• <tr id="yyy80"></tr>
  • <sup id="yyy80"></sup>
  • <tfoot id="yyy80"><noscript id="yyy80"></noscript></tfoot>
  • 99热精品在线国产_美女午夜性视频免费_国产精品国产高清国产av_av欧美777_自拍偷自拍亚洲精品老妇_亚洲熟女精品中文字幕_www日本黄色视频网_国产精品野战在线观看 ?

    Obstacle recognition using a haptic device

    2013-12-20 07:22:24KyungwookNohDonghyukLeeSunkyunKangJaewonAnJangmyungLee

    Kyungwook Noh, Donghyuk Lee, Sunkyun Kang, Jaewon An, Jangmyung Lee

    (1. Department of Interdisciplinary Program in Robotics, Pusan National University, Busan 609-735, Korea; 2. Department of Electrical Engineering, Pusan National University, Busan 609-735, Korea)

    Obstacle recognition using a haptic device

    Kyungwook Noh1, Donghyuk Lee2, Sunkyun Kang2, Jaewon An2, Jangmyung Lee2

    (1. Department of Interdisciplinary Program in Robotics, Pusan National University, Busan 609-735, Korea; 2. Department of Electrical Engineering, Pusan National University, Busan 609-735, Korea)

    A haptic device is proposed which gives the user feedback information on their location and orientation of the obstacle through the mobile robot that detects the obstacle in an environment where the user cannot see. Mobile robot recognizes the exact position of the obstacle through configuring the nested ultrasonic sensor and giving feedback information to the haptic device. The haptic device consisting of five vibration motors can realize the haptic through the vibration of user's finger using the position information of the obstacle

    feedback. In addition, it has high accuracy to recognize the surrounding environment and realizes the various situations with the fuzzy controller and the nested ultrasonic sensors.

    haptic device; teleoperation; haptic feedback; mobile robot; obstacle recognition

    CLD number: TP242.6 Document code: A

    Recently, a lot of researches about teleoperation for controlling a mobile robot, which is able to be applied in an unknown hazardous environment or inaccessible environment like space, underwater and military site, are under way[1].

    Teleoperation is to manipulate the mobile robot with what a user perceives and to judge the surroundings through the information obtained from various sensors attached on the mobile robot. Haptic technology is a tactile feedback technology which takes advantage of the sense of touch by applying forces, vibrations, or motions to the user. Currently, it is being studied to transmit a user information to solve the problems concerning unascertainable situations and difficulty of judgment about distance information related to obstacle from image information[2,3].

    To use haptic technology, haptic device is required. Currently, the haptic device is expensive, and it is difficult to be applied to other devices to complete the product as the haptic joystick. In this paper, the haptic device is developed by mounting vibration motor on the general joystick. To verify the performance of device, the study is conducted when the haptic device enters an environment where the user can not see. The developed haptic is used to determine the circumstances by instinctively implementing the sense of touch through the vibration of motor.

    In this paper, the obstacle recognition circumstance of mobile robot is transmitted to the joystick and then this joystick makes the user know the obstacle location in accordance with situations. The haptic device consists of five vibration motors which make the user sense the location information of obstacles intuitively. And the location of obstacle can be known more precisely by installing nested ultrasonic sensors to the mobile robot. The system is realized by transmitting the sense of touch to the user from the vibration through controlling the vibration motor of haptic device in accordance with obstacle position by utilizing fuzzy controller. In conclusion, a method of estimating the situation where the user can not see is proposed[4,5].

    The paper is organized as follows. Haptic device and nested ultrasonic sensors for perception of obstacles and hardware of the mobile robot are introduced as the whole system configuration in section 1. Then fuzzy controller is designed to realize the sense of touch in section 2. After that, the experiment and result of the above controller are discussed in section 3. Finally, conclusion of this study is proposed in section 4.

    1 Whole system configuration

    1.1 System configuration

    Fig.1 shows the schematic diagram of the whole system. The joystick data from bluetooth is sent to the MCU of a mobile robot. The mobile robot is driven by the joystick data received from the MCU of the joystick. The velocity of the mobile robot is measured by using an encoder mounted on the motor. Ultrasonic sensors estimate the distance between the obstacle and the mobile robot, and then the estimated data is sent to the MCU of the joystick to control haptic device and realize the sense of touch[6].

    Fig.1 Schematic diagram of the whole system

    1.2 Mobile robot configuration

    Fig.2 shows the appearance of the mobile robot designed for this paper. And three ultrasonic sensors mounted on the front side can recognize the obstacle. The mobile robot is configured with two MCUs. MCU2 estimates the distance and angle of the mobile robot and the obstacles using ultrasonic sensors, and then transfers the measured data to MCU1. MCU1 controls the mobile robot by using joystick data. The velocity of the mobile robot is measured by the encoder mounted on the motor.

    Fig.2 Composition of mobile robot

    1.3 Superposition of ultrasonic sensors to estimate the position of obstacles

    As shown in Fig.3, the ultrasonic sensor can measure the distance to the obstacles that are located within the beam width, for example, in the case of Figs.3 (a) and (b). However, it can not measure the exact location of the obstacles. This feature of the ultrasonic sensor is called the uncertainty of locations[7,8]. In order to reduce the uncertainty of locations, we nest three ultrasonic sensors to more precisely recognize the location of obstacles[9,10].

    Fig.3 Position uncertainty of ultrasonic sensor

    Fig.4 shows the ultrasonic sensors SL, SCand SR. They have corssed beams nested on the radius of circle that is not zero. SCcrosses the full detection area of the ultrasonic sensor, which is divided into three small areas (LC,C,RC) because of the nested beam width of ultrasonic sensors.

    Fig.4 Position uncertainty reduction due to beam overlap

    The combination of ultrasonic sensors for detecting obstacles depending on the relative position of the obstacle in the beam width of the ultrasonic sensor can be changed. As a result, it is possible to subdivide zones where obstacles are present through combination of ultrasonic sensors for detecting obstacles. Thus it becomes possible to reduce the uncertainty of the position of the unique ultrasonic sensor. The ultrasonic sensor which consists of its nested ring should be disposed in circumference where it is nonzero radius because of the size of its own as shown in Fig.5.

    The ultrasonic sensor can provide the distance from a obstacle which is based on its vertex, but it has to be changed to the distance from obstacle which is based on the benchmark O of the nested ultrasonic sensor for the implementation of obstacle avoidance and obstacle detection.

    The obstacle detection range of the nested ultrasonic sensor is determined by Eq.(1) considering the obstacle detection square area shown in Fig.5.

    Fig.5 Three adjacent overlapped ultrasonic sensor

    where ρo,minin Eq.(2) is the distance from the center of the nested ultrasonic sensor ring to the vertex of the obstacle detection square area. ρo,maxin Eq.(3) is the distance of the obstacle on the basis of the center of ultrasonic sensor ring corresponding to the maximum detection distance of the ultrasonic sensor. In this paper, the experiment is conducted by specifying the maximum detection distance of the ultrasonic sensor with in 1 m[11,12].

    1.4 Haptic device configuration

    Fig.6 shows the haptic device proposed in this paper. Haptic device composed of five vibration motors is produced. By mounting it on a joystick, haptic joystick is made. Haptic device is designed with consideration that haptic joystick can be combined with a kind of joystick is realized and vibration motors can be equipped through intuitive structure and position of the obstacle. By use of vibration generated by vibration motors, the position of the obstacle is recognized. Motors from 1 to 5 make the user have the sense of direction from left to right.

    Fig.6 Haptic device

    If vibration is generated by vibration motors on haptic device, the user knows that there is an obstacle in that direction. The user can control the mobile robot to avoid the obstacle with joystick by means of the information about the obstacle.

    2 Design of haptic controller

    The user can know the position of the obstacle estimated by the measured data of the ultrasonic sensor. Representation of haptic using haptic device needs algorithms that can estimate the position of obstacle and react intelligently in accordance with current states in similar direction of the mobile robot.

    In this paper, we have controlled haptic device using fuzzy rule. The performance of fuzzy rule may vary depending on configuration method of fuzzy rule. For better performance, optimization process of fuzzy rule is required. The fuzzy rule is as follows.

    The fuzzy rule used in this paper consists of two inputs and one output, as shown in Fig.7. Input variables of fuzzy algorithm use position information of the obstacles on the right side and the left side in front of the mobile robot to operate haptic device. Operation situation is known by using the obtained result value. To decide the result value, the Mamdani inference scheme, the center of gravity (COG) defuzzification method, is used and expressed with qualitative language.

    Fig.7 Structure diagram of fuzzy rule

    Table 1 shows the designed fuzzy rule. The output value is the number of motor in Fig.6. Fuzzy rule is considered for the location of obstacles. According to the location of the obstacle measured by ultrasonic sensor, the user can sense the location of the obstacle through vibration generated by the haptic devices. The user is aware of the location and existence of obstacles in a situation they cannot see. As a result, haptic interface is implemented to avoid obstacles[13,14].

    Table 1 Input and output of fuzzy rule

    3 Experiments and discussion

    3.1 Experimental environment

    This experiment is carried out in the second floor lobby, Samsung University-Industrial Alliance Building in Pusan University. The distance and location of obstacles are from the measured data using the nested ultrasonic sensors.

    Fig.8 shows the experimental environment for performance analysis which is for user to recognize the exact obstacle by using a haptic device. Mobile robot recognizes the exact obstacle through the nested ultrasonic sensors.

    Fig.8 Experimental environment

    Through haptic device, performance analysis is done if it gives information exactly about obstacles to users. It assumes the three cases for performance analysis. Table 2 indicates the operation state of the vibration motor that is attached to a haptic device. Vibration motor is operated depending on the mode of the haptic device, and the number of the vibration motor is depicted in Fig.6.

    Table 2 Representation of haptic device's operation state

    3.2 Experimental results

    Fig.9 is performance analysis of the haptic device from mobile robot's recognition of an obstacle in the environment of experiment 1.

    Fig.9 Performance analysis depending on recognition of obstacle (Experiment 1)

    In case the obstacle is present on the left side of the mobile robot, the performance of the haptic device is analyzed in accordance with situation that it approaches to the obstacle. In section ①, mobile robot recognizes the position of the obstacle through the nesting of the ultrasonic sensor, and haptic device is operating according to the situation. In section ②, the haptic device operates in accordance with the situation that mobile robot passes the obstacle closed to the left side of it.

    If vibration is generated by vibration motors on haptic device, the user knows that there is an obstacle in that direction. The user can control the mobile robot to avoid the obstacle with joystick by means of the information about the obstacle.

    Fig.10 is performance analysis of the haptic device according to mobile robot's recognition of obstacle in the environment of Experiment 2.

    If an obstacle is present in two locations left and center of the mobile robot, the performance of the haptic device is described and analyzed in the same manner. In section ①, mobile robot firstly recognizes obstacles present on the left side and haptic device operates in accordance with that situation. In section ②, mobile robot accurately recognizes the position of the two obstacles and the haptic device operates to match the situation. In section ③, mobile robot only recognizes the obstacle in the middle when passing the obstacle on the left.

    Fig.10 Performance analysis depending on recognition of obstacle (Experiment 2)

    Fig.11 is performance analysis of the haptic device in accordance with that mobile robot recognizes the obstacle in an environment of experiment 3. In the same manner as described above the performance of the haptic device is analyzed depending on the case that an obstacle is present on the two left and right sides of the mobile robot. In section ①, mobile robot recognizes obstacles of both left and right, it is a situation that is close to the obstacle. In section ②, this is a situation in which the mobile robot passes between the obstacles both left and right.

    Fig.11 Performance analysis depending on recognition of obstacle (Experiment 3)

    4 Conclusion

    In this paper, a method is proposed that user recognizes the obstacle in the absence of display by using the proposed haptic device. Experiment results show that it is possible to accurately recognize the position information of the obstacle through haptic information generated by the haptic device. In future studies, an algorithm will be studied for traveling of the mobile robot based on the position information of the obstacle the user recognized.

    [1] Kweon Y T, Kim M K, Kang H, et al. Remote control of a mobile robot using haptic device. In: Proceedings of Korean Society of Precision Engineering Autumn Conference, Busan, Korea, 2004: 120-124.

    [2] Ko A K, Choi J Y, Kim H C, et al. A haptic interface using a force-feedback joystick. Journal of Institute of Control, Robotics and Systems, 2007, 13(12): 1207-1212.

    [3] Yeo H J, Sung M H. Fuzzy control for the obstacle avoidance of remote control mobile robot. Journal of Institute of Electronics Engineers of Korea, 2011, 48(1): 47-54.

    [4] Kyung K U, Park J S. The state of the art and R & D perceptives on haptics. Electronics and Telecommunications Trends, 2006, 21(5): 93-108.

    [5] Kim H, Kyung K U, Park J, et al. The state-of-the-art on haptic interface. Information Technology, 2010, 8(1): 7-15.

    [6] Han S, Lee J M. Tele-operation of a mobile robot using a force reflection joystick with a single hall sensor. In: Proceedings of the 16th IEEE International Conference on Robot & Human Interactive Communication, Jeju, Korea, 2007: 206-211.

    [7] Choi Y K, Choi W S, Song J B. Obstacle avoidance of a mobile robot using low-cost ultrasonic sensors with wide beam angle. Journal of Institute of Control, Robotics and Systems, 2009, 15(11): 1102-1107.

    [8] Kwon J H, Kim T Y, Lyou J. Corridor traveling and map building of an omni-directional mobile robot with ultrasonic array. In: Proceedings of the 7th Defense Technology Conference, Seoul, Korea, 2011: 820-829.

    [9] Kim S B, Kim H B. Comparative analysis on performance indices of obstacle detection for an overlapped ultrasonic sensor ring. Journal of Institute of Control, Robotics and Systems, 2012, 18(4): 321-327.

    [10] Kim S B, Kim H B. Design method of overlapped ultrasonic sensor ring for autonomous mobile robots. In: Proceedings of ICORS Annual Conference 2010, Chuncheon, Gangwon, Korea, 2010: 171-174.

    [11] Kim S B, Lee S H. Positional uncertainty reduction of overlapped ultrasonic sensor ring for efficient mobile robot obstacle detection. Journal of Institute of Signal Processing and Systems, 2009, 10(3): 198-206.

    [12] Kim S B, Kim H B. Optimally overlapped ultrasonic sensor ring with minimal positional uncertainly in obstacle detection. In: Proceedings of International Conference on Control Automation and Systems, Goyang, Gyeonggi, Korea, 2010: 546-550.

    [13] Choi B J, Jin S. Design of simple-structured fuzzy logic system based driving controller for mobile robot. Journal of Korean Institute of Intelligent Systems, 2012, 22(1): 1-6.

    [14] ZHU An-min, YANG S X. A fuzzy logic approach to reactive navigation of behavior-based mobile robots. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA'04) , New Orleans, LA, USA, 2004, 5: 5045-5050.

    date: 2013-05-11

    The MOTIE (Ministry of Trade, Industry and Energy), Korea, under the Human Resources Development Program for Special Environment Navigation/Localization National Robotics Research Center support program supervised by the NIPA (National IT Industry Promotion Agency) (H1502-13-1001); The MSIP(Ministry of Science, ICT & Future Planning), Korea, under the ITRC(Information Technology Research Center) support program (NIPA-2013-H0301-13-2006) supervised by the NIPA.

    Jangmyung Lee (jmlee@pusan.ac.kr)

    1674-8042(2013)04-0376-05

    10.3969/j.issn.1674-8042.2013.04.016

    国产亚洲av嫩草精品影院| 国内精品美女久久久久久| 亚洲一区高清亚洲精品| 亚洲四区av| 岛国在线免费视频观看| 日韩强制内射视频| 免费看a级黄色片| 亚洲一区二区三区色噜噜| 精品少妇黑人巨大在线播放 | 麻豆久久精品国产亚洲av| 黄色配什么色好看| 尾随美女入室| 内地一区二区视频在线| 亚洲欧美日韩高清专用| 少妇裸体淫交视频免费看高清| 国产高清视频在线观看网站| 国产三级在线视频| 国产熟女欧美一区二区| 久久亚洲国产成人精品v| 成人亚洲精品av一区二区| 51国产日韩欧美| 国内精品宾馆在线| 春色校园在线视频观看| 最后的刺客免费高清国语| 我要搜黄色片| 国产一区亚洲一区在线观看| 波多野结衣高清无吗| 亚洲av五月六月丁香网| 久久久久久久久中文| 联通29元200g的流量卡| 午夜精品国产一区二区电影 | 国产精品人妻久久久久久| 国产av一区在线观看免费| 成年免费大片在线观看| 一级黄片播放器| 99久久精品国产国产毛片| 成人午夜高清在线视频| 黄色视频,在线免费观看| 亚州av有码| 久久久久久伊人网av| 国产真实伦视频高清在线观看| 国产真实伦视频高清在线观看| 最好的美女福利视频网| 悠悠久久av| 国产亚洲精品久久久久久毛片| 人人妻人人看人人澡| 国产色爽女视频免费观看| 在线播放国产精品三级| 欧美另类亚洲清纯唯美| 久久人人爽人人片av| 久久午夜亚洲精品久久| 午夜福利在线观看吧| 亚洲精品粉嫩美女一区| 国产午夜精品久久久久久一区二区三区 | 99riav亚洲国产免费| 美女xxoo啪啪120秒动态图| 男女边吃奶边做爰视频| 国产精品爽爽va在线观看网站| 露出奶头的视频| 亚洲一级一片aⅴ在线观看| 九九久久精品国产亚洲av麻豆| 搡女人真爽免费视频火全软件 | 变态另类丝袜制服| 久久精品国产清高在天天线| 国产精品福利在线免费观看| av在线观看视频网站免费| 国产乱人视频| 日本熟妇午夜| 国产在线男女| 观看免费一级毛片| 久久草成人影院| 99热6这里只有精品| 精品欧美国产一区二区三| 六月丁香七月| 18禁在线播放成人免费| 床上黄色一级片| 亚洲精品日韩av片在线观看| 日本黄大片高清| 非洲黑人性xxxx精品又粗又长| 亚洲精品国产成人久久av| 亚洲成人中文字幕在线播放| 91久久精品电影网| 亚洲精品一卡2卡三卡4卡5卡| 搡老熟女国产l中国老女人| 国产aⅴ精品一区二区三区波| 国产69精品久久久久777片| 精品欧美国产一区二区三| 18禁在线播放成人免费| 亚州av有码| 热99在线观看视频| 人人妻,人人澡人人爽秒播| 国内精品美女久久久久久| 全区人妻精品视频| 亚洲专区国产一区二区| 搞女人的毛片| 人妻制服诱惑在线中文字幕| 亚洲av二区三区四区| 欧美日韩国产亚洲二区| 久久精品国产亚洲av涩爱 | 国内精品久久久久精免费| 国产激情偷乱视频一区二区| 中国美白少妇内射xxxbb| 亚洲无线观看免费| 国产精品不卡视频一区二区| 欧美日本视频| 欧美日本视频| 国产精品乱码一区二三区的特点| 麻豆一二三区av精品| 国产欧美日韩精品一区二区| 联通29元200g的流量卡| 赤兔流量卡办理| 久久久久免费精品人妻一区二区| 欧美绝顶高潮抽搐喷水| 看十八女毛片水多多多| 久久久久国产精品人妻aⅴ院| 三级经典国产精品| 麻豆久久精品国产亚洲av| 亚洲激情五月婷婷啪啪| 亚洲一区二区三区色噜噜| 欧美日韩综合久久久久久| 国产午夜福利久久久久久| 人妻夜夜爽99麻豆av| 日韩人妻高清精品专区| 嫩草影视91久久| 看非洲黑人一级黄片| 免费av毛片视频| 91av网一区二区| 亚洲精品成人久久久久久| 精品乱码久久久久久99久播| 亚洲熟妇中文字幕五十中出| 五月玫瑰六月丁香| 欧美性感艳星| 成人午夜高清在线视频| 禁无遮挡网站| 一级黄片播放器| 99久国产av精品| 中文在线观看免费www的网站| 国产大屁股一区二区在线视频| 麻豆精品久久久久久蜜桃| 国产麻豆成人av免费视频| 久久国内精品自在自线图片| 午夜精品在线福利| 久久久久九九精品影院| 综合色丁香网| 欧美性猛交╳xxx乱大交人| 久久综合国产亚洲精品| 丝袜美腿在线中文| 最近手机中文字幕大全| 最近2019中文字幕mv第一页| 桃色一区二区三区在线观看| 久久草成人影院| 国产精品久久久久久久久免| 成熟少妇高潮喷水视频| 久久久久久久久久久丰满| 久久久久久久久中文| 国产成人freesex在线 | 欧美bdsm另类| 国产一区亚洲一区在线观看| 成年女人永久免费观看视频| 嫩草影院新地址| 男人的好看免费观看在线视频| 久久精品国产亚洲网站| 欧美3d第一页| 99热这里只有精品一区| 亚洲国产精品久久男人天堂| 99热这里只有是精品50| 色5月婷婷丁香| 熟女电影av网| 99国产极品粉嫩在线观看| 日韩制服骚丝袜av| av免费在线看不卡| 久久久精品94久久精品| 日本免费a在线| 久久九九热精品免费| 最新在线观看一区二区三区| 亚洲欧美精品综合久久99| 国产91av在线免费观看| 成人一区二区视频在线观看| 成人毛片a级毛片在线播放| 看免费成人av毛片| 亚洲欧美成人精品一区二区| 中文字幕久久专区| 91在线观看av| 欧美不卡视频在线免费观看| 女同久久另类99精品国产91| 国产乱人视频| 一区福利在线观看| 少妇裸体淫交视频免费看高清| 午夜精品在线福利| 桃色一区二区三区在线观看| 欧美丝袜亚洲另类| 乱系列少妇在线播放| 午夜福利成人在线免费观看| 国产久久久一区二区三区| 在线播放无遮挡| 国产午夜福利久久久久久| 草草在线视频免费看| 国产高清视频在线播放一区| 亚洲久久久久久中文字幕| 中文字幕人妻熟人妻熟丝袜美| 免费在线观看成人毛片| 天堂影院成人在线观看| 中文字幕久久专区| 国产视频一区二区在线看| 18禁黄网站禁片免费观看直播| 波多野结衣高清无吗| 国产精品免费一区二区三区在线| 久久久久久久午夜电影| 卡戴珊不雅视频在线播放| 国产淫片久久久久久久久| 日本撒尿小便嘘嘘汇集6| 九九爱精品视频在线观看| 国内精品久久久久精免费| 在线播放无遮挡| 亚洲精品一卡2卡三卡4卡5卡| 久久精品91蜜桃| 久久国产乱子免费精品| 菩萨蛮人人尽说江南好唐韦庄 | 狂野欧美激情性xxxx在线观看| 日韩成人av中文字幕在线观看 | 日韩国内少妇激情av| av.在线天堂| 2021天堂中文幕一二区在线观| 99久久精品热视频| 女生性感内裤真人,穿戴方法视频| 欧美性感艳星| 18禁裸乳无遮挡免费网站照片| 国产人妻一区二区三区在| 欧美中文日本在线观看视频| 99热这里只有精品一区| 国内精品久久久久精免费| 97超碰精品成人国产| 99久久九九国产精品国产免费| 国产午夜福利久久久久久| 村上凉子中文字幕在线| 国产精品国产三级国产av玫瑰| 乱人视频在线观看| 欧美成人一区二区免费高清观看| 午夜激情欧美在线| 日本在线视频免费播放| 成人一区二区视频在线观看| 黄色一级大片看看| 在线a可以看的网站| 夜夜看夜夜爽夜夜摸| 22中文网久久字幕| 黄片wwwwww| 国产一区二区激情短视频| 一个人观看的视频www高清免费观看| 午夜爱爱视频在线播放| 一级av片app| 淫妇啪啪啪对白视频| 精品少妇黑人巨大在线播放 | 综合色丁香网| 精品欧美国产一区二区三| 成人二区视频| 天堂网av新在线| 亚洲国产精品合色在线| 老熟妇仑乱视频hdxx| 深夜精品福利| 一区二区三区四区激情视频 | 欧美国产日韩亚洲一区| 国产精品一区二区性色av| 国产私拍福利视频在线观看| 日本免费a在线| 俺也久久电影网| 成人鲁丝片一二三区免费| 久久久精品大字幕| h日本视频在线播放| 日韩av不卡免费在线播放| 少妇被粗大猛烈的视频| 国产一区二区在线av高清观看| 99国产精品一区二区蜜桃av| 国产欧美日韩一区二区精品| 欧美高清性xxxxhd video| 中国美白少妇内射xxxbb| 永久网站在线| 黄片wwwwww| 露出奶头的视频| 久久九九热精品免费| 精品久久久久久成人av| 午夜日韩欧美国产| 精品一区二区三区视频在线观看免费| www日本黄色视频网| 日韩欧美三级三区| 一级毛片电影观看 | 99久久精品国产国产毛片| 精品午夜福利视频在线观看一区| 亚洲丝袜综合中文字幕| .国产精品久久| 国产真实伦视频高清在线观看| 国产av不卡久久| 免费搜索国产男女视频| 欧美丝袜亚洲另类| 亚洲人成网站高清观看| 国产精品亚洲一级av第二区| 久久精品国产自在天天线| 久久久精品欧美日韩精品| 亚洲国产精品成人久久小说 | 亚洲一区高清亚洲精品| 日韩一区二区视频免费看| 国产精品1区2区在线观看.| 国产 一区精品| 综合色av麻豆| 一本一本综合久久| 直男gayav资源| 少妇熟女aⅴ在线视频| 欧美+亚洲+日韩+国产| 国产高清视频在线观看网站| 插阴视频在线观看视频| 色av中文字幕| 在线国产一区二区在线| av在线蜜桃| 亚州av有码| 夜夜爽天天搞| 国产精品伦人一区二区| av专区在线播放| 亚洲中文字幕一区二区三区有码在线看| 美女大奶头视频| or卡值多少钱| 一个人观看的视频www高清免费观看| 高清毛片免费观看视频网站| 亚洲成人久久爱视频| 性欧美人与动物交配| 国产亚洲精品综合一区在线观看| 在线观看av片永久免费下载| 精品午夜福利在线看| 春色校园在线视频观看| 亚洲第一电影网av| 老熟妇乱子伦视频在线观看| 亚洲欧美日韩无卡精品| 国产精品女同一区二区软件| 久久草成人影院| 国产伦一二天堂av在线观看| 国产精品综合久久久久久久免费| 亚洲18禁久久av| 久久午夜亚洲精品久久| 亚洲av成人精品一区久久| 欧美日韩一区二区视频在线观看视频在线 | 亚洲精品亚洲一区二区| 亚洲av免费在线观看| 国产精品一区www在线观看| 真人做人爱边吃奶动态| 此物有八面人人有两片| 欧美性猛交╳xxx乱大交人| 成人鲁丝片一二三区免费| 欧美绝顶高潮抽搐喷水| 免费看a级黄色片| 69人妻影院| 精品人妻一区二区三区麻豆 | 免费av毛片视频| 在线观看午夜福利视频| av在线老鸭窝| 一进一出抽搐gif免费好疼| a级毛片免费高清观看在线播放| 夜夜夜夜夜久久久久| 国产免费男女视频| 国产精品久久久久久精品电影| 国产亚洲av嫩草精品影院| 国产欧美日韩精品一区二区| av在线观看视频网站免费| 精品免费久久久久久久清纯| 老司机福利观看| 亚洲电影在线观看av| 国产一区二区在线av高清观看| 成年免费大片在线观看| 人人妻人人澡人人爽人人夜夜 | 97碰自拍视频| 露出奶头的视频| 国产v大片淫在线免费观看| 亚洲经典国产精华液单| av免费在线看不卡| 国产人妻一区二区三区在| 精品久久久久久久久久免费视频| 熟女电影av网| 99热网站在线观看| 国产欧美日韩一区二区精品| 国产伦一二天堂av在线观看| 3wmmmm亚洲av在线观看| 欧美xxxx黑人xx丫x性爽| 日韩大尺度精品在线看网址| 国产免费一级a男人的天堂| 国产一区二区亚洲精品在线观看| 99热这里只有是精品在线观看| 一个人看视频在线观看www免费| 免费av毛片视频| 毛片女人毛片| 久久久久久久久中文| 在线观看一区二区三区| 国产亚洲精品久久久com| 97超碰精品成人国产| 亚洲自拍偷在线| 午夜老司机福利剧场| 真人做人爱边吃奶动态| 看非洲黑人一级黄片| 男人的好看免费观看在线视频| 可以在线观看毛片的网站| 色在线成人网| 一个人观看的视频www高清免费观看| 欧美国产日韩亚洲一区| 免费在线观看影片大全网站| 日韩成人av中文字幕在线观看 | 男女下面进入的视频免费午夜| 免费观看的影片在线观看| 久久亚洲国产成人精品v| 在线播放无遮挡| 成人国产麻豆网| 好男人在线观看高清免费视频| 午夜免费男女啪啪视频观看 | 国产中年淑女户外野战色| 看免费成人av毛片| 国产精品一区二区三区四区久久| 国产黄色视频一区二区在线观看 | 两个人视频免费观看高清| 又黄又爽又刺激的免费视频.| 国产三级中文精品| 性插视频无遮挡在线免费观看| 免费人成在线观看视频色| 五月伊人婷婷丁香| 毛片女人毛片| 熟妇人妻久久中文字幕3abv| 美女黄网站色视频| 久久久久性生活片| 免费av不卡在线播放| 久久久久久国产a免费观看| 亚洲人成网站在线播| 一进一出抽搐gif免费好疼| 欧美日韩乱码在线| 99热这里只有是精品50| 国产一区二区三区av在线 | 欧美在线一区亚洲| 日韩大尺度精品在线看网址| 亚洲自拍偷在线| 亚洲欧美清纯卡通| 国产探花极品一区二区| 免费电影在线观看免费观看| 麻豆成人午夜福利视频| 日韩,欧美,国产一区二区三区 | 高清毛片免费看| 日韩精品青青久久久久久| 亚洲国产欧美人成| 欧美丝袜亚洲另类| av福利片在线观看| 国产一区二区三区在线臀色熟女| 日韩欧美国产在线观看| 国产av在哪里看| 成人无遮挡网站| 欧美人与善性xxx| 天堂√8在线中文| 日本在线视频免费播放| 人人妻,人人澡人人爽秒播| 插阴视频在线观看视频| av在线亚洲专区| 亚洲av成人av| 亚洲图色成人| ponron亚洲| 欧美成人a在线观看| 亚洲av中文字字幕乱码综合| 黄片wwwwww| 51国产日韩欧美| 在线观看66精品国产| av在线天堂中文字幕| 亚洲人成网站高清观看| 成人三级黄色视频| 国产精品一区www在线观看| 精品福利观看| 麻豆国产97在线/欧美| 亚洲精品乱码久久久v下载方式| 久久久午夜欧美精品| 国产欧美日韩一区二区精品| 国内精品一区二区在线观看| 丰满乱子伦码专区| 国产综合懂色| 少妇被粗大猛烈的视频| 麻豆精品久久久久久蜜桃| 我的老师免费观看完整版| 成人无遮挡网站| 99久久九九国产精品国产免费| 国产精品精品国产色婷婷| 啦啦啦观看免费观看视频高清| 久久婷婷人人爽人人干人人爱| 国产单亲对白刺激| 国产av在哪里看| 国产美女午夜福利| 日本-黄色视频高清免费观看| 99国产精品一区二区蜜桃av| 亚洲人成网站在线观看播放| 91麻豆精品激情在线观看国产| 欧美丝袜亚洲另类| 一进一出抽搐gif免费好疼| 一级毛片我不卡| 一个人看视频在线观看www免费| 女生性感内裤真人,穿戴方法视频| 99久久成人亚洲精品观看| 3wmmmm亚洲av在线观看| 一本久久中文字幕| 黄色配什么色好看| 俄罗斯特黄特色一大片| 99久久精品一区二区三区| 亚洲av美国av| 内地一区二区视频在线| 亚洲自拍偷在线| 午夜激情欧美在线| 欧美三级亚洲精品| 国产成人a∨麻豆精品| 国产精品亚洲美女久久久| 九九热线精品视视频播放| 淫妇啪啪啪对白视频| 久久婷婷人人爽人人干人人爱| 欧美中文日本在线观看视频| 久久精品人妻少妇| 老司机影院成人| 精品一区二区三区人妻视频| 国产亚洲精品久久久com| 在线天堂最新版资源| 亚洲av第一区精品v没综合| 中文字幕av在线有码专区| АⅤ资源中文在线天堂| 亚洲av成人精品一区久久| 久久精品国产清高在天天线| 色尼玛亚洲综合影院| 国内揄拍国产精品人妻在线| 国产精品伦人一区二区| 日本五十路高清| 美女 人体艺术 gogo| 日韩欧美 国产精品| 亚洲精品国产av成人精品 | av在线天堂中文字幕| 真人做人爱边吃奶动态| 天堂动漫精品| 国产精品一区二区免费欧美| 丰满的人妻完整版| 女的被弄到高潮叫床怎么办| 美女大奶头视频| 免费看av在线观看网站| 国产av在哪里看| 久久精品国产亚洲网站| 国产三级中文精品| 最近2019中文字幕mv第一页| 一区二区三区高清视频在线| 麻豆国产av国片精品| 成人毛片a级毛片在线播放| 好男人在线观看高清免费视频| 亚洲欧美精品自产自拍| 禁无遮挡网站| 成年女人看的毛片在线观看| 国内精品宾馆在线| 精品一区二区三区人妻视频| 99久国产av精品国产电影| 永久网站在线| 给我免费播放毛片高清在线观看| 国产极品精品免费视频能看的| 国产精品嫩草影院av在线观看| 国产成人精品久久久久久| 男人和女人高潮做爰伦理| 亚洲av成人av| 国产乱人偷精品视频| 久久这里只有精品中国| 国产久久久一区二区三区| www.色视频.com| 国内久久婷婷六月综合欲色啪| 久久婷婷人人爽人人干人人爱| 在线播放国产精品三级| 日韩制服骚丝袜av| 在线播放国产精品三级| 一进一出好大好爽视频| 国产综合懂色| 深夜精品福利| 成人综合一区亚洲| 十八禁网站免费在线| 联通29元200g的流量卡| 波多野结衣高清作品| 成人美女网站在线观看视频| 国产一区二区在线av高清观看| 久久久欧美国产精品| 成人漫画全彩无遮挡| 人妻制服诱惑在线中文字幕| av视频在线观看入口| 人人妻人人澡人人爽人人夜夜 | 床上黄色一级片| 久久久久久久久中文| 99九九线精品视频在线观看视频| 18+在线观看网站| 国产精品爽爽va在线观看网站| 亚洲国产日韩欧美精品在线观看| 舔av片在线| 免费av观看视频| 免费看美女性在线毛片视频| 久久亚洲国产成人精品v| 免费看美女性在线毛片视频| 亚洲最大成人中文| 在线观看午夜福利视频| 国产视频一区二区在线看| 插阴视频在线观看视频| 在线观看免费视频日本深夜| 插阴视频在线观看视频| 永久网站在线| 最近2019中文字幕mv第一页| 亚洲精品一区av在线观看| 免费看日本二区| 国产高清激情床上av| 日本一本二区三区精品| 亚洲自偷自拍三级| 成人综合一区亚洲| 色综合站精品国产| 成人永久免费在线观看视频| 免费人成视频x8x8入口观看| 女同久久另类99精品国产91| 男人和女人高潮做爰伦理| 老熟妇仑乱视频hdxx| 精品无人区乱码1区二区| 深夜a级毛片| 精品久久久久久成人av| 国产私拍福利视频在线观看| 久久久精品大字幕| 成人特级av手机在线观看|