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International technology and Innovation Conference 2009, ITIC 2009

作者： Wang, Zhongmin Miao, Dehua Du, Zhijiang Tianjin Key Laboratory of High Speed Cutting and Precision Machining Tianjin University of Technology and Education Tianjin 300222 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

ISBN: (纸本)9781849191395

Simultaneous localization and mapping (SLAM) is an important topic in the autonomous mobile robot research. A modified Rao-Blackwellised particle filter (MRBPF) algorithm is proposed for the mobile robot to SLAM, which can simultaneously localize the robot and build up the map in the structured indoor environment. Firstly, MRBPF respectively uses particle filters (PF) to estimate the posterior probability distributions of robot postures and landmarks in the environment map. Secondly, it adapts the re-sampling process based on the effective sample size (ESS), and improves the computation methods of sample weights so as to guarantee MRBPF to have enough re-sampling numbers. Furthermore, a robust motion model and an observation model with only ranging sensor and odometer are constructed. Experimental results show that MRBPF-SLAM performs well on both weight variance and the number of effective samples. More over, the estimation accuracy of path and map is improved to some extent, and the simulation results also indicate that the methods are valid.

关键词： Mobile robots

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Camera calibration based on extended Kalman filter using robot's arm motion

Camera calibration based on extended Kalman filter using rob...

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2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009

作者： Guodong, Chen Zeyang, Xia Xie, Ming Sun, Lining Junhong, Ji Zhijiang, Du State Key Laboratory of Robotics and System Harbin Institute of Technology China Nanyang Technological University Singapore Singapore Nanyang Technological University Singapore Harbin Institute of Technology Nanyang Technological University China

ISBN: (纸本)9781424428533

This paper presents a camera calibration method that could be used in humanoid robot vision system. Extended Kalman Filter is used to estimate camera parameters. This method can take planer board feature points of the image or the object's 3D axis as inputs when doing known motion, test results show this algorithm can get good results. If the camera parameters are known, the relationship between a reference coordinate system and camera coordinate system can not get in high precision, in this paper, a method based on the arm motion is discussed. ©2009 IEEE.

关键词： Extended Kalman filters

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Mobile self-reconfigurable robot based on modularity

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High technology Letters 2009年第1期15卷 26-31页

作者： Zhong, Ming Guo, Wei Xu, Ji'an Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor, camera, communication, computation, and mobility parts, and is capable of simple self-reconfiguring to enhance its mobility by expanding itself. Several units can not only link into a train or other shapes autonomously via camera and sensors to be a united whole robot for obstacle clearing, but also disjoin to be separate units under control after missions. To achieve small overall size, compact mechanical structures are adopted in modular components design, and a miniature advanced RISC machines (ARM) based embedded controller is developed for minimal power consumption and efficient global control. The docking experiment between two units has also been implemented. Copyright © by High technology Letters Press.

关键词： Cameras

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Development of a continuum robot for colonoscopy

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High technology Letters 2009年第2期15卷 115-119页

作者： Hu, Haiyan Li, Mantian Wang, Pengfei Feng, Yuan Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

A novel continuum robot for colonoscopy is presented. The aim is to develop a robot for colonoscopy which can provide the same functions as conventional colonoscope, but much less pain and discomfort for patient. In contrast to traditional rigid-link robot, the robot features a continuous backbone with no joints. The continuum robot is 300 mm in total length and 12 mm in diameter that is less than the average diameter of human colon (20 mm). The robot has a total of 4 DOF (degrees of freedom) and is actuated remotely by 6 hybrid step motors through super-elastic NiTi wires. Its shape can be changed with high dexterity, therefore ensuring its adaptability to the tortuous shape of human colon. The mechanical structure, kinematics and DSP-based control system are discussed;prototype experiments are carried out to validate the kinematics model and to show the motion performances.

关键词： Kinematics

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Fast and accurate humanoid robot navigation guided by stereovision

Fast and accurate humanoid robot navigation guided by stereo...

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2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009

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

ISBN: (纸本)9781424426935

Stair-climbing and moving object grasping both require high precision information feedback of the feature coordinate. This manuscript mainly describes how to process the information acquired from the stereovision system in a fast and accurate way and how to use the data to compensate the progressive error caused by the humanoid robot. From camera calibration to image processing to stereo match, every step in the whole vision information processing process plays an important role in getting high precision. Less time consuming can make the robot adapt to the changes of environment quickly, especially in dynamic environment. In this paper, two humanoid robot common tasks are chosen as experiments to verify the effectiveness of the proposed methods. Stair climbing experiment verifies the high precision in long distances and also by using the image information to compensate the progressive error caused by long distance walking and moving object grasping experiment verifies the less time consuming. ©2009 IEEE.

关键词： Anthropomorphic robots

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Singular perturbation control for flexible-joint manipulator

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Dianji yu Kongzhi Xuebao/Electric Machines and Control 2009年第3期13卷 436-441页

作者： Liu, Ye-Chao Liu, Yi-Wei Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Robotics and Mechatronics German Aerospace Center Munich 82230 Germany

The traditional singular perturbation approach can only be used in the robot system with weak joint flexibility. In order to solve this problem, a joint flexibility compensator was designed, which can increase the equivalent joint stiffness. So the limitation for the singular perturbation approach was removed and it can be extended to the robot system with normal joint flexibility. Besides these, an adaptive control law was designed for the slow subsystem, which can guarantee the trajectory error asymptotical tracking. The proposed control strategy can be applied to the engineering systems conveniently without any joint flexibility limitation and does not need the link acceleration or jerk information. Finally, an experimental study on the flexible joint manipulator was executed and the results verify that whatever the PD, computed torque or adaptive control are used in the slow subsystem, the proposed singular perturbation strategy is more valid than the traditional one.

关键词： Control theory

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An in-pipe micro robot actuated by piezoelectric bimorphs

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Chinese Science Bulletin 2009年第15期54卷 2134-2142页

作者： LIU PinKuan WEN ZhiJie SUN LiNing State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China Robotics Institute Harbin Institute of Technology Harbin 150001 China

A novel in-pipe micro robot providing stable and accurate locomotion inside a tubular structure with diameters ranging from 16 mm to 18 mm is presented in this paper. Driven by impulsive voltages, deflections of the piezoelectric bimorphs are generated and then converted into translational locomotion by the principle of the Impact Drive Mechanism (IDM). Theoretical analysis of the proposed system is performed based on a simplified mechanical model. Then dynamic simulations of the dynamic behavior are performed. Finally, an experiment is conducted to investigate the moving ability of this device. The results demonstrate that a maximum translational velocity of 3.5 mm/s can be obtained under an impulsive driving voltage with peak value at 50 V and frequency of 1100 Hz. Both theoretical analysis and experimental trials prove that the principle of IDM actuated by piezoelectric bimorphs is feasible and robust for achieving accurate locomotion of the micro robot in pipes with diameters of less than 20 mm.

关键词：管道微机器人压电双晶片驱动机构调制解调器平移运动实验测试管道直径管状结构

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Analysis on Simplified Engineering Model and Vibration Feature of Spherical Micromanipulator

Analysis on Simplified Engineering Model and Vibration Featu...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Pengfei Wang Haiyan Hu Mantian Li Lining Sun tate Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinChina State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinChina

ISBN: (纸本)9781424447749

A spherical micromanipulator achieves rotations with 3-DOFs of the micro-ball with the relative displacements brought by the frictions between the ruby balls and the micro-ball on the top of piezoelectric tubes. The two-masses simplified engineering model of the stick-slip principle is established under the condition of simplifying spherical higher pair joints. The model of forced vibration and self-excitation oscillation on stick-slip movement is established by dividing the two-masses simplified engineering model and the composite theory of the forced vibration and self-excitation oscillation is presented. The model is demonstrated by simulations. The experiment is also done, and the validity of the model is further proved by the results. At last, the defects of simple driving are discussed, which provides reference to micromanipulator control.

关键词： Micromanipulator Spherical Stick-slip Vibration features

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Theoretical analysis and experimental study of Ultrasonic Vibration Microdissection technology

Theoretical analysis and experimental study of Ultrasonic Vi...

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IEEE International Conference on Mechatronics and Automation

作者： Liguo Chen Yaxin Liu Tao Chen Lining Sun State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin China

Molecular techniques are transforming our understanding of cellular function and the origin of disease. However, accurate molecular analysis methods will be limited if the input DNA, RNA, or protein is not derived from pure population of cells or is contaminated by the wrong cells. So a novel Ultrasonic Vibration Microdissection (UVM) method was proposed to procure pure population of targeted cells from tissue sections for subsequent analysis. In the last two years, an ultrasonic vibration microdissection system for molecular analysis of tissue had been developed in our laboratory. In this system, a multilayer piezoelectric actuator is used to actuate a sharp microneedle vibrating with high frequency and low amplitude to cut the tissue. In this paper, we focus on the ultrasonic vibration microdissection principle and various parameters on the impact of cutting effect. It is helpful for setting the system parameters, thus as vibration amplitude and frequency, properly to get the ideal cutting effect. Finally, contrast experiments were carried out, and the experiment results show agreement with the analyses results. It indicates that the embedded tissue can be quickly and precisely cut with the ultrasonic vibration microdissection method under the proper parameters.

关键词： Frequency Needles Microscopy Laser beam cutting Laboratories Glass Oscillators robotics and automation Nonhomogeneous media Piezoelectric actuators

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Piezoelectrically driven silicon microgrippers integrated with sidewall piezoresistive sensor

Piezoelectrically driven silicon microgrippers integrated wi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Tao Chen Liguo Chen Lining Sun State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin China

This paper presents the design, fabrication, and application of an piezoelectrically driven microgripper integrated sidewall piezoresistive force sensor for measuring the gripping force. Surface and bulk micromachining technology is employed to fabricate end-effectors and sensor of the microgripper from a single crystal silicon wafer. Vertical sidewall surface piezoresistor etching technique is used to form the side direction sensors. The end-effectors of the gripper are four-bar structures. Two fixed cantilever beams integrated with piezoresistive sensor are designed to sense the gripping force, and a piezoelectrically driven microactuator is designed to provide the force to operate the other two movable bars. The piezoelectrically driver adhered with the silicon end-effectors generates a linear horizontal motion 9 mum, which is amplified to 30 mum at the bar tip of the microgripper. Then the range of the operation is 25 mum - 140 mum. Testing results verify that the vertical sidewall surface piezoresistor etching technique is effective. The sensitivity of the piezoresistive sensors is better than 72 V/N, and the resolution is better than 3 muN.

关键词： Silicon Grippers Piezoresistance Force sensors Force measurement Etching Fabrication Micromachining Structural beams Microactuators

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