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Hybrid Tension and Configuration Control of Cable-Driven Hyper-Redundant Robots for High Accuracy and Stability

IEEE robotics and Automation Letters 2025年第6期10卷 5601-5608页

作者： Zhu, Zhenpu Li, Ziqing Peng, Zhanxuan Liu, Chao Gu, Guoying Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Robotics Institute School of Mechanical Engineering Shanghai200240 China

Due to the advantages of dexterity and adaptability, cable-driven hyper-redundant robots (CDHRRs) are promising for detection in confined spaces like narrow internal cavities. However, due to redundant degrees of freedom (DoFs), CDHRRs are susceptible to the singular configuration, which aggravates the difficulty of high-accuracy control and high-stable motion. To solve these problems, this work proposes hybrid tension and configuration control to improve motion accuracy and stability. Firstly, a CDHRR model with structural optimization and friction reduction is developed. The quasi-static and cable-hole length estimation models are obtained, including cable-hole friction, cable-hole interval, and cable deformation. Subsequently, single and multi-segment controllers are designed. The controller can distribute tension in the expected range with the above design while featuring high accuracy, responsiveness, and stability. The control algorithm optimizes configuration with an average error under 1.00°. Moreover, the controller reaches the target with controllable forces in 1.0 s and flattens the fluctuations within 0.3 s. The controller can be implemented into automatic zeroing and tip loading. Experimental results demonstrate that the proposed controller features speedy automatic zeroing (in 4 mins) and low angle tracking errors (less than 1.50°) under various tip loads. © 2016 IEEE.

关键词： Friction

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Modeling tactile perceived intensity for vibration from a coin eccentric rotating mass motor

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Science china(Technological Sciences) 2025年第2期68卷 125-135页

作者： Yun FANG Jingchen HUANG Yujun WU Jiaqi DONG Weichao GUO Xinjun SHENG State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Meta Robotics Institute Shanghai Jiao Tong UniversityShanghai 200240China

Establishing the relationship between vibrotactile parameters and perceived intensity(PI)is of great significance in the regulation of desired sensations,which contribute to haptic interfaces in practical *** eccentric rotating mass(ERM)motors are routinely utilized due to their lightweight design and efficient ability to evoke strong tactile *** adjusting input voltages,ERMs can yield different stimuli,but the effects of their physical properties on PI remain ***,we developed the physical model of the ERM-skin system and optimized the parameters affecting ***,the relationship between stimulus and perception was derived based on Fechner's *** experiments were conducted on fifteen subjects(ten males and five females,aged 24.40±2.87 years)to identify the vibration parameters and corresponding PI to verify the proposed PI *** in this study were attached to phantom skin/forearm with slim adhesive tape to minimize the *** 1 performed vibration calibration with ERM attached to the skin phantom to simulate the actual ***,the relative and absolute PI of subjects on specific stimuli were acquired in Experiments 2 and *** fitting reliability of the proposed PI model was evaluated on fifteen subjects with R^(2) of 0.73±0.07 and root mean squared error(RMSE)of 1.35±***,the proposed PI model established the quantitative relationship between stimulus parameters(vibration parameters and physical parameters)and subjective PI,which provided theoretical support for ERM optimization and vibrotactile modulation.

关键词： coin ERM vibrotactile perceived intensity vibration

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A trajectory-level robot skill learning method based on fuzzy systems

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Science china(Information Sciences) 2025年第5期68卷 38-52页

作者： Chao ZENG Zhen DENG Boyang TI Yongsheng GAO Department of Computer Science University of Liverpool School of Mechanical Engineering and Automation Fuzhou University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics and System Harbin Institute of Technology

Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning model that can comprehensively satisfy multiple requirements,such as computational complexity,modeling accuracy,trajectory smoothness,and robustness,is still ***,this work aims to provide such a model by employing fuzzy ***,we introduce an LfD model named Takagi-Sugeno-Kang fuzzy system-based movement primitives(TSKFMPs),which exploits the advantages of the fuzzy theory for effective robotic imitation learning of human *** work formulates the TSK fuzzy system and gradient descent(GD) as imitation learning models,leveraging recent advancements in GD-based optimization for fuzzy *** study takes a two-step strategy.(ⅰ) The input-output relationships of the model are established using TSK fuzzy systems based on demonstration *** this way,the skill is encoded by the model parameter in the latent space.(ⅱ) GD is used to optimize the model parameter to increase the modeling accuracy and trajectory *** further explain how learned trajectories are adapted to new task scenarios through local *** conduct multiple tests using an open dataset to validate our method,and the results demonstrate performance comparable with those of other ***,we implement it in a real-world case study.

关键词： robot skill learning movement primitives TSK fuzzy systems gradient descent robotics

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A Simple Control Scheme with Model Predictive Control-Based Footstep Planner and Virtual Model Control for Planar Biped Robot 16th

A Simple Control Scheme with Model Predictive Control-Based ...

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16th International Conference on Modelling, Identification and Control, ICMIC 2024

作者： Heng, Shuai Song, Chao Chen, Boyang Zhang, Yue Zang, Xizhe Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9789819617760

In this paper, our objective is to achieve stable walking for biped robots using a simple yet powerful control scheme. This control scheme consists of a planning and control framework. For the motion planner, we utilize the Linear Inverted Pendulum Model as the equations of motion for the biped. Model Predictive Control is applied to plan the Zero Moment Point (ZMP) for future steps. Trajectories for the swing foot and base are generated based on the planned ZMP. Subsequently, a straightforward and intuitive control method called Virtual Model Control is employed to calculate control torques for tracking the generated trajectories. Finally, simulations conducted on flat-foot bipedal robots in MuJoCo validate the effectiveness of the proposed control scheme in achieving stable walking and attaining the desired locomotion velocity. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Predictive control systems

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The effects of 17β-trenbolone and bisphenol A on sexual behavior and social dominance via the hypothalamic-pituitary-gonadal axis in male mice

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Journal of Environmental Sciences 2025年第5期151卷 54-67页

作者： Xiang Zuo Minghe Sun Huijuan Bai Shuhui Zhang Jialu Luan Qian Yu Zhenhua Fu Qili Zhao Mingzhu Sun Xin Zhao Xizeng Feng College of Life Science State Key Laboratory of Medicinal Chemical BiologyThe Key Laboratory of Bioactive MaterialsMinistry of EducationNankai UniversityTianjin 300071China Institute of Robotics&Automatic Information System College of Artificial IntelligenceNankai UniversityTianjin 300071China

17β-Trenbolone(17-TB)is well documented as an environmental endocrine disruptor in aquatic biological studies,but its effects on mammals remain poorly ***,17-TB acts as a hormone with properties similar to testosterone,and the consequences of juvenile exposure on adult social behavior remain *** A(BPA)acts as an estrogen-like hormone,compared to ***-week-old male Balb/c mice were exposed orally to 17-TB(100μg/(kg·day))and BPA(4 mg/(kg·day))for 28 *** of social interactions and a three-chamber test showed that 17-TB increased virility in male mice,intensified both male and female sexual behavior,and attracted and accepted female *** also increased social dominance through tube tests inmalemice and markedly activated the c-Fos^(+)immune response in themedial prefrontal cortex(mPFC)and basal amygdala(BLA).ELISA data showed that 17-TB and BPA exposure significantly affected serum gonadotropin-releasing hormone(GnRH),growth hormone(GH),estradiol(E2),and luteinizing hormone(LH)levels,as well as testicular lesions and androgen receptor(ARβ)and estrogen receptor(ERα)*** transcriptomic analysis further confirmed that could disrupt steroid synthesis and linoleic acid-related biometabolic *** findings suggest the influence of 17-TB and BPA exposure on sexual behavior and fertility in male mice,possibly through modulation of the hypothalamic-pituitary-gonadal *** study provides insights relevant to human reproductive health and neuro-social behavioral research,and the potential risk of environmental disturbances should not be overlooked.

关键词： 17β-Trenbolone(17-TB) Bisphenol A(BPA) hypothalamic-pituitary-gonadal axis(HPG) Sex hormones Social dominance Sexual behavior

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Leader-follower:Human-centered intention-guided controller for novel SuperLimb with application to load-carrying scenarios

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Science china(Technological Sciences) 2025年第1期68卷 321-334页

作者： Qinghua ZHANG Xianglong LI Hongwei JING Kerui SUN Yuancheng LI Sikai ZHAO Lele LI Haotian JU Ziqi WANG Rui WU Tianjiao ZHENG Jie ZHAO Yanhe ZHU The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China The Learning Algorithms and Systems Laboratory School of EngineeringÉcole Polytechnique Fédérale de LausanneLausanne CH 101510587Switzerland

Supernumerary robotic arms(SuperLimb)are a new type of wearable robot that works closely with humans as a third hand to augment human operation *** conveyance of wearers'intentions,allocation of roles,and humancentered interaction considerations are the key points in the process of human-SuperLimb *** paper proposes a human-centered intention-guided leader-follower controller that relies on the dynamic modeling of SuperLimb with application to load-carrying *** proposed leader-follower controller takes the human as the leader and the SuperLimb as the follower,achieving effective information communication,autonomous coordination,and good force compliance between SuperLimb,humans,and the environment under human safety ***,the human-SuperLimb dynamic system is modeled to achieve force interaction with the environment and ***,to achieve the precise intention extraction of humans,pose data from five visual odometry sensors are fused to capture the human state,the generalized position,the velocity of hands,and the surface electromyography signals from two myoelectric bracelets sensors are processed to recognize the natural hand gestures during load-carrying scenarios by a designed Swin transformer ***,based on the real-time distance detection between human and mechanical limbs,the security assurance and force-compliant interaction of the human-SuperLimb system are ***,the human hand muscle intention recognition,human-robot safety strategy verification,and comparative load-carrying experiments with and without the proposed method are conducted on the SuperLimb *** showed that the task parameters are well estimated to produce more reasonable planning trajectories,and SuperLimb could well understand the wearer's intentions to switch different SuperLimb *** proposed sensor-based human-robot communication framework motivates future studies of other collaboration scenes fo

关键词： SuperLimb leader-follower human intention estimation human-robot safety human-robot communication

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A Dual-Circuit Magnetic Actuation system for Multi-Robot Collaboration in Large-Scale Medical Environments

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IEEE robotics and Automation Letters 2025年第4期10卷 3382-3389页

作者： Mao, Liyang Tian, Chenyao Yang, Peng Meng, Xianghe Zhang, Hao Xie, Hui Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150080 China

Untethered miniature robots, after ultra-long-distance transportation to the lesion by continuum robots, can further deliver drugs to the deep fine tissues. Specifically, the magnetic steering continuum robot with the follower-the-leader manner enhances the safety of channel construction, while the magnetically-driven swimming robot with high mobility and maneuverability ensures robust, precise drug delivery. However, it requires an external actuation system capable of covering a large working space and generating diverse magnetic fields to support both robots. Here, a magnetic actuation system excited by dual circuits is developed for the linear combination of constant (up to 13.8 mT) and alternating magnetic fields (up to 93.2 Hz, 11.5 mT) within a large O308 mm spherical workspace. This is achieved through the resonance effect of series capacitors and suppressing induced currents through series choke coils. Minimizing conductive materials and optimizing the core and yoke structure reduce the impact of eddy current losses. Through effective temperature management and error compensation, the system can stably generate multiple required magnetic fields over extended periods, navigating the continuum robot through the aortic arch and delivering an untethered miniature swimming robot for precise exploration of the heart's microvasculature. © 2025 IEEE.

关键词： Medical robotics

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Automatic Control of Magnetic Helical Microrobots Docking with Target Objects in Liquid Environments

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Journal of Bionic Engineering 2025年第2期22卷 574-584页

作者： Fu Zhao Haoran Rong Lefeng Wang State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin150080China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of EducationHarbin University of Science and TechnologyHarbin150080China

Bio-inspired magnetic helical microrobots have great potential for biomedical and micromanipulation applications. Precise interaction with objects in liquid environments is an important prerequisite and challenge for helical microrobots to perform various tasks. In this study, an automatic control method is proposed to realize the axial docking of helical microrobots with arbitrarily placed cylindrical objects in liquid environments. The docking process is divided into ascent, approach, alignment, and insertion stages. First, a 3D docking path is planned according to the positions and orientations of the microrobot and the target object. Second, a steering-based 3D path-following controller guides the helical microrobot to rise away from the container bottom and approach the target along the path. Third, based on path design with gravity compensation and steering output limits, alignment of position and orientation can be accomplished simultaneously. Finally, the helical microrobot completes the docking under the rotating magnetic field along the target orientation. Experiments verified the automatic docking of the helical microrobot with static targets, including connecting with micro-shafts and inserting into micro-tubes. The object grasping of a reconfigurable helical microrobot aided by 3D automatic docking was also demonstrated. This method enables precise docking of helical microrobots with objects, which might be used for capture and sampling, in vivo navigation control, and functional assembly of microrobots.

关键词： Magnetic actuation Helical microrobots Visual servo Motion control Docking

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Photodetector array for measuring the spatial-temporal distribution characteristics of electric field in oil-pressboard insulation based on the Kerr electro-optic effect

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High Voltage 2025年第1期10卷 95-105页

作者： Chunjia Gao Bo Qi Chengrong Li Yukung Zheng State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power UniversityBeijingChina

Accurate measurement and effective analysis of the space electric field and charge characteristics within the oil-pressboard insulation structure of converter transformer are essential for achieving precise insulation structure ***,most electric field measurement methods relying on the Kerr electro-optical effect are limited to single-point *** the complexity of converter transformer insulation struc-tures,including their large scale and the use of various materials,existing technologies and findings struggle to provide comprehensive electric field observations within the oil-pressboard *** leveraging the Kerr electro-optic effect,a high-precision 32-unit photodetector array has been developed to achieve regional measurements of spatial-temporal electric field in oil-pressboard *** array boasts a measure-ment spatial resolution of 1.4 mm^(2)and a sensitivity of 0.15 kV/mm,ensuring mea-surement accuracy exceeding 96.50%.Through practical measurements of the spatial electric field distribution within the oil-pressboard insulation under direct current voltage,the non-uniform distribution of the electric field is effectively captured in ***,the maximum deviation in field strength at different positions within the transformer oil can reach 18.5%.Moreover,as the applied voltage increases,the un-evenness coefficient of the field strength gradually rises,peaking at 1.19,which signifies a progressive expansion in the area affected by electric field *** conducting tests to assess the dispersion of volume resistivity in samples from various positions within large sheets of pressboard,the variation in volume resistivity of materials is posited as one of the contributing factors to the non-uniform distribution of electric field within the *** detailed accomplishments aim to provide essential technical and theoretical support for optimising insulation structure design of converter transformers.

关键词： insulation distribution field

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Parallel multi-rate simulation scheme for modular multilevel converter-based high-voltage direct current with accurate simulation of high-frequency characteristics and field programmable gate array-based implementation

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High Voltage 2025年第1期10卷 17-31页

作者： Chongru Liu Yanqi Hou Haoyun Dong Yipeng Lv Xinyan Wang Chenbo Su State Key Laboratory for Alternate Electrical Power System with Renewable Energy Sources North China Electric Power UniversityBeijingChina

The real-time simulation of the modular multilevel converter-based high-voltage direct current(MMC-HVDC)transmission system has become a popular research ***,in order to meet the real-time performance,the real-time simulation tech-nology will cause additional simulation errors for MMC-HVDC,especially on its fre-quency ***,a parallel multi-rate simulation scheme for MMC-HVDC is developed in this work to ensure accurate simulation of high-frequency ***,a non-error method based on converter transformer decoupling is proposed to decouple the converter and alternating current system;direct current transmission line decoupling and arm decoupling methods are used to achieve decoupling among and within converters.A multi-rate data synchronous mechanism is established by considering the differences among high-frequency characteristics caused by delayed data ***,the computing architectures of the primary system solver and modular multilevel converter controller are designed based on a field programmable gate array(FPGA).The real-time simulation platform for a four-terminal true bipolar MMC-HVDC is constructed based on the FPGA ***,the factors in multi-rate simulation affecting the simulation accuracy of high-frequency characteristics are *** simulator is shown to be accurate in steady and dynamic *** authors also verify its applicability for further research on high-frequency resonance based on control experiments.

关键词： interaction characteristics scheme

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