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IEEE International Conference on systems, Man and Cybernetics

作者： Jinbiao Liu Gansheng Tan Yixuan Sheng Jiaole Wang Wenjie Lu Honghai Liu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China School of Computing University of Portsmouth Portsmouth UK

ISBN: (数字)9781728185262

ISBN: (纸本)9781728185279

It is evident that corticomuscular coherence (CMC), representing the functional coupling between motor cortex and muscle tissues, plays a crucial role in neurophysiologic studies and applications. It is hypothesized that there is an unknown time delay comprising at least neural conduction time in the process of corticomuscular interaction. In this study, we developed a novel delay estimation method, defined as the rate of voxels change (RVC) for the estimation of time delay in two coupled physiological signals. The RVC is the dynamic variation of the local CMCs observed in different time offsets. Both simulation and physiological data confirm the capability of RVC in estimating cortical-muscular delay. The underlying mechanisms of individual discrepancy of the latency is also investigated via exploring the correlation between delays, brain activity and motor performance. Correlation analyses indicate an intrinsic link between the connectivity strength of the brain network and the length of time delay in cortical-muscular interactions.

关键词： Correlation Delay effects Delay estimation Muscles Brain modeling Physiology Data models

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Feature Fusion of sEMG and Ultrasound Signals in Hand Gesture Recognition

Feature Fusion of sEMG and Ultrasound Signals in Hand Gestur...

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IEEE International Conference on systems, Man and Cybernetics

作者： Jia Zeng Yu Zhou Yicheng Yang Jiaole Wang Honghai Liu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China School of Computing University of Portsmouth Portsmouth UK

ISBN: (数字)9781728185262

ISBN: (纸本)9781728185279

Multi-modal sensory fusion is believed to obtain higher accuracy in gesture recognition. Its difficulty lies in mining discriminative features and fusing features from different modalities. Surface electromyography(sEMG) and ultrasound signals are typical signal modalities in gesture recognition. It is expected that the fusion of them can take advantage of the complementarity of electrophysiological information and muscle morphology information. This paper proposed two kinds of feature fusion method. The one is concatenating the manual designed sEMG and ultrasound features, and the other is a convolutional neural network (CNN) based feature exaction and fusion method for sEMG and ultrasound signals. Eight able-bodied subjects were involved to participate in the experiments. In the experiments, four channels of sEMG and A-mode ultrasound signals corresponding to 20 gestures were collected synchronously to evaluate the proposed method. The experimental results demonstrated that the fusion sEMG-ultrasound feature always outperformed the separate sEMG or ultrasound feature regardless of the feature extraction method, and as for fusion sEMG-ultrasound feature, the CNN based method achieve a high accuracy (97.38±1.49%) in 20 gestures, which surpassed the method of concatenating the manual designed features and applying machine learning algorithm (LDA, KNN, SVM).

关键词： Support vector machines Ultrasonic imaging Surface morphology Gesture recognition Manuals Feature extraction Task analysis

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Target Recognition and 3D Pose Estimation Based on Prior Knowledge and Convolutional Neural Network for Robots

Target Recognition and 3D Pose Estimation Based on Prior Kno...

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Chinese Automation Congress (CAC)

作者： Jingwen Sun Lijun Zhao Li Wang Ke Wang Yuting Ma State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Astronautics Harbin Institute of Technology Harbin China

In the competition of RoboMaster, the robot needs to trigger the target, the “Energy Mechanism” which consists of nine different dynamic flame numbers, in a nine square area by shooting projectiles. Therefore, 3D target detection should be implemented including target recognition and 3D pose estimation in real-time. As the targets are dynamic flame numbers and quite small in the whole image, it increases the difficulty to detect. The robot should achieve to shoot the target in multi-angle and multi-scale to adjust the competition. To address these issues, we propose a fast and accurate method to detect all nine numbers and estimate each 3D pose based on prior knowledge and convolutional neural network only by a monocular camera. The geometric constraints around the target are employed as prior knowledge when estimating the target pose. Then, we utilize the relative position information to detect the region of each dynamic number in the image, which is recognized by a convolutional neural network trained by flame numbers. Experiments in the actual environment show that our method can achieve the detection of each dynamic number in real-time and high accuracy. The runtime is 29ms on average (about 11ms in detection and 18ms in recognition) and the recognition accuracy is about 94.69%. And our method wins the first place in the technical challenge of 2018 RoboMaster competition.

关键词： Fires Three-dimensional displays Bars Robots Pose estimation Cameras Feature extraction

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Human-like Walking of a Biped Robot Actuated by Pneumatic Artificial Muscles and Springs*

Human-like Walking of a Biped Robot Actuated by Pneumatic Ar...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Yixiang Liu Qing Bi Xizhe Zang Yibin Li School of Control Science and Engineering Shandong University Jinan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan China Shandong Institute of Advanced Technology Chinese Academy of Sciences Jinan China

ISBN: (数字)9781728169040

ISBN: (纸本)9781728169057

Human walking gait is much more natural looking and energy efficient compared with biped robots. This paper presents a bio-inspired approach to realizing more human-like biped robotic walking. For this purpose, a biped robot actuated coordinately by pneumatic artificial muscles and springs is developed, capable of exploiting passive compliance of the mechanical system in locomotion. And a control scheme for human-like walking is designed based on finite state machine. Experiments show that the biped robot can walk stably on the treadmill even with some small obstacles. The realized gait has the important features of human walking, including heel strike and toe off, stretched knees, and variation in the height of the body's center of mass, which demonstrates the effectiveness of the proposed approach.

关键词： Conferences Automation Computer aided software engineering

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Learning to navigate in indoor environments: From memorizing to reasoning

arXiv

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arXiv 2019年

作者： Ma, Liulong Liu, Yanjie Chen, Jiao Jin, Dong State Key Laboratory of Robotics and System Harbin Institute of Technology China

Autonomous navigation is an essential capability of smart mobility for mobile robots. Traditional methods require the environment map to plan a collision-free path in workspace. Deep reinforcement learning (DRL) is a promising technique to realize the autonomous navigation task without a map, with which deep neural network can fit the mapping from observation to reasonable action through explorations. It should not only memorize the trained target, but more importantly, the planner can reason out the path to unseen goal. We proposed a new motion planner based on deep reinforcement learning that can arrive at new targets that have not been trained before in the indoor environment with RGB image and odometry only. The model has a structure of stacked Long Short-Term memory (LSTM). Finally, experiments were implemented in both simulated and real environments. The source code is available: Https://***/marooncn/navbot. Copyright © 2019, The Authors. All rights reserved.

关键词： Long short-term memory

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system Integration and Control Design of a Maglev Platform for Space Vibration Isolation

arXiv

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arXiv 2019年

作者： Gong, Zhaopei Ding, Liang Yue, Honghao Gao, Haibo Liu, Rongqiang Deng, Zongquan Lu, Yifan State Key Laboratory of Robotics and System Harbin Institute of Technology China

Micro-vibration has been a dominant factor impairing the performance of scientific experiments which are expected to be deployed in a micro-gravity environment such as spacelab. The micro-vibration has serious impact on the scientific experiments requiring quasi-static environment. Therefore, we proposed a maglev vibration isolation platform (MVIP) operating in six degrees of freedom (DOF) to fulfill the environmental requirements. In view of non-contact and large stroke requirement for micro-vibration isolation, an optimization method was utilized to design the actuator. Mathematical models of actuator’s remarkable nonlinearity was established, so that its output can be compensated according to floater’s varying position and system’s performance may be satisfied. Furthermore, aiming to adapt to an energy-limited environment such as spacelab, an optimum allocation scheme was put forward. Considering actuator’s nonlinearity, accuracy and minimum energy-consumption can be obtained simultaneously. In view of operating in six DOF, methods for nonlinear compensation and system decoupling were discussed, the necessary controller were also presented. Simulation and experiments validate system’s performance. With a movement range of 10×10×8 mm and rotations of 200 mrad, the decay ratio of -40 dB/Dec between 1–10 Hz was obtained under close-loop control. Copyright © 2019, The Authors. All rights reserved.

关键词： Actuators

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A Compact Control system and A Myoelectric Control Method for Multi-DOFs Prosthetic Hand

A Compact Control System and A Myoelectric Control Method fo...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Bin Yang Li Jiang Jianhao Hu Chongyang Li Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilong Jiang China Harbin Institute of Technology Harbin China

ISBN: (数字)9781728137261

ISBN: (纸本)9781728137278

This paper introduces a compact control system for multi-DOFs prosthetic hand. Based on the optimization of sensors configuration and hardware structure of the control system, the power consumption and volume can meet the needs of the actual using. In addition, a myoelectric control method based on the principle of finite state machine (FSM) is integrated in the control system. The proposed method enables amputees to select one of the given gestures directly, and grasp objects. As the control method requires less electromyography electrodes comparing to the traditional myoelectric control method based on EMG pattern recognition, it's available for a wider range of amputees with less active muscles. To assess the performance of the proposed method, the experiments of grasping random objects by non-amputee subjects has been conducted with the 6-DOFs HIT-V prosthetic hand, and an amputee volunteer used this prosthetic hand for one day to demonstrate viability. The non-amputee experimental results indicate that subjects can select gesture correctly among seven gestures and accomplish the designed grasping tasks with a success rate up to 96.67% within a shorter time just using two electrodes, and amputee proved viability of proposed method in daily life.

关键词： Prosthetic hand Electromyography Control systems Sensors Training Muscles Grasping

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Using rgb image as visual input for mapless robot navigation

arXiv

引用

arXiv 2019年

作者： Ma, Liulong Liu, Yanjie Chen, Jiao State Key Laboratory of Robotics and System Harbin Institute of Technology China

Robot navigation in mapless environment is one of the essential problems and challenges in mobile robots. Deep reinforcement learning is a promising technique to tackle the task of mapless navigation. Since reinforcement learning requires a lot of explorations, it is usually necessary to train the agent in the simulator and then migrate to the real environment. The big reality gap makes RGB image, the most common visual format, rarely used. In this paper we present a learning-based mapless motion planner taking RGB image as visual input. In the end-to-end navigation network many of the parameters are used to extract visual features. The proposed motion palnner decoupled visual features extracted module from the reinforcement learning network to improve the sample efficiency. Variational Autoencoder (VAE) is used to encode the image, and the obtained latent vector is input as low-dimensional visual features into the network together with the target and motion information. We built and released a set of simulation environments for algorithm comparison. In the test environment, the proposed method was compared with the end-to-end network, which proved its effectiveness and efficiency. The source code is available: Https://***/marooncn/navbot. Copyright © 2019, The Authors. All rights reserved.

关键词： Deep learning

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Model Decoupling and Control of the Wheeled Humanoid Robot Moving in Sagittal Plane

Model Decoupling and Control of the Wheeled Humanoid Robot M...

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IEEE-RAS International Conference on Humanoid Robots

作者： Haitao Zhou Xu Li Haibo Feng Jiachen Li Songyuan Zhang Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (数字)9781538676301

ISBN: (纸本)9781538676318

The wheeled humanoid robot is such a new type of robot that combines both the humanoid structure and the Wheeled Inverted Pendulum (WIP) base. They are able to move rapidly on flat ground as well as stand still on the slope, which has been well demonstrated on the WLR-II robot in this paper. In order to achieve it, a novel but simplified control framework is designed, which comprises of two main modules, the wheel balance controller and the centroidal adjustment controller. The former controller helps to maintain balance of the robotic system by rotating the wheel to move forward or backward, while the latter controller works by moving the Center of Mass (CoM) of the robot at a distance from the equilibrium point, which will result in a specified acceleration used to drive the first wheel balance controller. In order to design such these two controllers, the dynamic model of the robot in sagittal plane is decoupled into two relatively simplified model. In particular, the coupled dynamics between each other is significantly considered and alleviated. Experiments conducted on the WLR-II robot show that the proposed control framework can make the robot both accurately track the velocity tajectory and steadily stand on the slope.

关键词： Wheels Mobile robots Humanoid robots Dynamics Force Acceleration

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Design and Analysis of a Variable-span and Cambered Span Morphing Wing for UAV

Design and Analysis of a Variable-span and Cambered Span Mor...

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IEEE International Conference on robotics and Biomimetics

作者： Guang Yang Hongwei Guo Rongqiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

The variable-span and cambered span morphing wing for unmanned aerial vehicle (UAV) can greatly improve its flight efficiency. In this work, a new extendable and bendable morphing wing with double driving is designed. The morphing skeleton of wing is composed of the basic unit module which is seven-bar mechanism in series. The rubber-filled corrugated sandwich corrugated skin is designed according to the requirement of morphing skeleton. The kinematics model of morphing skeleton that is composed of three modules in series is established, then the kinematics analysis of morphing skeleton is carried out, at last the expressions of the deformed position and driving angle are obtained. In the case of the same wing span, the influence of different rod length ratio on the maximum extension length of the morphing wing is analyzed, and the influence of different driving speed on the maximum bending angle under the same rod length ratio is compared and analyzed.

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