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Real-time Dynamic Grasping Force Optimization of Multi-fingered Dextrous Hand *

Real-time Dynamic Grasping Force Optimization of Multi-finge...

引用

IEEE International Conference on robotics and Biomimetics

作者： Ziqi Liu Li Jiang Bin Yang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

A technique for real-time dynamic grasping force optimization is presented in this article. The force optimization is divided into online and offline two parts. The improved linear constrained gradient flow algorithm reduces the dimension of the description matrix based on the traditional gradient flow, and the non-negative linear combination method is introduced to optimize the initial force of the algorithm. Relatively optimal initial grasping force and dimensionality reduction gradient flow algorithm improve the calculating efficiency online. The corresponding illustrative examples are made to verify that the proposed method to obtain both optimal grasping force and faster convergence rate in the dynamic grasp process is feasible.

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Walking of biped robot with variable stiffness at the ankle joint

Walking of biped robot with variable stiffness at the ankle ...

引用

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Bi, Qing Liu, Yixiang Zang, Xizhe Song, Rui Wang, Haibin Li, Weimin Chinese Academy of Sciences Shandong Institute of Advanced Technology Jinan250001 China Shandong University School of Control Science and Engineering Jinan250061 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150080 China

ISBN: (纸本)9781728163215

Achieving versatile and efficient walking on biped robots is an important research objective. The impact between the foot and the ground has significant effects on the walking stability of biped robots. Research on human walking indicates that the joints in human lower limbs show different stiffness values in different phases of walking. Inspired by humans, this paper presents the realization of biped robot walking with variable stiffness at the ankle joint. A walking control scheme which combines PD control and variable impedance control is designed for the biped robot. Results of dynamic walking simulation verified that variable stiffness at the ankle joint could contribute to the improvement of walking stability and energy efficiency. © 2019 IEEE.

关键词： Energy efficiency

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An Improved Dynamic Window Approach Integrated Global Path Planning

An Improved Dynamic Window Approach Integrated Global Path P...

引用

IEEE International Conference on robotics and Biomimetics

作者： Fuhai Zhang Ning Li Tiegang Xue Ying Zhu Rupeng Yuan Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Aiming at the shortcomings of dynamic windowing algorithm (DWA) into local optimal solution. This work studys a modified DWA algorithm integrated global path planning. By introducing the result of global path planning as a reference trajectory, a novel evaluation function is designed which makes the optimal trajectory be guaranteed. In addition, the work also proposes the evaluation sub-function of direction, the evaluation sub-function of smoothing speed and the evaluation sub-function of acceleration, separately, ensures the direction, smoothness and speed of movement. The algorithm is verified in mobile robot, experimental results show that the algorithm optimizes the path of mobile robot, simultaneously, the advantages of the traditional DWA, such as the practicability and continuity of motion are retained.

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Development of a Novel Hand-eye Coordination Algorithm for Robot Assisted Minimally Invasive Surgery*

Development of a Novel Hand-eye Coordination Algorithm for R...

引用

IEEE International Conference on robotics and Biomimetics

作者： Yanwen Sun Bo Pan Yili Fu Guojun Niu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

The minimally invasive surgical robot greatly improved surgical OR efficiency, and surgeon manipulates the surgical instruments through master-slave control under the guidance of laparoscope vision. As a mapping of the surgeon's hand-eye coordination, the coordination between surgical instruments and laparoscope has an important impact on the surgical efficiency and the ergonomics. In this paper, a novel hand-eye coordination algorithm is proposed for the robot -assisted minimally invasive surgery (RMIS). Firstly, a novel cascade-calibration (CC) algorithm structure is proposed to determine the pose relationship between the robot laparoscope arm coordinate system and the robot instruments arm coordinate system. A hand-eye coordination algorithm is also proposed, which provides accurate master-slave control and improves the surgical operation room (OR) efficiency. We validate the proposed algorithm through two experiments with our minimally invasive surgical robot system. Our experiments demonstrate that the proposed method is competitively effective to induce the hand-eye coordination for the RMIS.

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A New Method For Fiber Bragg Grating Based Needle Shape Sensing Calibration*

A New Method For Fiber Bragg Grating Based Needle Shape Sens...

引用

IEEE International Conference on robotics and Biomimetics

作者： LeiFeng Zhang ChangLe Li XueHe Zhang GangFeng Liu YuBin Liu Jie Zhao Guang Ban YiLun Fan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Accurate placement of the needle is critical in percutaneous surgery. Needle shape reconstruction technology based on fiber Bragg gratings (FBGs) sensor is considered to have the potential to achieve this goal. In this paper, we present a temperature-insensitive calibration model for calibrating needles with FBG sensors to accurately estimate its deformation. In addition, we have designed a device for simultaneously calibrating the loading direction and shape. Preliminary results indicate that the proposed model is theoretically insensitive to temperature, but in fact it can only be used within a certain temperature range. The resolution of the loading direction increases as the degree of bending increases, with a maximum error of 8.58°. Shape reconstruction error can be less than 1.5mm with small needle bending. This calibration method can meet clinical applications.

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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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IEEE International Conference on robotics and Biomimetics

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

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.

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A Vector Control Method of PMSM Using Single Phase Current Sensor

A Vector Control Method of PMSM Using Single Phase Current S...

引用

IEEE International Conference on robotics and Biomimetics

作者： Chuangqiang Guo Chunya Wu Fenglei Ni Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper presents a new method of realizing vector control for the surface mounted permanent magnet synchronous machine (PMSM) using single phase current sensor. A simplified estimating method of phase current, which only requires the information from single phase current sensor and motor position sensor, has been proposed in this paper. Compared with the classical approaches, based on the reference current in synchronous rotor frame, the proposed method can get better accuracy, especially when there is a sudden change of the reference current. Furthermore, the method not relays on the model and parameters of PMSM and the control performance of current close-loop and also not sensitive to working conditions. The extensively experimental results under different work conditions, based on MATLAB/SIMULINK, have validated the feasibility and robustness of the proposed vector control method.

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Closed-Form Analytical Model of Binding Force for Wheeled Mobile Robots with Skid-Steering Mechanism Running on Sandy Terrains

Closed-Form Analytical Model of Binding Force for Wheeled Mo...

引用

IEEE International Conference on Cyber technology in Automation, Control, and Intelligent systems

作者： Junlong Guo Xin Meng Liang Ding Haibo Gao Huang Bo Weihua Li Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

Wheeled mobile robot (WMR) with skid-steering mechanism is popular due to its simplicity and robust performance. Dynamic models of skid-steering systems are very important to their control, and binding force is one essential component of the dynamic models. Integrating the bulldozing resistance force determined using Hegedus's theory along the wheel side face to estimate the binding force is a common way. However, due to the complexity of Hegedus's equations, it is hard to use the binding force model online. To solve this problem, the equivalent wheel sinkage is utilized to compute the bulldozing resistance force, which can then be used to develop a closed-form analytical expression of binding force. The analytical model is used to compute the binding force based on the experimental results obtained using a six-wheeled mobile robot running on a sandy terrain UM-LSS1 and the measured terrain mechanical parameters. Under the specific experimental conditions described in this paper, the binding force exerted on the wheel side face can be neglected for the cases with light vehicle and low forward velocity.

关键词： Conferences Robots Automation Control systems Intelligent systems Wheels Force

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Object-Aware Hybrid Map for Indoor Robot Visual Semantic Navigation*

Object-Aware Hybrid Map for Indoor Robot Visual Semantic Nav...

引用

IEEE International Conference on robotics and Biomimetics

作者： Li Wang Ruifeng Li Jingwen Sun Lijun Zhao Hezi Shi Hock Soon Seah Budianto Tandianus State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In order to achieve an intuitive interaction and visual semantic navigation for the indoor robot, we propose a novel object-aware hybrid map. The existing map is usually a metric map, lacking semantics for interaction. We combine objects in the indoor environment with the metric map to constitute a hybrid map. The map consists of a 3D object semantic map and a 2D occupancy grid map, which transfers human commands to the grid map through object semantics, thereby enabling autonomous navigation for the robot. We utilize ORB-SLAM2 for continuous pose estimation and 3D mapping. 2D object detection in key-frames is conducted based on YOLO v3. The object point clouds in multiple perspectives are merged and a 3D bounding box of the object is estimated. These objects construct a 3D semantic map. Furthermore, we project a 3D point cloud map into a 2D plane in order to get an occupancy grid map. Finally, these two maps are combined forming an object-aware hybrid map. We conduct experiments in real environments in order to verify the feasibility and robustness of the hybrid map for robot semantic navigation.

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Design of a Highly Compliant Underactuated Prosthetic Hand*

Design of a Highly Compliant Underactuated Prosthetic Hand*

引用

IEEE International Conference on robotics and Biomimetics

作者： Ming Cheng Shaowei Fan Li Jiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper presents a highly compliant prosthetic hand based on a novel synergy mechanism. The prosthetic hand consists of a synergy mechanism, four fingers and one thumb. The synergy mechanism can transmit the power from two motors to four fingers. It can effectively reduce the number of motors. At the same time, it makes the prosthetic hand have excellent dexterity. The underactuated finger has three joints with two DOF. It has two main motion modes: coupled motion in free space and self-adaptive motion when contacting with the object, which can mimic the human finger as much as possible. The thumb uses one motor to drive the two flexion-extension joints and uses a manual switch to drive the abduction-adduction joint, which can reduce the number of motors and the cost efficiently. The performance evaluation is given to demonstrate the comprehensive performance in terms of the versatility, compliance, sensing, size, weight and cost of the proposed design.

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