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Development of a robot with jumping legs

harbin Gongye Daxue Xuebao/Journal of harbin institute of technology 2010年第1期42卷 69-73页

作者： Wang, Meng Zang, Xi-Zhe Zhao, Jie Cai, He-Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

This paper presents a mechanical jumping leg with the capability of jumping, retracting the leg in the air and adjusting the energy of spring. For the purpose of reducing the weight and the energy consumption, the jumping leg is actuated by a single motor. The 5-bar linkage is adopted as the main part of the leg including the foot and the tarsometatarsal joint to enhance the stability during jumping and landing. The key motion of each phase in the whole jump is analyzed by simulation. Experiments are implemented on the jumping leg robot, and the result demonstrates that it has good capability of jumping, shows high jumping efficiency, and can retract the leg in the air for landing steadily. The mechanical leg will be applied to the design of jumping frog robot as hindlimb.

关键词： Robots

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Laser range finder based moving object tracking and avoidance in dynamic environment

Laser range finder based moving object tracking and avoidanc...

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： He, Fujun Du, Zhijiang Liu, Xiaolei Ta, Yueyue State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Department of Mechanical Science and Technology Daqing Petroleum Institute Daqing Heilongjiang Province China

ISBN: (纸本)9781424457021

The mobile robot that works in dynamic environment must have strong ability of avoiding obstacles especially moving objects and move to it original goal. To achieve the goal, the dynamic polar coordinate environment model based on laser range finder is set up, which can not only simplify the environment description but also improve the responding ability. Based on these data a moving object tracking model is also set up, which take into account the influence of moving platform, may obtain better tracking effect. The robot may anticipate the collision possibility, collision time and position from tracking algorithm, and then three obstacle avoiding policy is presented for robot to choose according to the collision estimation. The experiment shows good moving object avoiding result. ©2010 IEEE.

关键词： Mobile robots

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Design and analysis of a new cable-driven hyper redundant manipulator

Design and analysis of a new cable-driven hyper redundant ma...

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2010 International Conference on Intelligent Computation technology and Automation, ICICTA 2010

作者： Qiang, Zhao Fang, Gao State Key Laboratory of Robotics and System Computer School Harbin Institute of Technology Harbin Heilongjiang 150001 China Raffic College Northeast Forestry University Harbin Heilongjiang 150040 China Harbin Institute of Technology Mechtronical Engineering School Harbin Heilongjiang China

ISBN: (纸本)9780769540771

Hyper-redundant manipulators have been widely used in many fields, however many existing hyper redundant manipulators actuated directly by motors have the disadvantages of complicate structure and high cost. This paper proposes a novel remote cable-driven hyper redundant manipulator. This manipulator is based on elephant trunk bionics, and composed of several serial links combined by Hook joints. Each link is pulled by two antagonized pairs of cables. Two antagonized pairs belonged to the same link are tied and driven by only one motor, which can reduced largely the number of step motors needed. This paper fully discusses the structure and analyzes the cable stretching and retracting displacement. Analysis and motion simulation results show that the proposed scheme is practical and effective. © 2010 IEEE.

关键词： Cables

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Research on ODMM obstacle avoidance fuzzy navigation based on ultrasonic-absolute-positioning

Research on ODMM obstacle avoidance fuzzy navigation based o...

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International Conference on Electrical and Control Engineering, ICECE 2010

作者： Lin, Jiang Baiyan, Liu Xinyuan, Chen Hui, Zhao Jie, Zhao Jihong, Yan Key Laboratory of Metallurgical Equipment and its Control of Ministry of Education Wuhan University of Science and Technology Wuhan 430081 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

ISBN: (纸本)9780769540313

The obstacle avoidance fuzzy navigation strategy based on ultrasonic absolute position was proposed to improve the navigation efficiency and precision of the omni-directional mobile manipulator (ODMM). Comparing with the conventional navigation strategies, the superiority of this strategy is that it can momently get the accuracy positioning of robot and it can adjust posture and speed. The method of fusion redundancy ultrasonic information (FRUI) can improve the absolute positioning accuracy of ODMM. Absolute position based on fusion redundancy ultrasonic information(FRUI) and fuzzy navigation based on driving experience were all applied to the ODMM navigation. This strategies include the move-to-goal behavior based on absolute position and obstacle avoidance fuzzy navigation based on absolute positioning. Finally the experiment had been performed, the experimental result proved that the obstacle avoidance fuzzy navigation algorithm based on ultrasonic absolute positioning was effective and the navigation efficiency and precision of ODMM were greatly improved. © 2010 IEEE.

关键词： Navigation

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Local shape patch based object detection

Local shape patch based object detection

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Du, Zhijiang Chen, Guodong Sun, Lining Ji, Junhong Xie, Ming State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore 637553 Singapore

ISBN: (纸本)9781424457021

We present a novel object detection framework that uses the local shape patches features combining the interclass global features information. A supervised local model learning architecture is proposed: a novel interest point descriptor is proposed and applied to detect the local shape patches, the local shape patches are formed by chains of several connected contour segments. Then the object local contour parts model are learned from a small set of training images. In order to make the local contour patch model is invariant to rotation and translation, the local contour patch descriptor is represented by modified shape context. By adding the edge orientation information and interclass global information, the power of differentiating mismatches is increased, especially detecting the objects existing similar parts. Both experiments on image feature point matching and object detection comparing with other feature descriptors are carried out in order to validate the proposed method. ©2010 IEEE.

关键词： Object detection

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Influence of axial length ratio of stator segment on performance of tubular transverse flux linear machine

Influence of axial length ratio of stator segment on perform...

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14th Biennial IEEE Conference on Electromagnetic Field Computation, CEFC2010

作者： Mei, Zhao Zou, Ji-Bin Jiang, Xin-Tong Fu, Xing-He Sadarangani, Chandur State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Dept. Electrical Machines and Power Electronics KTH Teknikringen 33 10044 Stockholm Sweden

ISBN: (纸本)9781424470594

In this paper the influence of axial length ratio of stator segment on performance of tubular transverse flux linear machine (TTFLM) is investigated. The following issues have been emphasized: cogging force, winding flux, and back-EMF. The special topology of TTFLM requires 3-D finite element analysis to accurately predict the machine performance. However, equivalent 2-D finite element analysis is performed, which is more visual from physical view and faster from computing time than 3-D finite element analysis. © 2010 IEEE.

关键词： Finite element method

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An effective algorithm for needle tip displacement compensation in robot-assisted percutaneous surgery

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High technology Letters 2010年第3期16卷 306-310页

作者： Sun, Yinshan Wu, Dongmei Du, Zhijiang Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

This paper presents an automatic compensation algorithm for needle tip displacement in order to keep the needle tip always fixed at the skin entry point in the process of needle orientation in robot-assisted percutaneous surgery. The algorithm, based on a two-degree-of-freedom (2-DOF) robot wrist (not the mechanically constrained remote center of motion (RCM) mechanism) and a 3-DOF robot arm, firstly calculates the needle tip displacement caused by rotational motion of robot wrist in the arm coordinate frame using the robotic forward kinematics, and then inversely compensates for the needle tip displacement by real-time Cartesian motion of robot arm. The algorithm achieves the function of the RCM and eliminates many mechanical and virtual constraints caused by the RCM mechanism. Experimental result demonstrates that the needle tip displacement is within 1 mm in the process of needle orientation. © by High technology Letters Press.

关键词： Needles

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An in vitro investigation of image-guided steerable catheter navigation

An in vitro investigation of image-guided steerable catheter...

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作者： Liu, H. Fu, Y.-L. Zhou, Y.-Y. Li, H.-X. Liang, Z.-G. Wang, S.-G. State Key Laboratory of Robotics and System Harbin Institute of Technology Bio-X Centre Science Park 2 Yikuang Street Nangang District Harbin Heilongjiang 150080 China First Clinical College Harbin Medical University Harbin China

The objective of this study is to provide catheterization with a three-dimensional (3D) guiding image and reduce the collision probability between the catheter tip and vascular wall. A bidirectional steerable catheter was integrated with two magnetic position-tracking sensors on both sides of its bending segment. The tracking information was displayed on the guiding image, which helped the surgeons to determine the relative position between the catheter tip and surrounding vessels. The navigation path was generated on the basis of the vascular skeleton. Moreover, along the path, a series of guiding circular planes were set as the guidance for the catheter. Three operations (bending, advancing, and twisting) were jointly conducted to get the catheter through these guiding planes in turn and eventually into the target vessel. The effectiveness of the proposed navigation method was verified by experiments implemented in an aorta vascular phantom. The navigation system has a mean error of 0.19mm, a root mean square of 0.49?mm, and a standard deviation of 0.46?mm.

关键词： Catheters

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Configuration design method for in-pipe robot locomotion mechanism

Configuration design method for in-pipe robot locomotion mec...

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International Conference on Digital Manufacturing and Automation

作者： Chen, Jun Chen, Tao Deng, Zong-Quan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 15001 China School of Naval Architecture Harbin Institute of Technology at Weihai Weihai Shandong 264209 China Linyi Entry-Exit Inspection and Quarantine Bureau Linyi Shandong 276034 China School of Mechtronic Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9780769542867

The configuration design of in-pipe robot locomotion mechanism has a significant impact on its motion performance. By analyzing the operation principle of adapting mechanism, the basic four-bar linkage is chosen as base unit to make topological combination, the two kinds of linkage combination including input of prismatic pair are presented, and further through kinematic chain regeneration, the specific kinematic chain atlas that meet the given design constraints can be synthesized. Finally, the application examples adopting the derivative new mechanisms are given. Which provides the systematic methods for in-pipe robot configuration design. © 2010 IEEE.

关键词： Topology

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Development of a robot system assisting artificial cervical disc replacement surgery

Development of a robot system assisting artificial cervical ...

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IEEE International Conference on robotics and Biomimetics

作者： Heqiang Tian Dongmei Wu Zhijiang Du Junlin Ma Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System (HIT) Harbin 150080 China

ISBN: (纸本)9781424493197

The problems such as inadequate precision, excessive radiation, over fatigue and other issues urgently need to be resolved in the cervical artificial disc replacement surgery. In this paper, a medical robot system has been developed to replace the fixture system used in the cervical artificial disc replacement surgery. Firstly, the medical robot mechanical design with an active parallel head and a passive serial body assisting the artificial cervical disc replacement surgery is proposed. Then, the workspace analysis and control system design of the parallel robot are presented. Finally, the surgical navigation technologies such as surgical planning, surgical navigation and positioning, and the grinding trajectory planning technologies involved in the robot system assisting the cervical artificial disc replacement surgery are described. It can be seen that the robot-assisted cervical artificial disc replacement surgery has opened up a new way for the cervical disease treatment.

关键词： Surgery Robot kinematics Planning Brushless motors Optical imaging Biomedical optical imaging

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