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IEEE International Conference on robotics and Biomimetics

作者： Yi Liu Junyue Tang Yafang Liu Gongbo Ma Feng Sun Ye Li Shengyuan Jiang Shenyang University of Technology Shenyang P. R. China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China Beijing Institute of Spacecraft System Engineering Beijing P. R. China Beijing P. R. China

To exactly detect the water ice of the South Pole of the moon, a lunar regolith in-situ analysis payload deploying a mass spectrometer is proposed for China future lunar exploration missions. In order to receive the lunar regolith sample from a robotic arm with a soil sampler and transfer it into a furnace for further analysis, a sample manipulation mechanism is required during the above work flow. To solve the problems of adapting the sampler’s docking accuracy, receiving and transferring two different types of lunar soil sample under times of in-situ analysis, etc., a sample repetitive manipulation mechanism (SRMM) is proposed in this paper. By using a floating adjustable docking components and a flexible hopper, two types of encapsulated regolith sample and bulk material sample can be received with minimal sample loss, respectively. In order to receive and transfer two types of samples multiple times, two sample receiving methods have been designed that can be repeatedly transferred. A worm and worm wheel combined with a ball screw is designed in SRMM. To verify the above mechanism design, validation experiments were conducted. It indicates that this novel SRMM can be deployed in the future mission after further environmental tests.

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An Adaptive Force Control Architecture with Fast-Response and Robustness in Uncertain Environment∗

An Adaptive Force Control Architecture with Fast-Response an...

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IEEE International Conference on robotics and Biomimetics

作者： Xin Shu Fenglei Ni Kang Min Yechao Liu Hong Liu The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781665405362

One of the fundamental requirements for the success of a manipulation task is the capacity to handle the interaction between manipulator and environment. However, there are many uncertain factors during the interaction, such as the shape of objects, contact stiffness, and external interference. The performance of force control pursues fast-response and robustness, but it is not an effective solution to apply the traditional impedance control to track force in an uncertain environment. Herein, an adaptive force control architecture is proposed, which has the capability to compensate for environmental uncertainties. Simulations and experiments of tracking constant/variable desired force in constant/variable stiffness environment and on an unknown shape surface are carried out. The proposed approach is contrasted with some classic methods in the indexes of overshoot, transient response, tracking error, and robustness. The results comparison confirms that the proposed control law is superior in fast-response and robustness in uncertain environments.

关键词： Transient response Surface impedance Uncertainty Shape Force Interference Manipulators

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A grasshopper-inspired miniature piezoelectric actuator integrated with three vibrating units

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International Journal of Mechanical Sciences 2025年 300卷

作者： Wang, Yingzhi Zhang, Bingwei Deng, Jie Zhang, Shijing Chen, Weishan Liu, Yingxiang State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Province Harbin150001 China

Miniature piezoelectric actuators (MPAs) have been extensively investigated owing to their gram-scale mass, sub-micrometer resolution, and milliwatt-range power consumption. However, improving their output characteristics (force, speed, resolution) while maintaining miniaturization remains challenging. In this study, a three-vibrating-unit MPA (3VU-MPA) was proposed, which consists of three vibrating units (VUs) and two integrated vibration isolation mechanisms (VIMs). The design of the VIM was analyzed using the transfer matrix method and finite element analysis. The VIM design enables the 3VU-MPA to work in three working modes: individual excitation, alternating excitation and cooperative excitation. A prototype was fabricated and experimentally evaluated, measuring 15.4 × 15.6 × 30 mm3 and weighing 4.7 g. A maximum speed of 351.8 mm/s was achieved by the 3VU-MPA under no-load conditions, while a maximum payload capacity of 203.5 g was obtained at reduced speed. A maximum speed of 197.7 mm/s was achieved with a traction force of 46.1 mN when climbing vertical rods. Additionally, a displacement resolution of 0.15 μm was obtained. This work provides a feasible approach to enhance both output performance and working mode diversity in MPAs. © 2025 Elsevier Ltd

关键词： Vibration analysis

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A Novel Non-cooperative Target Capture Tool for Defunct Satellite 17

A Novel Non-cooperative Target Capture Tool for Defunct Sate...

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

作者： Sun, Yongjun Liu, Yiwei Jin, Minghe Liu, Rongqiang Liu, Hong Harbin Institute of Technology School of Mechatronics Engineering State Key Laboratory of Robotics and System Harbin Heilongjiang Province China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164151

With the increase of defunct satellites, the orbit resource of the Earth is becoming more and more shortage. As one of the key technologies, the capture of non-cooperative targets has become a research hotspot. Due to its obvious characteristics, easy identification, high strength and high stiffness, the Launch Adapter Ring (LAR) has become a capture object on the defective and tumbling satellite. In this paper, a novel LAR capture tool is developed, and the LAR capture tool is designed, manufactured and tested. In order to improve the probability of grasp, the direct drive was adopted. The main research contents are as follows: overall design of the capture tool, design of electromagnetic brake, analysis of kinematics, and test the prototype. © 2020 IEEE.

关键词： Orbits

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Mechanism Design and Motion Analysis of Heavy⁃Load Transfer Robot with Parallel Four⁃Bar Mechanism

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Transactions of Nanjing University of Aeronautics and Astronautics 2022年第5期39卷 606-618页

作者： ZHANG Jing WANG Dongbao WU Guangping GUO Hongwei LIU Rongqiang College of Mechanical and Vehicle Engineering Taiyuan University of TechnologyTaiyuan 030024P.R.China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong UniversityShanghai 200240P.R.China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

Heavy-load transfer robots are widely used in automobile production and machinery manufacturing to improve production *** order to meet the needs of large billet transfer,a 4-DOF transfer robot is designed in this paper,which consists of parallel four-bar *** Jacobian matrix referring to the mapping matrix from the joint velocity to the operating space velocity of the transfer robot can be solved by the differential-vector *** mean value of the Jacobian matrix condition number in the workspace is used as the global performance index of the robot velocity and the optimization *** constraint condition is established based on the actual working *** the linkage length optimization is carried out to decrease the length of the linkage and to increase the global performance index of *** total length of robot rods is reduced by 6.12%.The global performance index of velocity is improved by 45.15%.Taking the optimized rod length as the mechanism parameter,the distribution of the motion space of the transfer robot is ***,the results show that the proposed method for establishing the Jacobian matrix of the lower-mobility robot and for the optimization of the rods based on the velocity global performance index is accurate and *** workspace distribution of the robot meets the design requirements.

关键词： parameter optimization motion analysis mechanism design transfer robot heavy-load

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Directional sliding of water:biomimetic snake scale surfaces

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Opto-Electronic Advances 2021年第4期4卷 35-46页

作者： Yizhe Zhao Yilin Su Xuyan Hou Minghui Hong Department of Electrical and Computer Engineering National University of Singapore4 Engineering Drive 3117576Singapore State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Bioinspired superhydrophobic surfaces have attracted many industrial and academic interests in recent *** by unique superhydrophobicity and anisotropic friction properties of snake scale surfaces,this study explores the feasibility to produce a bionic superhydrophobic stainless steel surface via laser precision engineering,which allows the realization of directional superhydrophobicity and dynamic control of its water *** mechanism of water sliding on hierarchical snake scale structures is studied,which is the key to reproduce artificially bioinspired multifunctional materials with great potentials to be used for water harvesting,droplet manipulation,pipeline transportation,and vehicle acceleration.

关键词： biomimetic hierarchical micro/nanostructures directional superhydrophobicity anisotropic friction

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Bipedal Robust Walking on Uneven Footholds: Piecewise Slope LIPM with Discrete Model Predictive Control

arXiv

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arXiv 2025年

作者： Shi, Yapeng Li, Sishu Wu, Yongqiang Liu, Junjie Leng, Xiaokun Zang, Xizhe Piao, Songhao Faculty of Computing Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

This study presents an enhanced theoretical formulation for bipedal hierarchical control frameworks under uneven terrain conditions. Specifically, owing to the inherent limitations of the Linear Inverted Pendulum Model (LIPM) in handling terrain elevation variations, we develop a Piecewise Slope LIPM (PS-LIPM). This innovative model enables dynamic adjustment of the Center of Mass (CoM) height to align with topographical undulations during single-step cycles. Another contribution is proposed a generalized Angular Momentum-based LIPM (G-ALIP) for CoM velocity compensation using Centroidal Angular Momentum (CAM) regulation. Building upon these advancements, we derive the DCM step-to-step dynamics for Model Predictive Control MPC formulation, enabling simultaneous optimization of step position and step duration. A hierarchical control framework integrating MPC with a Whole-Body Controller (WBC) is implemented for bipedal locomotion across uneven stepping stones. The results validate the efficacy of the proposed hierarchical control framework and the theoretical formulation. Copyright © 2025, The Authors. All rights reserved.

关键词： Piecewise linear techniques

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Toward the smooth mesh climbing of a miniature robot using bioinspired soft and expandable claws

arXiv

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arXiv 2022年

作者： Wang, Hong Liu, Peng Ngoc, Phuoc Thanh Tran Li, Bing Li, Yao Sato, Hirotaka State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China The School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore Singapore

While most micro-robots face difficulty traveling on rugged and uneven terrain, beetles can walk smoothly on the complex substrate without slipping or getting stuck on the surface due to their stiffness-variable tarsi and expandable hooks on the tip of tarsi. In this study, we found that beetles actively bent and expanded their claws regularly to crawl freely on mesh surfaces. Inspired by the crawling mechanism of the beetles, we designed an 8-cm miniature climbing robot equipping artificial claws to open and bend in the same cyclic manner as natural beetles. The robot can climb freely with a controllable gait on the mesh surface, steep incline of the angle of 60°, and even transition surface. To our best knowledge, this is the first micro-scale robot that can climb both the mesh surface and cliffy incline. © 2022, CC BY.

关键词： Robots

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Corrigendum to “Development of a miniature piezoelectric robot combining three unconventional inertial impact modes” [Sens. Actuators A Phys. 365 (2024) 114898]

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Sensors and Actuators A: Physical 2024年 367卷

作者： Jing Li Boliang Xu Jie Deng Weishan Chen Yingxiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology China

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PillarNet: Real-Time and High-Performance Pillar-based 3D Object Detection

arXiv

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arXiv 2022年

作者： Shi, Guangsheng Li, Ruifeng Ma, Chao State Key Laboratory of Robotics and System Harbin Institute of Technology China MoE Key Lab of Artificial Intelligence AI Institute Shanghai Jiao Tong University China

Real-time and high-performance 3D object detection is of critical importance for autonomous driving. Recent top-performing 3D object detectors mainly rely on point-based or 3D voxel-based convolutions, which are both computationally inefficient for onboard deployment. In contrast, pillar-based methods use solely 2D convolutions, which consume less computation resources, but they lag far behind their voxel-based counterparts in detection accuracy. In this paper, by examining the primary performance gap between pillar- and voxel-based detectors, we develop a real-time and high-performance pillar-based detector, dubbed PillarNet. The proposed PillarNet consists of a powerful encoder network for effective pillar feature learning, a neck network for spatial-semantic feature fusion and the commonly used detect head. Using only 2D convolutions, PillarNet is flexible to an optional pillar size and compatible with classical 2D CNN backbones, such as VGGNet and ResNet. Additionally, PillarNet benefits from our designed orientation-decoupled IoU regression loss along with the IoU-aware prediction branch. Extensive experimental results on the large-scale nuScenes Dataset and Waymo Open Dataset demonstrate that the proposed PillarNet performs well over state-of-the-art 3D detectors in terms of effectiveness and efficiency. Code is available at https://***/agent-sgs/PillarNet. © 2022, CC BY-SA.

关键词： Object detection

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