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Research on obstacle detection and path planning based on visual navigation for mobile robot

Journal of Physics: Conference Series 2020年第6期1601卷

作者： Yixiao Zheng Bixi Yan Chao Ma Xinyu Wang Haoyang Xue School of Instrument Science and Optoelectronic Engineering Beijing Information Science and Technology University Beijing China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

Both obstacle and path planning are of significance for autonomous visual navigation of a mobile robot which is able to realize free movement and obstacle avoidance. In this paper, a scheme of obstacle detection which is based on binocular vision to identify obstacles is constructed and it is combined with improved A* algorithm for obstacle avoidance motion for mobile robot platform. First, a binocular vision system to detect the robot's perception of the environment is used and the visual information is obtained. Then a Gaussian filter is used to reduce the noise in the image, and the grayscale image is obtained through the binocular vision system. The gray scale map is matched with SAD (Sum of Absolute Differences) in order to obtain the disparity image with comparison. Second, the location information of the obstacle is extracted through the environmental depth information contained in the disparity image, and the improved A* algorithm is used as the path planning algorithm in this paper, which can modify the path of the planning error. Furthermore, the detection experiment of the robot visual obstacle avoidance system was established and the optimal path was obtained. The examples show that, the obstacle avoidance system can complete the task of obstacle detection and give a better path for the mobile robot.

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Inchworm-inspired soft climbing robot using microspine arrays

Inchworm-inspired soft climbing robot using microspine array...

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2019 IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Qiqiang Hu Erbao Dong Gang Cheng Hu Jin Jie Yang Dong Sun CAS Key Laboratory of Mechanical Behavior and Design of Materials University of Science and Technology of China Hefei China CAS Key Laboratory of Mechanical Behavior and Design of Materials University of Science and Technology of China Hefei PRC Anhui Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing PRC Department of Biomedical Engineering City University of Hong Kong Hong Kong SAR

Animals in nature, such as geckos, inchworms, and felines can climb on various surfaces using different mechanisms and serve as references for the study of bio-inspired robots. This paper presents an inchworm-inspired climbing robot that consists of soft body and feet. The soft robot is actuated by shape memory alloy wires and utilizes microspine arrays to attach its feet to rough or soft surfaces. A series of experiments to test the functionality of the feet and torso of the designed robot have verified the theoretical feasibility of the robot. Results have shown that the designed bio-inspired robot can climb on inclined or vertical curved surfaces and flat surfaces. The robot can also adapt to the underwater environment. Thus, this robot has great potential for various applications such as pipeline inspection.

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Mechanism Design and Kinematics Analysis of an Original Cable-driving Exoskeleton robot

Mechanism Design and Kinematics Analysis of an Original Cabl...

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IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference

作者： Ruqi Ma Zixin Tang Xiangyu Gao Wencheng Ni Beijing Key Laboratory of Intelligent Space Robotic System Technology and Application Institute of Spacecraft System Engineering. CAST Beijing China

To meet the lightweight and flexibility actual requirements of the exoskeleton robot system used for robot assisted rehabilitation;a exoskeleton system according with the motion characteristics of human upper limbs was designed based on the analysis of upper limbs structures. The shoulder and elbow joints of the exoskeleton system are driven by steel wire to realize the movement and torque transfer, which can not only realize the lightweight mechanism design of the exoskeleton by allocating the joint driving components at the robot base, but also can realize the flexible mechanism design of the joints by adjusting the stiffness of the cable-driving system. The decoupling matrix of the exoskeleton cable-driving system was given based on the analysis of the shoulder and elbow joints motion characteristic and the position and pose decoupled kinematics modal was established by using vector product method. The test experiments based on the physical prototype show that the motion range and the motion characteristics of the exoskeleton robot system can perfectly meet the needs of upper limb rehabilitation training.

关键词： Exoskeleton robot Mechanism design Cable-driving Kinematic analysis

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Optimization Design of Bracket and Thermal Controller Structures Based on Lattice Sandwich Cells

Optimization Design of Bracket and Thermal Controller Struct...

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第三届中国国际复合材料科技大会

作者： Xiaoyu Zhang Hao Zhou Huizhong Zeng Yaobing Wang Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering CAST

Structures with minimum weight is highly desired by spacecraft designers. Lattice sandwich cells with advantage of lightweight, multi-function and high stiffness provide wide application potential in spacecraft engineering. For a long time, the applications of lattice sandwich structures in spacecraft are limited due to the difficulties in manufacturing technique. In the past decade, the development of additive manufacturing techniques make the high-precision lattice structures become reality. In present work, the design of the thermal controller structure based on lattice cells and the bracket structures based on lattice cells are achieved using macroscale topology optimization, microscale lattice substitution and design of connection region. All the structures are necessary in spacecraft engineering. They play the role of thermal control and mechanical support of various equipments. All the structures are manufactured with AlSi10Mg by direct metal laser melting. The weight of structures made of lattice cells is much lighter than traditional structures made of solid materials or honey comb plates. The weight reduction are extremely important for the achievement of the spacecraft system engineering. The 3D printed structure can reduce the risk of leakage of phase change materials inside thermal controller because of absence of welding joint.

关键词： Bracket Thermal Controller Lattice Sandwich

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Additive Manufacturing spacecraft Structure Made of Lattice Sandwichs

Additive Manufacturing Spacecraft Structure Made of Lattice ...

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第三届中国国际复合材料科技大会

作者： Hao Zhou Xiaoyu Zhang Fuming Zeng Wenhua Shi Huizhong Zeng Yaobing Wang Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering CAST

Lattice sandwich structures have great advantage in lightweight, multi-function and high stiffness, which provide wide application potential in spacecraft engineering. However, the report of applications of lattice sandwich structures in spacecraft mainstructure is not available due to the difficulties in the manufacturing dimensional precision and the complex connection between parts. In recent years, the development of additive manufacturing techniques, such as selective laser melting, make the high-precision lattice structures become reality. In this work, the design of the first additive manufacturing satellite structure based on lattice cells are achieved using macroscale topology optimization, microscale lattice substitution and design of connection region. The structure is manufactured with AlSi10Mg by direct metal laser melting. The dimensions of the satellite structure are 400×400×400 mm. The main structure plays the role of mechanical support of various equipments. The weight of structures made of lattice cells is much lighter than traditional structures made of solid materials or honey comb plates. The mass of the structure and its carrying capacity are 8 kg and 104 kg, respectively. The structure mass-tosatellite mass ratio is 7.7%, which is lighter than most traditional satellite made of honeycomb sandwich panels, about 15～25%. The weight reduction is extremely important for the achievement of the spacecraft system engineering. The vibration test verified that the satellite structure could endure the vibration loads resulted from the rocket launching.

关键词： spacecraft Structure Lattice Sandwich Selective Laser Melting

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Semantic and Neighborhood Preserving Dictionar Learning for Symmetric Positive-Definite Matrice

Semantic and Neighborhood Preserving Dictionar Learning for ...

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2016 IEEE 13th International Conference on Signal Processing（ICSP2016）

作者： Daming Li Lei Chen Fei Wang The School of Electronic and Information Engineering Xi’an Jiaotong University Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering

The symmetric positive-definite(SPD) matrices form a Riemannian manifold, and sparse representation on the SPD matrix manifold has received increasingly attentions recently. In this paper, we propose a semantic and neighborhood preserving dictionary learning method for the sparse representation on the SPD matrix manifold. The semantic preserving ensures that the semantic similarity information can be kept while sparse representation, and the neighborhood preserving is introduced to better reflect the geometrical structure of the manifold. To effectively model the semantic similarity of the SPD matrices and the geometrical structure, a Laplacian smooth operator is incorporated into the objective function of dictionary *** the learned dictionary, the obtained sparse representations of SPD matrices are more discriminative. Experimental results on publicly available datasets demonstrate the effectiveness of the proposed method.

关键词： Dictionary learning symmetric positive-definite matrix sparse representation Riemannian manifold

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Research of Visual Servo Control system for space intelligent Robot

Research of Visual Servo Control System for Space Intelligen...

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2015 IEEE Advanced Information technology,Electronic and Automation Control Conference(IAEAC 2015)

作者： Liang Changchun Zhang Xiaodong Pan Dong Liu Xin Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering CAST

ISBN: (纸本)9781479919819

space intelligent robotic systems are expected to play an increasingly important role in the *** robotic onorbital service,whose key is the tracking and capturing technology,becomes research hot in recent *** this paper,the authors propose a vision servo control system for target *** manipulator will be an intelligent robotic system with large-scale movement,functional agility,and autonomous ability,and it can be operated by astronauts in the space station or be controlled by the ground operator in the remote operation *** realize the autonomous movement and capture mission of SRM,a kind of autonomous programming strategy based on multi-camera vision fusion is designed and the selection principle of object visual position and orientation measurement information is defined for the better *** control system hierarchy is designed and reliability is considering to guarantee the abilities of control *** last,a ground experiment system is set up based on the concept of robotic control *** that,the autonomous target capturing experiments are *** experiment results validate the proposed algorithm,and demonstrates that the control system can fulfill the needs of function,real-time and reliability.

关键词： Control system On-orbital service space robot Vision servo

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Virtual Constraint Based Adaptive Control for Biped Robot with Speed Regulation

Virtual Constraint Based Adaptive Control for Biped Robot wi...

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IEEE International Conference on Mechatronics and Automation

作者： Jianfei Li Yaobing Wang Dawei Zhang Li Liu Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China Center of Excellence for Intelligent Mechanical Systems College of Engineering Peking University Beijing China

ISBN: (纸本)9781509023974

The Virtual Holonomic Constraint (VHC) approach, with its flexibility and stability, is drawing more attentions in generating gait for biped robots. This paper generalizes the VHC approach by adding other variables such as walking speed to the constraint functions. The robot is able to walk up or down along slopes with commanded speeds, and more importantly, allows it to walk continuously and steadily in varying surfaces. In addition, the control approach named Partial Decoupling Control is used to implement the VHC, which at the first time equips the VHC approach with the parameter adaptation laws which significantly improves the stability and performance of the systems. Full dynamics simulations with a five-bar planar robot are used to illustrate the effectiveness of the proposed approach.

关键词： adaptive control virtual constraints VHC biped robot speed regulation

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Research of integration simulation system of space dual-arm robot

Research of integration simulation system of space dual-arm ...

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IEEE International Conference on robotics and Biomimetics, IEEE-ROBIO 2015

作者： Xiaodong, Zhang Yafang, Liu Yaobing, Wang Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Institute of Spacecraft System Engineering CAST Beijing China

ISBN: (纸本)9781467396745

A set of integrated simulation system of space dual-arm robot is developed in the paper. Based on modular design concept, the system is composed of the communication module, task scheduling management module, path planning module, dynamic control module, 3D geometric model and collision detection module and the system uses C programming language and Visual Studio 2010 to realize the key algorithm while the entity model and the simulation scenarios are created by OSG (Open Scene Graph). Compared with other simulation methods, this method is stronger in visualization and post-processing, which can also realize closed-loop control of the key algorithm. Finally, the application simulations are implemented to verify the algorithms of coordinated space dual-arm robot by using this system. The results show the effectiveness of the system and verify the feasibility of mission planning. © 2015 IEEE.

关键词： Motion planning

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Optimized laplacian sparse coding for image classification 8th

Optimized laplacian sparse coding for image classification

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8th International Conference on Image and Graphics, ICIG 2015

作者： Chen, Lei Gao, Sheng Yuan, Baofeng Qi, Zhe Liu, Yafang Wang, Fei Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing100094 China Xi’an Jiaotong University Xi’an Shaanxi710049 China

ISBN: (纸本)9783319219622

Laplacian sparse coding exhibits good performance for image classification, because of its outstanding ability to preserve the locality and similarity information of the codes. However, there still exists two drawbacks during the Laplacian graph construction: (1) It has expensive computational cost, which significantly limits the applicability of the Laplacian sparse coding to large-scale data sets. (2) Euclidean distance does not necessarily reflect the inherent distribution of the data. To construct a more robust Laplacian graph, we introduce a local landmarks approximation method instead of the traditional k-nearest neighbor algorithm, and design a new form of adjacency matrix. Based on the Nesterov’s gradient projection algorithm, we develop an effective numerical solver to optimize the local landmarks approximation problem with guaranteed quadratic convergence. The obtained codes have more discriminating power compared with traditional sparse coding approaches for image classification. Comprehensive experimental results on publicly available datasets demonstrate the effectiveness of our method. © Springer International Publishing Switzerland 2015.

关键词： Codes (symbols)

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