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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Li, Xingdong Li, Mantian Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Estimating the ego motion is a key problem for a mobile robot, its efficiency and precision are hard to be balanced. In this paper, a fast and accurate approach is proposed to estimate the ego motion of stereo camera. Firstly, two images from left and right cameras are rectified. secondly, a index is introduced to speed up the matching process to find corresponding point from right image for each point from left image. finally, a RANSAC structure based method is proposed, which eliminates the outliers before estimating the ego motion. Methods developed in this paper are validated using both real and synthetic data. © 2012 IEEE.

关键词： Cameras

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Control of a biped walking with dynamic balance

Control of a biped walking with dynamic balance

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Liu, Guocai Li, Mantian Guo, Wei Cai, Hegao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Human can walk agilely because of their dynamic balance. In this article, we develop a simple algorithm to control bipedal walking with active balance. The robot can reach its expected velocity by controlling stance leg length and can maintain dynamic balance by selecting suitable swing direction. We test our control algorithm in a simulation environment. The tests show that the robot can follow the given velocity, endure external disturbance from front and rear direction, and walk on the uneven or ramp ground. This control algorithm can be used to develop bipedal robot or humanoid robot. © 2012 IEEE.

关键词： Anthropomorphic robots

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Kinematics analysis and flexible hinge analysis of 3-PPSR precision parallel manipulator

Kinematics analysis and flexible hinge analysis of 3-PPSR pr...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Rong, Weibin Luan, Yuliang Qi, Limin Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

According to the working environment of precise micro-operation parallel robot, the designation and analysis on the kinematics model of 3-PPSR parallel mechanism which was based on flexible hinge was obtained. Simultaneously, the influence of flexible hinge on the position accuracy and stiffness of mechanism was analyzed which may promote the application of control terminal. © 2012 IEEE.

关键词： Kinematics

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Multisensor-based autonomous docking for UBot modular reconfigurable robot

Multisensor-based autonomous docking for UBot modular reconf...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Liu, Pijun Zhu, Yanhe Cui, Xindan Wang, Xiaolu Yan, Jihong Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Autonomous docking is still a major challenge for self-reconfigurable robots, it is an essential capability for the system to realize reconstruction, self-repairing and even for completing operational tasks in the complex environment. In this paper, we developed a new sensor module for the UBot self-reconfigurable robot system, and proposed a novel docking method for precise docking between module group with the sensor module and the target module. We describe this automated docking progress as three steps: The visual pre-positioning process;Precise positioning through hall sensors;Crawling and self-locking by the hook-type connecting systems. Finally, this method is proved to be effective by the S-4 module group automatic docking experiment. © 2012 IEEE.

关键词： Modular robots

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An anthropomorphic design guideline for the thumb of the dexterous hand

An anthropomorphic design guideline for the thumb of the dex...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Wang, Hairong Fan, Shaowei Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

The preeminent manipulation capabilities of the human hand are undoubtedly related to the thumb. In view of this, this paper presents an anthropomorphic design guideline for the thumb of the dexterous hand. Anatomy analysis of the human thumb represents an excellent base from which a robotic design can be inferred. With simplification of human thumb's joint motion model, five configurations of thumb are given for the design of dexterous robotic hand. A new method for determining the position of thumb on the palm is proposed, according to the Euler Theorem about Finite Rotation of Rigid Body. A numeric method for computing the opposability of the thumb is described based on Monte Carlo methods, to evaluate dexterity of the hand in object manipulation. In order to verify the effectiveness of the proposed method, it is applied to the revised design of the HIT/DLR II hand. Performance indexes of both the original and the revised hand are calculated for comparison. The opposability of the thumb on revised dexterous robotic hand is 2.92 times of the original, which indicates the effectiveness of the proposed method. © 2012 IEEE.

关键词： Monte Carlo methods

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A simulation method of soft tissue cutting with haptics

A simulation method of soft tissue cutting with haptics

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Yan, Zhiyuan Wu, Dongmei Huang, Yingying Du, Zhijiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Simulation of soft tissue cutting is a problem. For proposing an effective simulation method, a surgery simulation system is put forward, and a double thread software system which contains graphics thread and equipment thread is built in the research. And ball-spring model is used as the internal physical model of the surgery object to realize the force feedback and the deformation. And then a surface model associated with the physical model is built. Based on the physical model and the surface mesh, an effective cutting algorithm is put forward. The simulation results proved that the proposed calculation model can effectively achieve the real-time cutting interaction and deformation of soft tissue, and real-time force feedback can be acquired. In conclusion, the model proposed can realize the simulation of the soft tissue cutting process. © 2012 IEEE.

关键词： Deformation

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Design of a coordinated control strategy for multi-mobile-manipulator cooperative teleoperation system

Design of a coordinated control strategy for multi-mobile-ma...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Yan, Jihong Zhao, Jie Yang, Chen Zhu, Yanhe Ma, Liang Chen, Zhifeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

The Multi-operator multi-mobile-manipulator (MOM3) teleoperation system is built and several operators located in different places can control the multiple manipulators to collaborate with each other via network. It takes advantage of mobility, cooperation, distribution, which enhance the ability of the system to fit into more complex task. Time delay and dynamic interaction between multi-operator and multi-robot deteriorates its performance. Considering these influence, the human-robot intelligence shared control strategy is proposed to improve performance of the system, which combines the humanrobot intelligence from the master side and slave side respectively. At the master side, the virtual guide can guide or restrict the operators' action, which realizes efficient collaboration and improves the operation accuracy. At the slave side, the coordinated controller fuses operators' commands with force/torque information obtained from corresponding sensors, and achieves expected coordinated control by adjusting coordinated factor. A cooperative task experiment to simulate the dangerous environment is carried out by three operators and mobile-manipulator. Results demonstrate the validity of the strategy proposed. © 2012 IEEE.

关键词： Remote control

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A water walking robot inspired by water strider

A water walking robot inspired by water strider

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Zhao, Jie Zhang, Xinbin Pan, Qinmin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Recent studies on water striders have revealed the mechanism of their floating and walking on water. By fast swinging their middle legs backward and striking the water, water striders get the driving force to move forward. This paper introduces a new water walking robot mimicking the rowing locomotion of water strider. The robot weighs 10 g and utilizes superhydrophobic nickel foam sheets as supporting legs and a spring-based actuating mechanism. Motion and force analysis for the supporting legs and the spring-based actuating mechanism were made and corresponding mechanics analysis models were built, based on which the simulation analysis of the robot was carried out. The robot can move over a distance of 30 cm per stroke with an average speed of 30 cm/s. This robot not only can help us better understand the mechanism of water strider rowing on water, but also can be developed for many applications in water quality monitoring, aquatic exploration, search and rescue on water, etc. in the future. © 2012 IEEE.

关键词： Water quality

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Research on grinding system of robot-assisted artificial cervical disc replacement surgery

Research on grinding system of robot-assisted artificial cer...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Wu, Dongmei Zhang, Litao Hao, Guangxin Du, Zhijiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781467312776

Artificial cervical disc replacement surgery is not widely accepted mainly because many problems such as inadequate precision, excessive radiation and other issues need to be solved. A medical robot has been designed to complete positioning and grinding bone mating surfaces with prosthesis in artificial cervical disc replacement surgery. Firstly, the mechanical design of the 6-DOF (Degree of Freedom) parallel robot and the control system design are presented. Then kinematic analysis and grinding trajectory planning for the medical robot are described. Finally, the experiment of the robotassisted cervical disc replacement surgery was carried out with a sheep cervical spine as experimental subject. The experiment on this platform verified rationality and feasibility for the robotassisted cervical disc replacement surgery. © 2012 IEEE.

关键词： Kinematics

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Simulation and experiment on automatic polarization alignment of fine polarization maintaining fibers

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Zhongguo Jiguang/Chinese Journal of Lasers 2013年第12期40卷

作者： Rong, Weibin Zhang, Wei Wang, Lefeng Cao, Yang Zhao, Lei Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150080 China AVIC Xi'an Fight Automatic Control Research Institute Xi'an Shaanxi 710065 China

To improve the performance of fine polarization maintaining fiber (PMF) couplers, it is necessary to increase the detection accuracy of polarization axis. The mathematical model of panda PMF index is established, and then the side view method is simulated. From the simulation results, the light is transmitted in the optical fiber and is focused on the other side, and the maximum light intensity of the fiber image is related to the rotation angle and the observation distance. When the observation distance is constant, the maximum value of light intensity changes periodically with the PMF rotation angle. When the observation plane is near the focused one of the transmitted light, the highest light intensity of optical image reaches the maximum value, which is the polarization axis detection parameter of PMF. Based on this, detection method which takes the maximum intensity as the feature is proposed. Combining the micro-vision technology, the polarization axis detection system for fine PMF is designed. The image sharpness function which can confirm the position of the detection plane is proposed. The experimental data are processed using the Fourier filtering method. By fitting the experiment data with the cubic spline method, the panda PMF polarization axis is determined. According to the experimental results, the repetitive detection error is 0.61°, which meets the requirements of PMF coupler manufacturing.

关键词： Polarization-maintaining fiber

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