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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Fan, Yixiao Li, Xu Feng, Haibo Zhang, Songyuan Zhang, Chengbo Fu, Yili Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province150001 China

ISBN: (纸本)9781728163215

This paper presents the force control strategies and a kind of compliance control strategies of the hydraulic- driven unit (HDU) in the legged robots. The model of HDU is established and the transfer function of the HDU force control system is given. The analysis of the force control strategies is introduced according to the characteristic of the HDU system. Based on the force control strategy called velocity feedback control strategy which performs the best, the virtual model control strategy which is a kind of compliance control strategy is presented to enhance the adaptability of the legged robot. Finally, the experiments are taken on the HDU experiment platform to test the performance of the force control strategies and the compliance control strategy. The landing buffer experiments are taken on the single leg robot to verify the effectiveness of the compliance control strategy. In the landing buffer experiments, the impact force of the single leg robot's knee HDU is about 0.33 time of what it is without the compliance control strategy while landing. © 2019 IEEE.

关键词： Compliance control

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Extrinsic calibration between a stereo system and a 3D LIDAR

Extrinsic calibration between a stereo system and a 3D LIDAR

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Zhai, Yanwu Feng, Haibo He, Jia Li, Enbo Zhang, Songyuan Fu, Yili Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province150001 China

ISBN: (纸本)9781728163215

As the robot gradually develops from indoor to outdoor, multi-sensor fusion is increasingly being applied to the field of robot perception. Among them, LiDAR and binocular sensors are most widely used. Robots use the complementary and redundant data they provide to perform environmental perception and implement certain functions of the robot, such as SLAM, autonomous obstacle avoidance and so on. However, the data obtained by each sensor are relative to its own coordinate system. Data must be converted to a unified coordinate system before data fusion. Therefore, the calibration of the transformation among sensors is the first problem to be solved in data fusion. Moreover, the accuracy of calibration is directly related to the effect of data fusion. Therefore the calibration between sensors is very important and necessary. In this paper, we propose a novel method to find accurate rigid-body transformation for the extrinsic calibration of a 3D LiDAR and a stereo cameras, using two Aruco calibration boards. Also the validity of the algorithm is demonstrated by some experiments. © 2019 IEEE.

关键词： Calibration

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Using permanent magnetic array device to detumble and despin defunct spacecraft 5

Using permanent magnetic array device to detumble and despin...

引用

2019 5th International Conference on Applied Materials and Manufacturing technology, ICAMMT 2019

作者： Xie, Zongwu Gong, Pixu Liang, Mengde Zhang, Qi Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Province Harbin150001 China

For the mission of detumbling and despinning the space debris, like defunct satellites, it is highly reliable and safe to use the permanent magnetic array device (PMAD). Based on the electromagnetic principle, the target's attitude dynamics is analysed, the electromagnetic torque is studied, the formula of electromagnetic force is simplified, and the stability of the nutation Angle is obtained. The rotation speed and attitude of PMAD are controlled by a dual-manipulator space robot to ensure that the component of the torque on the spin axis is zero. So the target will be only affected by the transverse component of the torque, and then the nutation angle decreases gradually to zero. When mission completed, the dual-manipulator space robot can deorbit or maintain on-orbit servicing, which is a significant exploration. © Published under licence by IOP Publishing Ltd.

关键词： Space debris

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Model learning for two-wheeled robot self-balance control

Model learning for two-wheeled robot self-balance control

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Li, Enbo Feng, Haibo Zhou, Haitao Li, Xu Zhai, Yanwu Zhang, Songyuan Fu, Yili Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province150001 China

ISBN: (纸本)9781728163215

Two-wheeled robots have many advantages over other mobile robots, but they are difficult to self-balance compared with other wheeled robots. Reinforcement learning (RL) is a general framework for sequential decision-making problems. So far, there are many applications of reinforcement learning to solve robot control problems, but most of them are used in simulators because of the large amount of data required. In addition, due to the reality gap, the policy learned in a simulation environment cannot be transferred directly to a real robot. Real robot data often expensive due to the potential damage to the robot. Model-based methods require far fewer robot data than model-free methods, but these methods have the problem of model bias. In this paper, we use a model-based reinforcement learning method to achieve self-balance of a two-wheeled robot. We present a model learning method that can reduce the problem of model bias. Our method combines the simulator and a few real robot data to learn a probabilistic dynamics model of the robot through an iterative way, which requires no expertise and can learn from scratch. Then the control policy is optimized based on the learned model. © 2019 IEEE.

关键词： Reinforcement learning

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A visual calibration method of monocular camera and pan-tilt for mobile robots

A visual calibration method of monocular camera and pan-tilt...

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2019 IEEE International Conference on Real-Time Computing and robotics, RCAR 2019

作者： Sun, Jingwen Zhao, Lijun Wang, Ke Zhao, Yujia Meng, Xiangbo Mao, Chuwei Wang, Jiancheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electrical Engineering Automation Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728137261

In the competition of 'RoboMaster', the robot, a mobile platform with a two-axis pan-tilt and a barrel, needs to shoot the target by launching a projectile. In order to detect and shoot the target automatically, we develop a visual system with a monocular camera mounted on the chassis. Based on some target detection algorithms, the target's 3D pose in the camera coordinate system is obtained. As the launching mechanism of the robot is on the two-axis pan-tilt, it demands to further obtain target's pose in the pan-tilt coordinate system to achieve precise shooting. Therefore, how to obtain the relative position between the camera coordinate system and the pan-tilt coordinate system is the main problem in our research. We propose a fast and effective method for the relative position calibration between the camera and two-axis pan-tilt based on specular reflection. We utilize a plane mirror to reflect the laser pointer light path mounted on the barrel. Then, the camera calibration method is applied to obtain the rotation matrix between the camera coordinate system and the world coordinate system. We finally verify the effectiveness of our method through experiments and achieve the first place in the competition. © 2019 IEEE.

关键词： Calibration

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Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots

arXiv

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arXiv 2023年

作者： Arm, Philip Waibel, Gabriel Preisig, Jan Tuna, Turcan Zhou, Ruyi Bickel, Valentin Ligeza, Gabriela Miki, Takahiro Kehl, Florian Kolvenbach, Hendrik Hutter, Marco Robotic Systems Lab ETH Zurich Zurich Switzerland State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Laboratory of Hydraulics Hydrology and Glaciology ETH Zurich Zurich Switzerland Center for Space and Habitability University of Bern Bern Switzerland Department of Environmental Sciences University of Basel Basel Switzerland University of Zurich Dübendorf Switzerland Center for Theoretical Astrophysics and Cosmology University of Zurich Zurich Switzerland Institute of Medical Engineering Space Biology Group Lucerne University of Applied Sciences and Art Hergiswil Switzerland

The interest in exploring planetary bodies for scientific investigation and in-situ resource utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art planetary exploration robots because of the robots’ inability to traverse steep slopes, unstructured terrain, and loose soil. Additionally, current single-robot approaches only allow a limited exploration speed and a single set of skills. Here, we present a team of legged robots with complementary skills for exploration missions in challenging planetary analog environments. We equipped the robots with an efficient locomotion controller, a mapping pipeline for online and post-mission visualization, instance segmentation to highlight scientific targets, and scientific instruments for remote and in-situ investigation. Furthermore, we integrated a robotic arm on one of the robots to enable high-precision measurements. Legged robots can swiftly navigate representative terrains, such as granular slopes beyond 25 degrees, loose soil, and unstructured terrain, highlighting their advantages compared to wheeled rover systems. We successfully verified the approach in analog deployments at the BeyondGravity ExoMars rover testbed, in a quarry in Switzerland, and at the Space Resources Challenge in Luxembourg. Our results show that a team of legged robots with advanced locomotion, perception, and measurement skills, as well as task-level autonomy, can conduct successful, effective missions in a short time. Our approach enables the scientific exploration of planetary target sites that are currently out of human and robotic reach. Copyright © 2023, The Authors. All rights reserved.

关键词： Robots

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Control of the two-wheeled inverted pendulum (TWIP) robot moving on the continuous uneven ground

Control of the two-wheeled inverted pendulum (TWIP) robot mo...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Zhou, Haitao Li, Xu Feng, Haibo Li, Enbo Ding, Pengchao Zhai, Yanwu Zhang, Songyuan Fu, Yili Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province150001 China

ISBN: (纸本)9781728163215

Uneven terrain is common in natural environment. The TWIP robot has demonstrated its rapid movement ability in even ground in previous works. This paper explores control of the TWIP robot in the continuous uneven ground except the step case. The sinusoidal function and the piece-wise linear function type ground surface are taken as an example to explore motion characteristics of robots on complex terrain. As for the robotic system, continuous or step changes of slope are the main types of disturbance to it. To cope with these disturbance, a Sliding Mode Control (SMC) is used to design the nominal controller due to its insensitivity to uncertainty. Then, the Extended Kalman Filter (EKF) is adopted to estimate the slope of unknown terrain without any ground information from sensors but according to motion state of robot and the Equilibrium Point Estimation (EPE) is then achieved based on the obtained slope angle. In simulation, the TWIP robot moves on these two types of uneven ground surface to track the reference position or velocity trajectory. The comparative experimental results have demonstrated that SMC combined with the EPE method can enable TWIP robot to locomote on some limited uneven ground with higher stability and dynamic performance, compared to the single LQR and the single SMC method. Also, the proposed algorithm has been conduted successfully on the WIP-Bot robot to travel upward and downward slope. © 2019 IEEE.

关键词： Sliding mode control

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Joint Counting, Detection and Re-Identification for Multi-Object Tracking

arXiv

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arXiv 2022年

作者： Ren, Weihong Wu, Denglu Cao, Hui Chen, Xi'ai Han, Zhi Liu, Honghai The School of Mechanical Engineering and Automation State Key Lab of Robotics and Systems Harbin Institute of Technology Shenzhen518055 China The Shenzhen Duorou Intelligent System Co. Ltd. Shenzhen518055 China The School of Electrical Engineering Xi’an Jiaotong University Xi’an710049 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Beijing110169 China

The recent trend in 2D multiple object tracking (MOT) is jointly solving detection and tracking, where object detection and appearance feature (or motion) are learned simultaneously. Despite competitive performance, in crowded scenes, joint detection and tracking usually fail to find accurate object associations due to missed or false detections. In this paper, we jointly model counting, detection and re-identification in an end-to-end framework, named CountingMOT, tailored for crowded scenes. By imposing mutual object-count constraints between detection and counting, the CountingMOT tries to find a balance between object detection and crowd density map estimation, which can help it to recover missed detections or reject false detections. Our approach is an attempt to bridge the gap of object detection, counting, and re-Identification. This is in contrast to prior MOT methods that either ignore the crowd density and thus are prone to failure in crowded scenes, or depend on local correlations to build a graphical relationship for matching targets. The proposed MOT tracker can perform online and real-time tracking, and achieves the state-of-the-art results on public benchmarks MOT16 (MOTA of 79.7%), MOT17 (MOTA of 81.3%) and MOT20 (MOTA of 78.9%). Source code is available at https://***/weihong9/CountingMOT. Copyright © 2022, The Authors. All rights reserved.

关键词： Object detection

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Dynamic Objects Detection Based on Stereo Visual Inertial system in Highly Dynamic Environment 16

Dynamic Objects Detection Based on Stereo Visual Inertial Sy...

引用

16th IEEE International Conference on Mechatronics and Automation, ICMA 2019

作者： He, Jia Zhai, Yanwu Feng, Haibo Zhang, Songyuan Fu, Yili State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province150001 China

ISBN: (纸本)9781728116983

Vision-based solution is a popular research for 6-DOF state estimation in recent years. All of these algorithms are based on the assumption that surrounding is static. Actually, in a highly dynamic environment, estimated state is mixed, including robot and dynamic objects. To this end, an approach for detecting dynamic objects based on the velocity of feature points is proposed in this paper. Our approach establishes the model of the velocity of feature points and separates dynamic objects motion from the mixed motion by comparing the velocity of IMU (inertial measurement unit) and feature points. Finally, the detection results of dynamic feature points on the left and right cameras' front and rear frames are fused and verified to eliminate the influence of noise and mismatching. Experimental results prove that our approach can get more accurate state estimation, which shows that this method is effective in high dynamic environments. © 2019 IEEE.

关键词： Object detection

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Power Consumption Characteristics Research on Mobile system of Electrically Driven Large-Load-Ratio Six-Legged Robot

Research Square

引用

Research Square 2021年

作者： Zhuang, Hong-Chao Wang, Ning Gao, Hai-Bo Deng, Zong-Quan School of Mechanical Engineering Tianjin University of Technology and Education Tianjin300222 China School of Information Technology Engineering Tianjin University of Technology and Education Tianjin300222 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

To research the power consumption characteristics of mobile system of an electrically driven large-load-ratio six-legged robot with engineering capability is beneficial to speed up it toward practicability. Based on the configuration and walking modes of robot, the mathematical model of the power consumption of mobile system is set up. In view of the tripod gait is often selected for the six-legged robots, the simplified power consumption model of mobile system under the tripod gait is established by means of reducing the dimension of the robot's statically indeterminate problem and constructing the equal force distribution. Then, the power consumption of robot mobile system is solved under different working conditions. The variable tendencies of the power consumption of robot mobile system are respectively obtained with changes in the rotational angles of hip joint and knee joint, body height, and span. The articulated rotational zones and the ranges of body height and span are determined under the lowest power consumption. According to the walking experiments of prototype, the variable tendencies of the average power consumption of robot mobile system are respectively acquired with changes in the duty ratio, body height, and span. Then, the feasibility and correctness of theory analysis are verified in the power consumption of robot mobile system. The proposed analysis method in this paper can provide a reference on the lower power research of the large-load-ratio multi-legged robots. © 2021, CC BY.

关键词： Electric power utilization

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