficient Conditions for Consensus

of Fractional-Order Multi-agent Systems with Input Delay
and Sampled Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Yanyan Ye, Housheng Su, Tao Geng, Xudong Wang, and Zuopeng Chen

A Brief Overview of Flocking Control for Multi-agent Systems . . . . . . . . . . 48

Yaping Sun, Zhaojing Wang, Housheng Su, and Tao Geng

Optimizing Pinning Control of Directed Networks Using Spectral

Graph Theory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Xuanhong Xu, Hui Liu, Jun-An Lu, and Jiangqiao Xu

A Novel Variable-Gain Rectilinear or Circular Formation Algorithm

for Unicycle Type Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Shuai Wang, Jiahu Qin, Qingchen Liu, and Yu Kang

State Estimation for Swarm UAVs Under Data Dropout Condition . . . . . . . . 81

Hongzhe Yu, Weifan Zhang, Xinjun Sheng, and Wei Dong

Virtual-Datum Based Cooperative Kinematic Constraints Analysis

for Dual-Robotic System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Qi Fan, Zeyu Gong, Bo Tao, and Jianlan Li

Distributed Hunting for Multi USVs Based on Cyclic Estimation

and Pursuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Binbin Hu, Bin Liu, Zhecheng Xu, Tao Geng, Ye Yuan,
and Hai-Tao Zhang

The Wireless Communications for Unmanned Surface Vehicle:

An Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Junfeng Ge, Tao Li, and Tao Geng
XIV Contents – Part I

PolyMap: A 2D Polygon-Based Map Format for Multi-robot Autonomous

Indoor Localization and Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Johann Dichtl, Luc Fabresse, Guillaume Lozenguez,
and Noury Bouraqadi

Improved Input-to-State Stability Analysis of Discrete-Time

Time-Varying Systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Tianrui Zhao, Lili Jia, and Weiwei Luo

Optimal Control Problem for Discrete-Time Markov Jump Systems

with Indefinite Weight Costs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Hongdan Li, Chunyan Han, and Huanshui Zhang

Human-Machine Interaction

Stretchable Tactile and Bio-potential Sensors for Human-Machine

Interaction: A Review . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Wentao Dong, YongAn Huang, Zhouping Yin, Yuyu Zhou,
and Jiankui Chen

Hand Detection and Location Based on Improved SSD for Space

Human-Robot Interaction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Qing Gao, Jinguo Liu, Zhaojie Ju, Lu Zhang, Yangmin Li,
and Yuwang Liu

An Intuitive Robot Learning from Human Demonstration. . . . . . . . . . . . . . . 176

Uchenna Emeoha Ogenyi, Gongyue Zhang, Chenguang Yang,
Zhaojie Ju, and Honghai Liu

Deep Reinforcement Learning Based Collision Avoidance Algorithm

for Differential Drive Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
Xinglong Lu, Yiwen Cao, Zhonghua Zhao, and Yilin Yan

A Novel Redundant Continuum Manipulator with Variable

Geometry Trusses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Wenxiang Zhao and Wenzeng Zhang

Rehabilitation Robotics

Signal Compression Method Based Heart Rate Model Estimation

and SMCSPO Control for Cardiac Rehabilitation with Treadmill. . . . . . . . . . 215
Hyun Hee Kim, Hwan Young Kim, Hong Ying Lee,
and Min Cheol Lee

Measurement and Analysis of Upper Limb Reachable Workspace

for Post-stroke Patients . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
Jing Bai and Aiguo Song
 Contents – Part I XV

A Multi-channel EMG-Driven FES Solution for Stroke Rehabilitation . . . . . . 235

Yu Zhou, Yinfeng Fang, Jia Zeng, Kairu Li, and Honghai Liu

A Common Prosthetic Rehabilitation Platform Based on Modular Design . . . 244

Dehong Hao, Bo Lv, Sensen Liu, Xinjun Sheng, and Xiangyang Zhu

Comparative Analysis of Surface Electromyography Features on Bilateral

Upper Limbs for Stroke Evaluation: A Preliminary Study . . . . . . . . . . . . . . 255
Hongze Jiang, Yang Li, Yu Zhou, and Honghai Liu

Multi-length Windowed Feature Selection for Surface EMG Based Hand

Motion Recognition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
Dalin Zhou, Yinfeng Fang, Zhaojie Ju, and Honghai Liu

Industrial Robot and Robot Manufacturing

Posture Optimization Based on Both Joint Parameter Error and Stiffness

for Robotic Milling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
He Xie, Wenlong Li, and Zhouping Yin

A Robotic Belt Grinding Force Model to Characterize the Grinding

Depth with Force Control Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
Xiaohu Xu, Yifan Yang, Gaofeng Pan, Dahu Zhu, and Sijie Yan

A Boundary Auto-Location Algorithm for the Prediction of Milling

Stability Lobe Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
Mingkai Zhang, Xiaowei Tang, Rong Yan, Fangyu Peng, Chen Chen,
Yuting Li, and Haohao Zeng

Deformation Error Prediction and Compensation for Robot

Multi-axis Milling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
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