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

作者： Ming Yang Dingkui Tian Minjia Xu Feng Li Jianquan Sun Weiwei Shang Xinyu Wu University of Science and Technology of China Hefei P. R. China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Daqing Vocational College Daqing China SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems Shenzhen China

Climbing stairs has been an indispensable ability for humanoids. This paper presents a novel and practical problem: climbing stairs of varying heights. In this study, the humanoid is modeled as an inverted pendulum and set the pelvis trajectory on the vertical axis, representing the center of mass (CoM), as a quadratic function. We also use a polynomial to design the ZMP and CoM trajectory on the horizontal plane. To generate the CoM trajectory, the sliding mode controller is utilized to track the reference trajectory. To eliminate chattering of the sliding mode controller, the universal approximation property of the radial basis function (RBF) network is leveraged to approximate the switching law. Finally, simulation experiments are performed in CoppeliaSim, and the biped robot is capable of walking stably and quickly.

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Design and Evaluation of a Novel Self-Adaptive Ankle Rehabilitation Exoskeleton with Elastic Modules

Design and Evaluation of a Novel Self-Adaptive Ankle Rehabil...

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International Conference on advanced robotics and Mechatronics (ICARM)

作者： Meng Gao Junpeng Chen Mi Li Jian S. Dai Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and Technology Shenzhen China Centre for Robotics Research King's College London London United Kingdom Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education Centre for Advanced Mechanisms and Robotics Tianjin University Tianjin China Chair Professor of Mechanisms and Robotics Centre for Robotics Research King's College London UK

This paper proposes a novel ankle rehabilitation exoskeleton based on the research of human gait cycle, aiming to assist patients with neurological injury to recover quickly. The mechanism consists of two frames equipped with ankle joints and toe joint. The lower limbs and musculature system are correlated to propose the model. Incorporating spring modules are provided on the instep, the bottom of toes and either sides of the ankles which cushions lower limbs and reduces energy consumption. Kinematics and stress analysis are conducted to verify the feasibility of the model. Besides, the simulation, which incorporates the elastic elements and springs, is presented. Finally, the modular facilitates could easy integration with other rehabilitation modules for a comprehensive system. Overall, this research provides theoretical and engineering technical support for developing lower limb rehabilitation robots with adaptive stability, diversified movement functions, and human-computer interaction safety and health under different conditions.

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Extraction of Key Foreground Information from Visual Feedback Images for Contact Micromanipulation in Liquid Environment

Extraction of Key Foreground Information from Visual Feedbac...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Jiancong Chen Huaping Wang Kailun Bai Kaijun Lin Qing Shi Tao Sun Qiang Huang Toshio Fukuda Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing China Science and Technology on Space Physics Laboratory Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

Contact micromanipulation for cells is an important branch in the field of micromanipulation. Limited by the size of the sensor, it is difficult to integrate the sensor in the macroscopic scene into the micromanipulator. So in most operations, images are often the only reliable source of information. The first prerequisite for realizing automated micromanipulation is to be able to extract key information from images. The occlusion phenomenon will inevitably occur in the contact micromanipulation. Although it is possible to design a specific algorithm to identify the target edge information in the occlusion state according to the characteristics of the operating environment and the end-effector. But there is still no universal image processing method to solve this problem. In this paper, we propose an image processing function based on a composite deep learning network structure to solve this problem. Our algorithm is divided into two steps:In the first step, we input the original image into the target detection network to get the position information of the target and end-effector, and cut the region of interest from the original image according to this information. In the second step, we preprocess these candidate sub-images containing key foreground information, and then input them into the image segmentation network to obtain the contour information of the end-effector and target. We designed a cell aspiration experiment based on the digital holographic microscope imaging system to validate our algorithm. In future work, we will continue to improve the algorithm to have better robustness and generalization.

关键词： Visualization Image segmentation Liquids Micromanipulators Microscopy Object detection End effectors

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Simulator Design Using a General Purpose PC and Off-The-Shelf Interface Boards for GNSS/INS Integrated Navigation System

Simulator Design Using a General Purpose PC and Off-The-Shel...

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International Conference on Control, Automation and systems ( ICCAS)

作者： Jae Hoon Son Yeong Hye Lee Junwoo Jurug Yongtaek Hwang Jiwoo Hwang Minsu Kim Gyeongmin Park JunMin Park Hoyoung Yoo Chansik Park Sang Heon Oh Sang Jeong Lee Dong-Hwan Hwang Department of Electronics Engineering Chungnam National University Daejeon Korea Department of Intelligent Systems & Robotics Chungbuk National University Daejeon Korea Advanced Technology Laboratory Microinfinity Co. Ltd. Daejeon Korea

When a navigation systems are developed, lots of tests have to be performed. If a simulator is available which can generate signal and data of real environment, huge amount of time and cost can be reduced for development. In this paper, a simulator design method is proposed for GNSS/INS integrated navigation system using a general-purpose PC and OTS interface boards. In order to verify the proposed design method, a simulator of GPS L1 C/A and HG1700AG58 is implemented using a PC with intel i7-8700 CPU, USRP 2952-R, PCI-1780U-AE, FSCC/4-PCIe and LabVIEW2015. The implementation results show that GNSS signal and IMU data can be used for GNSS/INS integrated navigation system design.

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Nowhere to Go: Benchmarking Multi-robot Collaboration in Target Trapping Environment

arXiv

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arXiv 2023年

作者： Zhang, Hao Chen, Jiaming Cheng, Jiyu Li, Yibin Yang, Simon X. Zhang, Wei The School of Control Science and Engineering Shandong University Jinan250061 China The Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph GuelphONN1G2W1 Canada

Collaboration is one of the most important factors in multi-robot systems. Considering certain real-world applications and to further promote its development, we propose a new benchmark to evaluate multi-robot collaboration in Target Trapping Environment (T2E). In T2E, two kinds of robots (called captor robot and target robot) share the same space. The captors aim to catch the target collaboratively, while the target will try to escape from the trap. Both the trapping and escaping process can use the environment layout to help achieve the corresponding objective, which requires high collaboration between robots and the utilization of the environment. For the benchmark, we present and evaluate multiple learning-based baselines in T2E, and provide insights into regimes of multi-robot collaboration. We also make our benchmark publicly available and encourage researchers from related robotics disciplines to propose, evaluate, and compare their solutions in this benchmark. Our project is released at https://***/Dr-Xiaogaren/T2E. Copyright © 2023, The Authors. All rights reserved.

关键词： Multipurpose robots

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TactCapsNet: Tactile capsule network for object hardness recognition

TactCapsNet: Tactile capsule network for object hardness rec...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Fang, Senlin Mi, Tingting Zhou, Zhenning Ye, Chaoxiang Liu, Chengliang Wu, Hancheng Yi, Zhengkun Wu, Xinyu Shenzhen Institute of Advanced Technology CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518055 China Shenzhen Key Laboratory of Smart Sensing and Intelligent Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518055 China

ISBN: (纸本)9781665436786

Hardness is one of the most essential tactile clues for robots to recognize objects. However, methods for robots to recognize hardness are limited. In this paper, based on the Capsule Network (CapsNet), we propose a novel tactile capsule network (TactCapsNet) for object hardness recognition. Specifically, we collect a tactile dataset on the silicone samples with three different shapes, and the silicone samples of each shape have thirteen hardness levels ranging from 0A (Shore A scale) to 60A at 5A intervals. Furthermore, we construct the tactile image as the input of the CapsNet to make full use of the spatio-temporal information of the tactile hardness dataset. The experimental results prove that the proposed approach achieves higher accuracy and quadratic weighted kappa (QWK) than support vector machine (SVM), long short-term memory (LSTM), convolutional neural network (CNN), and CapsNet. © 2021 IEEE.

关键词： Hardness

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Hydrogel-elastomer-based stretchable strain sensor fabricated by a simple projection lithography method

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International Journal of Smart and Nano Materials 2021年第3期12卷 256-268页

作者： Zhenqing Li Xiangnan He Jianxiang Cheng Honggeng Li Yuan-Fang Zhang Xiaojuan Shi Kai Yu Hui Ying Yang Qi Ge Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhenChina Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and TechnologyShenzhenChina Digital Manufacturing and Design Centre Singapore University of Technology and DesignSingapore Department of Mechanical Engineering University of Colorado DenverDenverCOUSA National Key Laboratory of Science and Technology on Advanced Composites in Special Environments Harbin Institute of TechnologyHarbinP.R.China

Stretchable strain sensor detects a wide range of strain variation and is therefore a key component in various *** traditional ones made of elastomers doped with conductive components or fabricated with liquid conductors,ionically conductive hydrogel-based strain sensors remain conductive under large deformations and are ***,dehydration is a challenging issue for the *** have developed hydrogel-elastomer-based strain sensors where an elastomer matrix encapsulates a hydrogel circuit to prevent its ***,the reported multistep approaches are generally *** group recently reported a multimaterial 3D printing approach that enables fast fabrication of such sensors,yet requires a self-built digital-light-processing-based multimaterial 3D ***,we report a simple projection lithography method to fabricate hydrogel-elastomer-based stretchable strain sensors within 5 *** method only requires a UV projector/lamp with photomasks;the chemicals are commercially available;the protocols for preparing the polymer precursors are friendly to users without chemistry ***,the manufacturing flexibility allows users to readily pattern the sensor circuit and attach the sensor to a 3D printed soft pneumatic actuator to enable strain sensing on the *** proposed approach paves a simple and versatile way to fabricate hydrogel-elastomer-based stretchable strain sensors and flexible electronic devices.

关键词： Ionically conductive hydrogel stretchable strain sensor projection lithography

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Exoskeleton-Based Lower Limb Rehabilitation Robot Design and Simulation for Children with Cerebral Palsy

Exoskeleton-Based Lower Limb Rehabilitation Robot Design and...

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World Rehabilitation Robot Convention (WRRC)

作者： Wujing Cao Shuo Zhang Yupeng Zou Xinqiang Guo Changyu Li Jingxin Wang Worawarit Kobsiriphat Xinyu Wu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China and SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems. SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society School of Mechanical Engineering China University of Petroleum East China Jining Zhongke Intelligent Technology Co. Ltd. Department of Rehabilitation Medicine Zhengzhou Central Hospital Affiliated Zhengzhou University Zhengzhou China National Metal and Materials Technology Center Thailand

ISBN: (数字)9798350355123

ISBN: (纸本)9798350355130

Squat gait is the most common abnormal gait in children with cerebral palsy. Gait training with lower limb rehabilitation robots can improve rehabilitation efficiency and reduce manual labor for them. A novel exoskeleton-based lower limb rehabilitation robot for children with cerebral palsy is proposed, considering the squat gait characteristics of children with cerebral palsy. The structure of the lower limb rehabilitation robot, which combines hip and knee with 4 active degrees of freedom exoskeleton and mobile walker, is designed and optimized. Static analysis of the key mechanical structure of the exoskeleton is conducted using ANSYS Workbench, and local structures are optimized to ensure the safety factor of the mechanical structure is greater than 1, guaranteeing reasonable structural strength and stiffness design. Dynamic simulation analysis based on the ADAMS model validates the reliability and dynamic walking effect of the lower limb exoskeleton rehabilitation robot, obtaining the curve relationship between joint angles and motion cycles, thus verifying the effectiveness of the mechanical system motion.

关键词： Knee Training Cerebral palsy Exoskeletons Dynamics Static analysis Assistive robots Safety Finite element analysis Hip

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Mathematical Modelling of a Four-Fingered Metamorphic Anthropomorphic Hand on Precision Grasp

Mathematical Modelling of a Four-Fingered Metamorphic Anthro...

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ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR

作者： Tun Wang Yen-Hua Lin Jian S. Dai Department of Mechanical and Electrical Engineering Centre of Advanced Oil and Gas Equipment China University of Petroleum (Beijing) Beijing China Department of Engineering Centre for Robotics Research King's College London London UK Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

For a metamorphic robotic hand with a foldable palm, its finger operation planes change with palm configurations. Although this reconfigurable design can enhance the grasp flexibility, manipulation workspace and application adaptability, the hand's grasp stability cannot be guaranteed when the palm reconfigures. Especially for the four-fingered metamorphic hand performing precision grasps in anthropomorphic postures, improper control of the palm configurations can result in unsuccessful grasps, which may even lead to hand damage. This paper first displays the workspace of the four-fingered anthropomorphic hand for generating precision grasp gestures. Based on it, force-closure/-balance analyses are performed, deriving the effective precision grasp workspace for typical anthropomorphic postures classified by built mathematical definition. Grasp levels are further discussed by introducing an evaluation method which considers the minimum friction coefficient (MFC) as the quality metric. The proposed scheme gives a way to depict the grasp performance of every robotic hand configuration, without considering specific objects that are to be grasped. Dynamic changes in postures' grasp performance with palm configurations are exhibited in the end.

关键词： Measurement Friction Mathematical models Stability analysis Robots Petroleum

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A Distributed Fixed-Time Neurodynamic Algorithm and Its Application in Multi-Autonomous Underwater Vehicle Collaborative Escorting

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IEEE Transactions on Network Science and Engineering 2025年

作者： Zhang, Peng He, Xing Yu, Junzhi Southwest University Chongqing Key Laboratory of Nonlinear Circuits and Intelligent Information Processing College of Electronic and Information Engineering Chongqing400715 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Peking University Nanchang Innovation Institute Nanchang330224 China

In this paper, a distributed fixed-time neurodynamic algorithm (DFxTNA) is designed for solving distributed optimization problem with time-varying (TV) objective function and constraints. The DFxTNA consists of consensus part based on sliding-mode control technique and optimization part based on Hessian matrix and penalty function. In contrast to existing distributed TV algorithms, DFxTNA based on fixed-time sliding mode control can effectively improve the convergence performance of the algorithm and has better stability with the addition of TV disturbance. In addition, the consistency and fixed-time convergence of DFxTNA are proved by Lyapunov theory and fixed-time stability, respectively. The effectiveness of DFxTNA is verified by numerical experiments. Finally, a distributed TV optimization problem model is established for a multi-autonomous underwater vehicle (AUV) cooperative escort scenario, and DFxTNA is applied to solve the problem. Simulation results confirm the effectiveness and stability of DFxTNA in target tracking, formation control, and dynamic obstacle avoidance. © 2013 IEEE.

关键词： Lyapunov functions

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