Intelligent Robotics and Applications: 16th International Conference, ICIRA 2023, Hangzhou, China, July 5–7, 2023, Proceedings, Part VI (Lecture Notes in Computer Science, 14272)

The 9-volume set LNAI 14267-14275 constitutes the proceedings of the 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023, which took place in Hangzhou, China, during July 5–7, 2023. The 413 papers included in these proceedings were carefully reviewed and selected from 630 submissions. They were organized in topical sections as follows: Part I: Human-Centric Technologies for Seamless Human-Robot Collaboration; Multimodal Collaborative Perception and Fusion; Intelligent Robot Perception in Unknown Environments; Vision-Based Human Robot Interaction and Application. Part II: Vision-Based Human Robot Interaction and Application; Reliable AI on Machine Human Reactions; Wearable Sensors and Robots; Wearable Robots for Assistance, Augmentation and Rehabilitation of Human Movements; Perception and Manipulation of Dexterous Hand for Humanoid Robot. Part III: Perception and Manipulation of Dexterous Hand for Humanoid Robot; Medical Imaging for Biomedical Robotics; Advanced Underwater Robot Technologies; Innovative Design and Performance Evaluation of Robot Mechanisms; Evaluation of Wearable Robots for Assistance and Rehabilitation; 3D Printing Soft Robots. Part IV: 3D Printing Soft Robots; Dielectric Elastomer Actuators for Soft Robotics; Human-like Locomotion and Manipulation; Pattern Recognition and Machine Learning for Smart Robots. Part V: Pattern Recognition and Machine Learning for Smart Robots; Robotic Tactile Sensation, Perception, and Applications; Advanced Sensing and Control Technology for Human-Robot Interaction; Knowledge-Based Robot Decision-Making and Manipulation; Design and Control of Legged Robots. Part VI: Design and Control of Legged Robots; Robots in Tunnelling and Underground Space; Robotic Machining of Complex Components; Clinically Oriented Design in Robotic Surgery and Rehabilitation; Visual and Visual-Tactile Perception for Robotics. Part VII: Visual and Visual-Tactile Perception for Robotics; Perception, Interaction, and Control of Wearable Robots; Marine Robotics and Applications; Multi-Robot Systems for Real World Applications; Physical and Neurological Human-Robot Interaction. Part VIII: Physical and Neurological Human-Robot Interaction; Advanced Motion Control Technologies for Mobile Robots; Intelligent Inspection Robotics; Robotics in Sustainable Manufacturing for Carbon Neutrality; Innovative Design and Performance Evaluation of Robot Mechanisms. Part IX: Innovative Design and Performance Evaluation of Robot Mechanisms; Cutting-Edge Research in Robotics. Preface Organization Contents – Part VI Design and Control of Legged Robots Leg Mass Influences the Jumping Performance of Compliant One-legged Robots 1 Introduction 2 Brief Description of the Compliant One-legged Robot 3 Modeling and Bio-inspired Control of the Robot’s Jumping Motion Considering the Leg Mass 3.1 Flight Phase 3.2 Stance Phase 3.3 Transit Maps 3.4 Bio-inspired Jumping Control 4 Results and Discussion 5 Conclusions and Future Work References The Topologies Characteristics and Behaviors Design of the Curling Hexapod Robot 1 Introduction 2 Design of the Curling Hexapod Robot 3 Topology Characteristics of the Curling Hexapod Robot 4 Behaviors Design of the Curling Hexapod Robot 5 Experiments and Analysis 5.1 Topologies Switching 5.2 Delivering the Curling Stone 6 Conclusion References Hierarchical Trajectory Optimization for Humanoid Robot Jumping Motion 1 Introduction 2 System Modeling 2.1 Model of Dynamics 2.2 Contact Model 3 Planning Framework 3.1 Trajectory Optimization Framework 3.2 Direct Collocation Warm Start 3.3 Differential Dynamic Programming 4 Experimental Results 4.1 Robot Platform and Control 4.2 Optimized Jump Trajectory 4.3 Simulation and Experiment 5 Conclusion References A Navigation and Control Framework of Quadrupedal Robot for Autonomous Exploration in Cave Environments 1 Introduction 2 System Description 3 Navigation and Control Framework 4 Autonomous Control 5 Mapping and Planning for Autonomous Exploration 5.1 SLAM 5.2 Cost Mapping 5.3 Path Planning 5.4 Terrain Mapping 5.5 Footstep Planning 6 Experiments 7 Conclusion References Design and Development of the Small Hexapod Walking Robot HexWalker III 1 Introduction 2 Hardware Design 2.1 Mechanical Structure 2.2 Actuators and Sensors 2.3 Control System 3 Software Design 3.1 Embedded Controller Software Design 3.2 Main Controller Software Design 3.3 Control Algorithm 4 Experiment Result 5 Conclusion and Future Work References A Rigid-Flexible Coupling Recursive Formulation for Dynamic Modeling of Biped Robots 1 Introduction 2 Rigid-Flexible Coupling Recursive Formulation 2.1 Dynamics of Single Flexible Body 2.2 Recursive Kinematics Between Adjacent Flexible Bodies 2.3 Relative Kinematics of Joints 2.4 Kinematic Closed-Loop 2.5 Dynamic Equations of the Multibody System 3 Contact Dynamics 3.1 Normal Contact Model 3.2 Friction Model 4 Numerical Examples 4.1 Inverse Dynamics of a Rigid Manipulator 4.2 Catenary with Closed-Loop 4.3 Simple Biped Robot 5 Conclusions References Robots in Tunnelling and Underground Space Path Planning for Muck Removal Robot of Tunnel Boring Machine 1 Introduction 2 Scheme Design 2.1 Structure Design 2.2 Robot Modeling 3 Principles of Improved RRT Algorithm 3.1 Robot Link Collision Detection Method 3.2 Goal-Oriented Constraint Strategy 3.3 Redundant Point Deletion Strategy 3.4 Path Smoothing Strategy 4 Simulation Calculation 5 Conclusion References Research on Snake-Like Robot for Cutter Inspection in Tunnel Boring Machine 1 Introduction 2 Kinematics Modelling 2.1 Structure of CSR 2.2 Construction of Kinematic Model 2.3 Mapping from Link Eigen Vectors to Cables’ Lengths 3 Strategy of Motion Control 3.1 Tip-Following Method 3.2 Serpentine-Scanning Method 3.3 Recursive Equations 4 Simulation and Experiment 4.1 Laboratory Test of Simulation and Experiment 4.2 Engineering Test 5 Conclusion References Shield Tail Seal Detection Method Based on Twin Simulation Model for Smart Shield 1 Introduction 2 Establish Twin Simulation Model Based on Working Condition Data 2.1 Modeling Theory of Shield Tail Seal 2.2 Numerical Solution Model of Shield Tail Seal 2.3 Meshing 2.4 Simulation Boundary Condition Settings 2.5 Simulation Partial Results 3 Parametric Simulation to Create Data Sets 4 BP Neural Network Fault Classification Model of Shield Tail System 4.1 Introduction to BP Neural Network 4.2 Build a Neural Network Diagnosis Model 5 Conclusions References Support Boot Mechanisms of Shaft Boring Machine for Underground Vertical Tunnel Construction 1 Introduction 2 Structure Design of Support Boot Mechanisms 2.1 Support Boot Mechanisms Based on Deployable Modules 2.2 Kinematics and Statics of Support Boot Mechanism 3 Integrated Shaft Boring Machine 3.1 Adjustment Device Based on the 3-RPS Parallel Mechanism 3.2 Concept Designs of Shaft Boring Machines 4 Conclusion References Development and Application of Rectangular Tunneling Boring Machine for Trenchless Urban Rail Transit Station Construction 1 Backgroud 1.1 Project Introduction 1.2 Surrounding Environment 1.3 Geological and Hydrological Conditions 2 Research on Rectangular Pipe Jacking Machine for Platform and Hall Layers 2.1 9.93 m × 8.73 m Rectangular Tunneling Machine Used for Platform Floor Construction 2.2 9.54 m × 4.91 m Rectangular Tunneling Machine Used for Hall Floor Construction 3 Key Adaptability and Innovative Technologies 3.1 Multiform Combined Cutterhead 3.2 Modular Shell with Large Aspect Ratio 3.3 Intensive Jacking Device 3.4 Double Articulation Deviation Correction Device 3.5 Multiform Combined Articulation Seal 3.6 High Precision Automatic Fill Friction Reduction System 3.7 Status Monitoring and Health Assessment System 4 Conclusion References The Gordian-Innovation Technology and Recent Construction Application of Special-Shaped Tunnel Boring Machine 1 Backgroud 2 Special-Shaped Full Section Cutting Technology 3 Multi Degree of Freedom Special-Shaped Boring Machine Segment Assembly Technology with Central Pillar Assembly Function 4 Latest Application of Special-Shaped Tunnel Boring Machine 4.1 The World’s First Example of Using a Rectangular Tunnel Boring Machine and Pipe Jacking Inter-conversion Equipment Constructs a Subway Turnaround Line Tunnel 4.2 The World’s First Subway Station Built with a Rectangular Tunnel Boring Machine 5 Conclusion References Research on Visual Localization of Cutter Changing Robot in Unstructured Environments 1 Introduction 2 Analysis of Disc Cutter System 2.1 Analysis of Disc Cutter System Working Environment 2.2 Analysis of Cutter System Feature Points 2.3 Analysis of Disc Cutter Installation Accuracy 3 Study on Feature Point Localization of Cutter System 3.1 Sub-pixel Feature Extraction 3.2 Sub-pixel Scaled Template Matching 3.3 Adaptive Adjustment of Robot Motion Step 4 Robot Cutter Changing Visual Localization Test 4.1 Laser Tracker Positioning Accuracy Test 4.2 Visual Localization Test Under Different Poses 5 Conclusion References Design of Hybrid Shield Cutter-Changing Robot and Its Motion Control Method 1 Introduction 2 Design of Task-Oriented Shield Cutter-Changing Robot Solution 2.1 Robot Task Analysis 2.2 Structure Design of Hybrid-Type Cutter-Changing Robot 3 Design of Trajectory Planning Method 4 Design of Motion Control Methods 4.1 Dynamics Model 4.2 PD Control Rate Design Based on Dynamics Compensation 5 Simulations 5.1 Effectiveness Analysis of Trajectory Planning 5.2 Effectiveness Analysis of the Control Method 6 Conclusion References TBM Tunnel Surrounding Rock Debris Detection Based on Improved YOLO v8 1 Introduction 2 Image Preprocessing 2.1 Automatic Color Enhancement 2.2 Limited Contrast Adaptive Histogram Equalization 2.3 Image Effect After Preprocessing 3 YOLOv8 Basic Model Selection 4 Proposed AT-YOLOv8 Model 4.1 Introducing Deformable Convolutional Networks 4.2 Introducing CA Attention Module 4.3 Introducing Wise IoU Loss Function 4.4 Improved YOLOv8m Model 5 Experiment 5.1 Dataset Introduction 5.2 Experimental Platform and Model Training Configuration 5.3 Experimental Results and Analysis 6 Conclusion References Development and Application of Large Curved-Shaped Pipe Roofing Method with Rectangular Jacking Machine Under the Yangtze River 1 Introduction 2 Engineering Background and Construction Equipment 2.1 Engineering Background 2.2 Principle and Equipment 3 Laboratory Tests 3.1 Reduced-Scale Model Test 3.2 Full-Scale Model Test 4 Case Study 5 Conclusions References A Shield Machine Segment Position Recognition Algorithm Based on Improved Voxel and Seed Filling 1 Introduction 2 Basic Principles of Voxel and Seed Filling Methods 2.1 Point Cloud Voxelization 2.2 Seed-Filling 3 Point Cloud Clustering Based on Improved Voxel and Seed Filling Method 3.1 Point Cloud Preprocessing 3.2 Determination of Voxel Size 3.3 Optimization of Voxel Storage Methods 3.4 Point Cloud Clustering Based on Improved Voxel and Seed Filling Method 3.5 Identification and Coordinate Calculation of Segment Bolts 4 Algorithm Verification 5 Conclusion References Kinematics and Workspace Analysis of a Disc Cutter Replacement Manipulator for TBM in a Constrained Motion Space 1 Introduction 2 Manipulator Design 2.1 Kinematics Parameters Design Requirements 2.2 Overall Design 3 Kinematics Analysis 3.1 Denavit-Hartenberg Frames 3.2 Forward Kinematics 4 Workspace Analysis 4.1 Analysis Method 4.2 Obstacle Distance Detection 4.3 Model Setup and Simulation Results 5 Conclusions References Mechanism Surrogate Based Model Predictive Control of Hydraulic Segment Assembly Robot with Sliding Friction 1 Introduction 2 Dynamic Models and Problem Formulation 2.1 Dynamical Equations of Mechanism 2.2 Dynamical Equations of Hydraulic System 3 Methodology 3.1 Mechanism Surrogate 3.2 Controller Design 4 Simulation Experiment Results 4.1 Simulation Experiment Setup 4.2 Comparative Experimental Results 5 Conclusions References An Investigation into Fatigue Damage and Clearance Evolution of TBM Main Bearings 1 Introduction 2 Analysis of Main Bearing Fatigue Damage 2.1 Fatigue Damage Model of Main Bearing 2.2 Fatigue Damage Simulation of Main bearing 3 Clearance Evolution Prediction of Main Bearing 4 Conclusion References Outlier Detection and Correction for Time Series Data of Tunnel Boring Machine 1 Introduction 2 Methodology 2.1 Anomalous Sub-time Series Detection 2.2 Local Outlier Factor Algorithm 2.3 K-Nearest Neighbor Imputation 3 Experiments 3.1 Evaluation Setup 3.2 Project Review and Experimental Setting 3.3 Results and Analysis 4 Conclusions References Robotic Machining of Complex Components Error Sensitivity Analysis and Tolerance Allocation Simulation of a Five-Axis Parallel Machining Robot 1 Introduction 2 Introduction to the Five-Axis Parallel Machining Robot 3 Error Modeling and Sensitivity Analysis 3.1 Error Modeling of the Five-Axis Parallel Machining Robot 3.2 Sensitivity Analysis of the Five-Axis Parallel Machining Robot 4 Tolerance Allocation Simulation 5 Conclusion Referencess High-Precision Point Cloud Data Acquisition for Robot Based on Multiple Constraints 1 Introduction 2 Multi-constraint Construction of Camera Scanning 2.1 Camera Performance Constraints 2.2 Robot Error Constraints 2.3 Workpiece Curvature Constraints 3 Scanning Viewpoint Acquisition and Mobile Trajectory Planning Based on Multiple Constraints 3.1 Definition of the Camera Viewpoint Acquisition Issue 3.2 Calculating the Camera Viewpoint with the Floating Viewpoints 3.3 Camera Viewpoint Trajectory Planning 4 Experimental Analysis and Discussion 4.1 Experimental Procedure 4.2 Experimental Result 4.3 Comparative Analysis of Experiments 5 Conclusion and Future Work References Flexible Functional Component for Fluidic Soft Robots 1 Introduction 2 The Design of Soft Functional Component 2.1 Soft Valves 2.2 Soft Pumps 2.3 Soft Piston 3 Flexible Time-Delay System 4 Flexible Screening System 5 Conclusions References Passive Rotation Compensation for the Cylindrical Joints of the 6-UCU Parallel Manipulators 1 Introduction 2 Kinematic Modeling of the 6-UCU Parallel Manipulator 3 Passive Rotation Compensation of the 6-UCU Parallel Manipulator 4 Simulation Verification 5 Experiment and Results 6 Conclusions References Research on BP Neural Network Prediction of Position Error Considering the Variation of Industrial Robot Center of Mass 1 Introduction 2 CoM Model and Correctness Verification of Industrial Robot 2.1 Theoretical Basis of CoM Modeling 2.2 CoM Model of Industrial Robot 2.3 Verification of Industrial Robot CoM Model 3 Correlation Analysis of Robot CoM and Position Error 3.1 Robot Position Error Acquisition 3.2 Correlation Analysis of Robot CoM and Robot Position Error 4 Position Error Prediction Method Considering the Variation of Robot CoM 5 Conclusion References Real-Time Smooth Corner Trajectory Planning for Industrial Robots Under Linear and Angular Kinematic Constraints 1 Introduction 2 Local Path Smoothing 2.1 Position Path Smoothing 2.2 Orientation Path Smoothing Based on Quaternion B-spline 3 Time-Synchronization Based Real-Time Feedrate Scheduling 3.1 Jerk-Limited Profile Generation for the Block 3.2 Time Synchronization 4 Simulation Validation 5 Conclusion References Admittance Control for Robot Polishing Force Tracking Based on Reinforcement Learning 1 Introduction 2 System Modeling and Control 2.1 Overview of Admittance Control 2.2 Reference Trajectory Adaptive Adjustment 3 Control Algorithm 3.1 Control Algorithm and Stability Proof 3.2 Reinforcement Learning Design 4 Experimental Results 5 Conclusions References Research on the Milling Process Damping and Stability Considering Additional Vibration 1 Introduction 2 Process Damping Modeling with Additional Vibration 2.1 The Relative Vibration of Tool with Additional Vibration 2.2 Model of Process Damping Caused by Additional Vibration 3 Stability Model Considering Additional Vibration 3.1 Milling Dynamics Modeling 3.2 Stability Modeling 4 Stability Prediction and Analysis 4.1 The Influence of the Same Additional Vibration on Different Cutting Widths 4.2 The Influence of Different Additional Vibration on the Same Cutting Width 5 Conclusions References Deep Learning-Based CNN-LSTM Model Used for Predicting Pose Error of Stewart Platform 1 Introduction 2 Inverse Kinematic Analysis 3 Deep Learning-Based CNN-LSTM Model 3.1 The CNN Principle 3.2 The LSTM Principle 3.3 The Deep Learning-Based CNN-LSTM Model 4 Experiment Validation and Results Analysis 4.1 Experiment Setup and Dataset Description 4.2 Hyperparameter Selection 4.3 Evaluation Criteria 4.4 Experimental Results and Analysis 5 Conclusion References Research on the Influence of Forced Vibration on Process Damping and Stability Boundary in Milling 1 Introduction 2 Process Damping Generated by Forced Vibration 2.1 Forced Vibration Caused by Intermittently Milling Force 2.2 Process Damping Force Generated by Forced Vibration 3 Stability Prediction Model Considers Process Damping 3.1 Stability Prediction Model 3.2 Simulation and Analysis 4 Conclusions References Positioning Error Modelling and Compensation Method for Robot Machining Based on RVM 1 Introduction 2 Modelling of Robot Milling Machining Errors 2.1 Positioning Error Modeling Based on RVM Model 3 Robotic Milling Error Compensation 3.1 Method for Compensating Robot Positioning Error 4 Experimental Validation and Analysis 4.1 Validation of Positioning Error Prediction Model Effectiveness 4.2 Verification of Error Compensation Effect of Robot Surface Milling 5 Conclusion References Design and Implementation of a Novel Agricultural Robot with Multi-Modal Kinematics 1 Introduction 2 Robot Design 2.1 Mechanical Design 2.2 Electrical System Design 2.3 Software System Design 3 Multi-Modal Kinematics 3.1 Concept of Multi-Modal 3.2 Kinematics Analysis of the Robot 3.3 Arc-Shape Steering Algorithm 3.4 Pivot Steering 3.5 Ackermann Steering Algorithm 4 Experiment and Result 5 Conclusion References Research on High Precision Scanning Reconstruction Algorithm for Robot with Line Laser Scanner 1 Introduction 2 Automatic Scanning System Construction 3 Line Laser Scanner Hand-Eye Calibration and Surface Reconstruction 3.1 Hand-Eye Calibration Method Based on Flat Piece 3.2 Surface Reconstruction Based on Line Laser Scanner 4 Experiment 4.1 Hand-Eye Calibration 4.2 Surface Reconstruction 5 Conclusion References Smooth Joint Motion Planning for Robot Polishing by Redundancy Optimization 1 Introduction 2 Background of Robot Polishing Trajectory Optimization 2.1 Tool Feedrate 2.2 Redundant Variable 2.3 Robotics Kinematics 2.4 Motion Performance Indexes 3 Robot Polishing Path Optimization Methodology 3.1 Optimization Model 3.2 Graph Optimization 3.3 Least Squares Optimization 4 Simulation Results and Experimental Validations 4.1 Dwell Time and Feedrate Calculation 4.2 Simulation Results 4.3 Experimental Results 5 Conclusion References Vision-Guided Mobile Robot System for the Assembly of Long Beams on Aircraft Skin 1 Introduction 2 The System and Its Working Scenarios 2.1 Introduction of Working Conditions 2.2 Hardware Composition 2.3 Communication Composition 3 System Control Strategy 3.1 Visual Guidance Control 4 Experiment 4.1 AGV Navigation Control 4.2 Visually Guided Robotic Movement 5 Conclusion References Generation of Collision-Free Tool Posture for Robotic Belt Grinding Blisk Using Visualization Toolkit 1 Introduction 2 Preliminary 3 Collision-Free Tool Posture 3.1 Construction of the OBB-Tree of Single Blade 3.2 Structure of the Abrasive Belt 3.3 Collision Detection Method 3.4 Solution of the Critical Posture 4 Simulation Experiment and Result 4.1 Robotic simulation system 4.2 Simulation Experiment 5 Conclusion References Clinically Oriented Design in Robotic Surgery and Rehabilitation A Segmented Dynamic Movement Primitives-Based Gait Assistive Strategy for Soft Ankle Exosuit 1 Introduction 2 System and Methods 2.1 Soft Exosuit 2.2 Dynamic Movement Primitives 2.3 Segmented Dynamic Movement Primitives 3 Experiments and Results 3.1 Normal Gait Dataset 3.2 Validation of Segmented Dynamic Movement Primitives 4 Conclusion and Future Work References A Magnetically Actuated Diatom-Biohybrid Microrobot as a Drug Delivery Capsule 1 Introduction 2 Materials and Methods 2.1 Materials and Reagents 2.2 Culture of T. weissflogii Cells and Acquisition of Frustules 2.3 Fabrication of Magnetic Diatom Biohybrid Microrobots 2.4 Drug Load 3 Results and Discussion 3.1 Fabrication and Characterization of Diatom Biohybrid Microrobots 3.2 Magnetic Actuation of Diatom Biohybrid Microrobots 3.3 Diatom Vacuum Drug Loading 4 Conclusion References Research on Improved Microscope Calibration Method Based on Coplanar Points 1 Introduction 2 Calibration of Stereomicroscope 2.1 The Varying Focal Length Method 2.2 Method Based on Coplanar Points 2.3 The LM Algorithm Was Used to Optimize the Calibration Initial Values 3 Experimental Results and Analysis 3.1 Correctness Verification of the Calibration Method in This Paper 3.2 Comparative Experiment with Zhang Zheng You Calibration Method 3.3 Contrasting Experiments Considering Tangential Distortion and not Considering Tangential Distortion 4 Conclusion References Kinematics Analysis and Control of a Novel Macro-Micro Integrated Hybrid Robot for Medical Surgery 1 Introduction 2 Systematic Structure 3 Analysis of DOF and Kinematics 3.1 Analysis of Mechanism DOFs 3.2 Kinematics of the 3PRS PM 3.3 The Overall Kinematics of the Hybrid Macro Mechanism 3.4 Kinematics of the Micro 6PSS Parallel Mechanism 4 Planning and Control 5 Experiments and Results 6 Conclusion and Discussion References Comparative Study of Feature-Based Surface Matching Automatic Coarse Registration Algorithms for Neuronavigation 1 Introduction 2 Method 3 Data Acquisition and Preprocessing 3.1 Point Cloud Acquisition 3.2 Point Cloud Preprocessing 4 Feature-Based Coarse Registration 4.1 Feature Detection 4.2 Feature Description 4.3 Feature Matching 4.4 Evaluation of Registration Results 5 Registration Experiment and Result Evaluation 5.1 Registration Results at the Best Neighborhood Radius Scale 5.2 Evaluation of Registration Algorithm 6 Conclusion References The Effect of Channel Ordering Based on the Entropy Weight Graph on the MI-EEG Classification 1 Introduction 2 Acquisition and Preprocessing of MI-EEG Signals 3 Research on Channel Sorting Algorithm 3.1 Graph Establishment and Channel Ordering 3.2 Entropy Weight Graph Based on PLV 3.3 Modified EEGNet for MI-EEG Classification 4 Classification Performance Comparison 5 Conclusion References Fuzzy Variable Admittance Control-Based End Compliance Control of Puncture Ablation Robot 1 Introduction 2 Variable Admittance Control Method 2.1 System Composition and Algorithm Framework 2.2 Real-Time Gravity Compensation Algorithm 2.3 Fuzzy Control-Based Variable Admittance Controller 3 Experiment and Result 3.1 Experimental Platform and Breathing Simulation Model 3.2 Algorithm Verification 4 Conclusions References Deep Forest Model Combined with Neural Networks for Finger Joint Continuous Angle Decoding 1 Introduction 2 Methods 2.1 Experimental Protocol 3 Results 3.1 Offline Test 3.2 Online Test 4 Discussion 5 Conclusion References 2D/3D Shape Model Registration with X-ray Images for Patient-Specific Spine Geometry Reconstruction 1 Introduction 2 Methods and Materials 2.1 Scoliosis Torso SSM Construction 2.2 2D/3D Registration 2.3 Registration Accuracy Verification 3 Results 3.1 Statistical Shape Modeling of Scoliosis Patients 3.2 Registration Results Visualization 3.3 Key Landmark Registration Accuracy 4 Conclusion References Visual and Visual-Tactile Perception for Robotics Real-Time Detection of Surface Floating Garbage Based on Improved YOLOv7 1 Introduction 2 Methodology 2.1 Original YOLOv7 Network 2.2 DS Module 2.3 CBAM Module 2.4 Improved YOLOv7 Network 3 Results 3.1 Data Set and Hardware Configuration 3.2 Evaluation Metrics 3.3 Experimental Results and Analysis 4 Conclusion References Real-Time Map Compression Method Based on Boolean Operation and Moore-Neighborhood Search 1 Introduction 2 Map Compression and Reconstruction Approach 2.1 Map Preprocessing and Outline Acquisition 2.2 Removal of Burrs from Boundaryouter 2.3 Map Internal Boundaries Acquisition 2.4 Re-optimized Search for the Internal Boundary Within the Map 3 Map Compression Experiments 3.1 Map Compression and Reconstruction Effect Test 3.2 Map Executing Time Comparison 3.3 Map Compression and Reconstruction Comparison 4 Conclusions References Research on Location Algorithm of 5G Ceramic Filter Based on Machine Vision 1 Introduction 2 ROI Region Extraction 2.1 Material Tray Positioning Algorithm 2.2 Template Matching Based on Image Pyramid 3 Center Location Algorithm Based on Plane Three Points 3.1 Sub-Pixel Edge Detection 3.2 Calculation of the Center Coordinates and Offset Angle of the Ceramic Filter 4 Parameter Analysis and Experimental Results 4.1 Coordinate Extraction Results 4.2 Parameter Analysis 5 Conclusion References MLP Neural Network-Based Precise Localization of Robot Assembly Parts 1 Introduction 2 Target Localization 3 Robot Hand-Eye Visual Localization System 3.1 Assembly Task 3.2 Vision Control Method 4 Neural Network Training 5 Simulation Experiment 6 Conclusion References Author Index This two volume set LNAI 8917 and 8918 constitutes the refereed proceedings of the 7th International Conference on Intelligent Robotics and Applications, ICIRA 2014, held in Guangzhou, China, in December 2014. The 109 revised full papers presented were carefully reviewed and selected from 159 submissions. The papers aim at enhancing the sharing of individual experiences and expertise in intelligent robotics with particular emphasis on technical challenges associated with varied applications such as biomedical applications, industrial automations, surveillance, and sustainable mobility.