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Live Demonstration: A Reconfigurable, Energy-efficient and High-frame-rate EKF-SLAM Accelerator Based SoC Design for Autonomous Mobile Robot Applications

Live Demonstration: A Reconfigurable, Energy-efficient and H...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Dingcheng Jiang Bingqiang Liu Jipeng Wang Ao Hu Yequan Zhao Minjie Bao Zhendong Fan Zixuan Shen Ke Wang Chao Wang School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan China School of Optical and Electronic Information Huazhong University of Science and Technology Wuhan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Future Technology Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9798350330991

ISBN: (纸本)9798350331004

This demonstration shows a Extend Kalman Filter-Simultaneous Localization And Mapping (EKF-SLAM) accelerator based system On Chip (SoC) design for Autonomous Mobile Robots (AMR). The AMR platform consists of a multi-sensor system with a wheel encoder and LiDAR, and a ZYNQ-7000 FPGA based SoC featuring an EKF-SLAM hardware accelerator. This AMR system achieves real-time SLAM with significant energy efficient improvement against the state-of-the-art designs.

关键词： Location awareness Simultaneous localization and mapping Laser radar Wheels Energy efficiency Real-time systems system-on-chip

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A Genderless Docking Mechanism with Passive Locking and High Rotation Misalignment Tolerance for Modular Space Robots

A Genderless Docking Mechanism with Passive Locking and High...

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IEEE International Conference on robotics and Biomimetics

作者： Jian Chen Xiaodong Wen Hao Wang Wei Gong Zongquan Deng Haitao Yu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Tianjin Key Laboratory of Aerospace Intelligent Equipment Technology Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin China

ISBN: (纸本)9781665481106

Modular robots are gaining increasing attention in space services. The docking mechanism plays a critical role in performing self-healing and self-reconfiguration of modular robots. It is beneficial for the docking mechanism to operate with high efficiency, homogeneity and high misalignment tolerances. To meet these requirements, this paper presents a novel genderless docking mechanism. The construction of the docking mechanism is designed with features of passive locking and single-sided electromagnetic unlocking. To demonstrate the advantages of passive locking, the working processes of the axial and circumferential locking mechanisms are described in detail. Based on theoretical calculations and simulations, it is shown that the docking mechanism can provide fast connections or disconnections with a degree of translational and angular misalignment tolerances. This docking mechanism is intended for future applications in modular space robots or unstructured environment exploration robots.

关键词： Energy consumption Biomimetics Biological system modeling Electromagnetics Robots Optimization

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Multisensory Measurement Synchronization and Industrial Robot Trajectory Error Compensation Based on Laser Tracker and Photoelectric Switch

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： Chengzhi Wang Sikai Zhao Tian Xu Tianjiao Zheng Shize Zhao Ziyuan Yang Hegao Cai Jie Zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This article presents a multisensory measurement synchronization approach that combines a laser tracker and multiple photoelectric switches, which easily embed laser tracker into robotic machining systems to achieve high-accuracy error compensation and trajectory tracking. Previous composite error compensation systems rely on limited interfaces provided by equipment producers and require careful temporal logic arrangement, making the whole system complicated and task-specific. The proposed method utilizes portable photoelectric switches that work as an intermediary between the robot system and the laser tracker system to match the corresponding data from both sides. The switches could be mounted anywhere along the robot task trajectories, and a critic trigger adjustment is designed to effectively determine the trigger position. Various types of trajectory are executed and measured to validate the effectiveness and robustness of the proposed method, and subsequent error compensation experiments demonstrate a significant improvement in robot accuracy.

关键词： Robots Trajectory Robot kinematics Measurement by laser beam Measurement uncertainty Service robots Error compensation Synchronization Accuracy Switches

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A Microgravity Simulation Experimental Platform For Small Space Robots In Orbit

arXiv

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arXiv 2025年

作者： Luo, Hang Zhou, Nanlin Zhang, Haoxiang Han, Kai Zhao, Ning Yang, Zhiyuan Qi, Jian Zhao, Sikai Zhao, Jie Zhu, Yanhe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This study describes the development and validation of a novel microgravity experimental platform that is mainly applied to small robots such as modular self-reconfigurable robots. This platform mainly consists of an air supply system, a microporous platform and glass. By supplying air to the microporous platform to form an air film, the influence of the weight of the air foot and the ventilation hose of traditional air-float platforms on microgravity experiments is solved. The contribution of this work is to provide a platform with less external interference for microgravity simulation experiments on small robots. Copyright © 2025, The Authors. All rights reserved.

关键词： Microgravity processing

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Flexible Catch Claw-type Space Debris Capture Mechanism Based on Constant Torque Spring Deployment 17

Flexible Catch Claw-type Space Debris Capture Mechanism Base...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Sun, Kui Chen, Kailun Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province China

ISBN: (纸本)9781728164151

Space debris cleaning technology can not only save scarce orbit resources, but also protect satellites and space stations in orbit, which has important research significance. Combination of reliability and adaptability is the key for space debris cleaning devices to capture debris. A design scheme of flexible catch claw-type space debris capture mechanism based on constant torque spring deployment is proposed, which has the advantages of light weight, high capture reliability and high adaptability. The new flexible catching mechanism is mainly composed of a multi-finger flexible catching claw, a transmission device, and a locking device. In the multi-finger flexible catching claw, a constant torque spring is used as a passive drive deployment mechanism, and a carbon fiber rod is used as an actuator. The transmission device uses a ball screw to drive the link mechanism to move. The locking device provides a controllable deployment function at a predetermined position. This paper introduces the structure design of the capture mechanism and the research on synchronized deployment of the catch claws. Finally, the kinetic simulation results for evaluating the capture performance are given. © 2020 IEEE.

关键词： Space debris

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Analysis of Bifurcation and Chaotic Behavior of the Micro Piezoelectric Pipe-Line Robot Drive system with Stick - Slip Mechanism

SSRN

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SSRN 2023年

作者： Xing, Jichun Ning, Chao Zhi, Yuan Howard, Ian School of Mechanical Engineering Yanshan University Qinhuangdao066004 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China School of Civil and Mechanical Engineering Curtin University Perth6001 Australia

Pipeline robots using the conventional driving mode have encountered a bottleneck in miniaturization. To address this problem, a micro piezoelectric pipeline robot based on the inertia stick-slip driving principle is proposed in this paper. The robot is well suited to the inspection needs of micro pipes. However, undesirable design parameters found during the structural optimization phase can lead to unstable operation and reduced load capacity of the robot, and can even cause the drive system to stop with chaotic behavior. Therefore, the nonlinear dynamics model of the four degree of freedom discrete system of the pipeline robot is established. The Runge-Kutta method is used to solve the dynamic response of each nonlinear subsystem. The nonlinear dynamical behavior of the system is analyzed through the bifurcation diagram, time domain diagram, phase diagram, Poincaré map and power spectrum diagram of each subsystem response. The stable operation intervals of the machine and electrical parameters in the drive system are given, and the conditions for the occurrence of chaotic behavior are determined. This research can help to determine and optimize the structural parameters of the piezoelectric stick-slip pipeline robot, thus avoiding chaotic behavior and ensuring that the robot maintains good operational performance. © 2023, The Authors. All rights reserved.

关键词： Stick-slip

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Lower Limb Rehabilitation Motion Angle Measurement Based On Deep Learning YOLOv3 Model 2

Lower Limb Rehabilitation Motion Angle Measurement Based On ...

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2021 2nd International Conference on Machine Learning and Computer Application, ICMLCA 2021

作者： Yang, Yunlong Wang, Liancheng Yao, Yufeng He, Chenxi Yin, Hesheng Weihai Furui Robotics Co. Ltd Weihai China Tianzhi Institute of Innovation and Technology Weihai Economic and Technological Development Zone Weihai China Weihai China State Key Laboratory of Robotics Harbin Institute of Technology System Department of Mechanical Engineering Harbin China

ISBN: (纸本)9783800757398

The aging of the population and the high incidence of hemiplegia have led to an increasing demand for easy-to-use rehabilitation training. The feedback sensing system which can measure and analyze the lower limb rehabilitation motions is highly significant for improving the rehabilitation outcome. Computer vision-based human motion angle measurement has attracted significant interest. This study aims to measure and analyze the lower limb motion angle in the sagittal plane with a single RGB camera. This paper proposes a method for extracting and monitoring of the lower limb marker points based on YOLOv3 and DarkNet-53 convolutional neural networks, and optimizes the pixel coordinates of the target point based on Kalman. The measurement accuracy of the proposed method is tested by JACO robotic arm, and the test shows that the standard deviation (SD) of the measurement is less than 0.5°. © VDE VERLAG GMBH · Berlin · Offenbach.

关键词： Neural networks

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The Application of Acceleration-Level Quaternion Interpolation in the Visual-Servoing Process

The Application of Acceleration-Level Quaternion Interpolati...

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International Conference on Computer and Automation Engineering, ICCAE

作者： Xiaoyu Zhao Yang Liu Zongwu Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Visual servoing process is widely applied in robot control. In the visual servoing process, an interpolation of the robot end pose is necessary. In the interpolation, quaternion suffers a lot for the discontinuity in trajectory velocity and acceleration. In this paper, we propose an acceleration-level continuous interpolation method and apply it to visual servoing process. In the method, we make up use of the conversion between different rotation descriptors and achieve a smooth enough trajectory. Simulations and experiments are carried out to validate the method and the results show considerable performance.

关键词： Interpolation Visualization Automation Quaternions Computational modeling Robot control Process control

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Multi-Slip Conditions Acquisition of Planetary Rovers with Application to Terrain Parameter Identification*

Multi-Slip Conditions Acquisition of Planetary Rovers with A...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Ye Yuan Huaiguang Yang Chaojie Yang Liang Ding Haibo Gao Nan Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665431545

Planetary rovers, integrated with the state-of-the-art technologies in different fields, are required to explore extraterrestrial surfaces to achieve their scientific goals. The perception of the extraterrestrial environment, especially the terrain, greatly affects the mobility of rovers. The estimation of terrain parameters often requires wheel-terrain interaction data under various slip ratios. The data of multi-slip conditions can be obtained by adjusting the slope angles of the terrain or rover load in experiments. However, these methods are neither safe nor practical for planetary rovers that are exploring extraterrestrial planets. In this study, the required wheel slip conditions can be obtained based on the Monte Carlo method and terramechanics theory, by actively adjusting rotation speeds of the rover’s wheels. Simulations in the Vortex physics engine environment verified that the proposed method could generate the multi-slip conditions in a flat terrain without requiring the rover to go up/down high slopes. Furthermore, by measuring the wheel-terrain interaction data, normal force, drawbar pull, driving torque, sinkage under various slip ratios the terrain parameters can be estimated.

关键词： Space vehicles Torque Parameter estimation Monte Carlo methods Mechatronics Planets Machine vision

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A Model-Free Synchronous Control of Humanoid Robot Finger

A Model-Free Synchronous Control of Humanoid Robot Finger

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ziqi Liu Li Jiang Bin Yang Chongyang Li Ming Cheng Shaowei Fan Dapeng Yang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

For a multi-fingered robot hand, the individual control over single joints cannot guarantee their fine collaboration. For achieving a high-precision synchronization, a theory of synchronous control is introduced to multi-fingered robot hands. This paper introduced a new model-free and cross-coupling control strategy. It had been tested on the humanoid robot fingers and showed high positioning performance. For realizing the mutual influence between the control of all joints, we establish the synchronization error by the differential disposal of adjacent actuator errors, then position errors and synchronization errors are incorporated into a unified control frame. Meanwhile, considering the complex dynamic formulations of the dexterous hand and the characteristics of the control system, a model-free, cross-coupled trajectory tracking method is introduced and the explicit dynamic modeling parameters is not necessary. Finally, we tested our method on a multi-fingered hand platform HIT/DLR-II. The results prove that the new method has superior performance over traditional non-synchronous approaches.

关键词： Automation Trajectory tracking Conferences Force Humanoid robots Collaboration Kinematics

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