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IEEE International Conference on robotics and Biomimetics

作者： Guangping Lan Shugen Ma Department of Systems Engineering Faculty of Engineering Ibaraki University Hitachi Japan Robotics Laboratory CAS Shenyang Institute of Automation Shenyang China

In this paper, we introduce a novel crawler-driven module that is capable of climbing over high steps autonomously, and present the cooperative driving of these two crawler-driven modules for increasing the robot mobility of step-climbing. The proposed mechanism of the crawler-driven module equipped with planetary gear reducers can provide two outputs in different form only be one actuator. Through experimental tests, it is known that the developed crawler-driven module can not only move on the even ground but also pass over high steps without any sensors for discriminating obstacles and any extra actuators or mechanisms for assistance. It is also shown by experimental tests that the mobility of the crawler-driven mechanism can be highly improved by cooperatively driving two of these crawler-driven modules

关键词： Mobile robots robotics and automation Actuators Crawlers Orbital robotics Gears Testing Joining processes Vehicles systems engineering and theory

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Analysis of stairs-climbing ability for a tracked reconfigurable modular robot

Analysis of stairs-climbing ability for a tracked reconfigur...

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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Jinguo Liu Yuechao Wang Shugen Ma Bin Li Robotics Laboratory of Chinese Academy of Sciences Shenyang Institute of Automation China Graduate School of Chinese Academy of Sciences Bejing China Robotics Laboratory of Chinese Academy of Sciences Shenyang Institute of Automation (SIA) China Department of Systems Engineering Ibaraki University JAPAN

ISBN: (纸本)078038945x

Stairs-climbing ability is the crucial performance of mobile robot for urban environment mission such as urban search and rescue or urban reconnaissance. The track type mobile mechanism has been widely applied for its advantages such as high stability, easy to control, low terrain pressure, and continuous drive. Stairs-climbing is a complicated process for a tracked mobile robot under kinematics and dynamics constraints. In this paper, the stairs-climbing process has been divided into riser climbing, riser crossing, and nose line climbing. During each climbing process, robot's mobility has been analyzed for its kinematics and dynamics factor. The track velocity and acceleration's influences on riser climbing have been analyzed. And the semiempirical design method of the track grouser and the module length has been provided in riser crossing and nose line climbing correspondingly. Finally, stairs-climbing experiments have been made on the two-module robot in line type, and three-module robot in line type and in triangle type respectively.

关键词： Mobile robots robotics and automation Kinematics Vehicle dynamics Nose Medical robotics Wheels Stability Pressure control Safety

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IVS O5: New developments and research trends for intelligent vehicles

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IEEE Intelligent systems 2005年第4期20卷 10-14页

作者： Wang, Fei-Yue Li, Li Song, Jingyan Niehsen, Wolfgang Zheng, Nan-Ning University of Arizona Chinese Academy of Science United States University of Arizona United States Tsinghua University China Chinese Academy of Sciences China Robert Bosch Corporate Research United States Xi'an Jiaotong University China Department of Automation Tsinghua University Beijing China University of Arizona's Systems Industrial Engineering Department United States University's Program in Advanced Research of Complex Systems United States Key Laboratory of Complex Systems and Intelligence Science Chinese Academy of Sciences China Robert Bosch Corporate Research United States Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University China

Recent advances and research trends for intelligent vehicles were studied. Vehicle-state sensing focuses on measuring a vehicle's movement and monitoring its actuators. Individual-vehicle-control research focuses mainly on guaranteeing driving safety. The results suggest that intervehicle, vehicle-roadside, and vehicle-driver information sharing currently the most attractive trend in intelligent-vehicle research.

关键词： Intelligent vehicle highway systems

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Development of a shape shifting robot for search and rescue

Development of a shape shifting robot for search and rescue

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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Bin Li Shugen Ma Jinguo Liu Yuechao Wang Robotics Laboratory of Chinese Academy of Sciences Shenyang Institute of Automation China Department of Systems Engineering Faculty of Engineering Ibaraki University Japan Graduate School of Chinese Academy of Sciences Beijing China

ISBN: (纸本)078038945x

A novel link-type modular robot, which can change its shape, has been developed for potential application in urban search and rescue (USAR) operation. The advantages of the robot with link-type structure have been specified, and its shape shifting principle has been discussed. A three-module shape shifting robot has three kinds of symmetry configurations, that is, line type, triangle type and row type. Each configuration possesses its unique mobility. A tracked prototype has been built and tested under various unstructured environment Experiments have demonstrated its mobility and flexibility.

关键词： Shape Robot sensing systems robotics and automation Mobile robots Fellows Laboratories systems engineering and theory Prototypes Testing Earthquakes

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Design and experiment of a novel link-type shape shifting modular robot series

Design and experiment of a novel link-type shape shifting mo...

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IEEE International Conference on robotics and Biomimetics

作者： Jinguo Liu Shugen Ma Zhenli Lu Yuechao Wang Bin Li Jing Wang Shenyang Inst. of Autom. Chinese Acad. of Sci. Beijing Robotics Laboratory Shenyang Institute of Automation (SIA) Chinese Academy and Sciences China Department of Systems Engineering Faculty of Engineering Ibaraki University Japan

Being hyper-redundant, modularized and continuously driving, link-type robots have high mobility under unstructured environment as the nature snake does. In this study, we have experimented on the nature snake and analyzed the link-type structure's character in detail, and then we have proposed a novel link-type shape shifting modular robot. The key advantage of this design over other link-type vehicle is their adaptability and flexibility for its various configurations. Robot in such link type can change its configuration to adapt to the environment and mission by reconfiguring and shape shifting. A standard module is mainly composed of a link arm, a link handle, an offset pitch joint, an offset yaw joint, and the track driven system. The adjacent modules are connected through the link arm and the link handle. The multi-module robot can change it shape by the motion of the offset joints. After modification of the standard module, a two-module robot and a three-module robot's assembled structure have been designed respectively. After planning of their locomotion configuration, locomotion experiments of these two robots have been made on the slope, over the trench, up the stairs and on the debris. Experiments have demonstrated that such kind structure permits good mobility' and high flexibility under unstructured environment. Being simple, small and portable, the tracked robot platform series have been developed for potential application such as urban search and rescue (USAR) efforts, and planetary exploration

关键词： robotics and automation Robotic assembly Laboratories Mobile robots Couplings Shape control DC motors systems engineering and theory Vehicles Motion planning

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Task planning and behavior scheduling for a reconfigurable planetary robot system

Task planning and behavior scheduling for a reconfigurable p...

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IEEE International Conference on Mechatronics and automation

作者： Minghui Wang Shugen Ma Bin Li Yuechao Wang Xinyuan He Liping Zhang Shenyang Inst. of Automatior Chinese Acad. of Sci. Shenyang China Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Department of Systems Engineering Ibaraki University Hitachi Japan School of Mechanical Engineering Xi''an Jiaotong University Xi'an China

In this paper, the synthetical approach of behavior tree and logic syntactic representation is presented to implement task planning and behavior scheduling for autonomous motion, reconfiguration and cooperation in a new planetary rover, reconfigurable planetary robot system (RPRS). This approach provides support for task decomposition, behavior scheduling, synchronization, execution monitoring and exception handling. The analytic process is illustrated in an example. The modularized design method of single child-robot is proposed and implemented. Two-layered hierarchical hybrid control architecture is designed for RPRS, which applies the centralized plan at task-level and the distributed control at motion-level. As a result, child-robots can reconfigure to some configurations and perform some tasks cooperatively. The latest results of this research are demonstrated in the experiments of the prototype.

关键词： robotics and automation Reconfigurable logic Mobile robots Motion control Planets Sliding mode control Helium Laboratories systems engineering and theory Mechanical engineering

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Path planning of a snake-like robot based on Serpenoid curve and Genetic algorithms

Path planning of a snake-like robot based on Serpenoid curve...

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WCICA 2004 - Fifth World Congress on Intelligent Control and automation, Conference Proceedings

作者： Liu, Jinguo Wang, Yuechao Li, Bin Ma, Shugen Robotics Laboratory Chinese Academy of Sciences Shenyang Institute of Automation China Department of Systems Engineering Ibaraki University Japan

The path of the snake-like robot has no repetition because its motion is influenced by manifold indeterminate factors such as ground condition, mechanism's vibration and motor voltage's variety. A novel path planning technique based on Serpenoid curve and Genetic algorithms (GAs) has been proposed to control the snake-like robot in Shenyang Institute of automation (SIA, China). Firstly, the ranges of the path and the curvature deviation have been calculated approximately and set as the bounds of Genetic algorithms. Then using real time dual Genetic algorithms, this path planning technique not only can decide the shortest path and the minimum curvature deviation, but also can limit the motion error's influence. Simulation results show that the results of the second layer of GAs are more available than that of the first layer of GAs and this novel technique is effective for the path planning of the SIA snake-like robot.

关键词： Mobile robots

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Evaluation of a robotic targeting device for interventional radiology

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International Congress Series 2004年第C期1268卷 486-491页

作者： Kronreif, Gernot Kettenbach, Joachim Figl, Michael Kleiser, Ludwig Ptacek, Wolfgang Fürst, Martin ARC Seibersdorf Research GmbH Mechatronic Automation Systems Robotics Laboratory A-2444 Seibersdorf Austria Department of Diagnostic Radiology Vienna Medical University Vienna Austria Department of Biomedical Engineering Physics Vienna Medical University Vienna Austria

Image-guided percutaneous interventions seem to be an application field where concepts and tools from robotics technology could contribute to higher accuracy of the intervention, to an improved workflow and thus to a possible re-definition of the gold standard. This paper describes several evaluation steps for a robotic targeting device developed by the authors. Beside of evaluation of the functionality of the system, accuracy and compatibility to clinical workflow is being analysed in a series of in vitro tests using a needle penetrable phantom. Results achieved and outlined in the paper are showing sufficient accuracy of the system and thus confirming the approach of robot assisted interventions. © 2004, Elsevier Science B.V. All rights reserved.

关键词： Computer-aided surgery Image-guided intervention Interventional radiology Localisation Medical robotics

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Shape control of hyper-redundant modularized manipulator using variable structure regular polygon

Shape control of hyper-redundant modularized manipulator usi...

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2004 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Liu, Jinguo Wang, Yuechao Ma, Shugen Li, Bin Robotics Laboratory Chinese Academy of Sciences Shenyang Institute of Automation China Department of Systems Engineering Faculty of Engineering Ibaraki University Japan Graduate School Chinese Academy of Sciences Bejing China

ISBN: (纸本)0780384636

Hyper-redundant manipulator has more degrees of freedom than the least necessary to perform a given task, thus it has the features of overcoming conventional industrial robot's limitation such as improving its kinematics and dynamic performances. Crucial as it is, effective control of hyper-redundant manipulator is difficult for its redundancy. A novel shape control technique based on the concept of variable structure regular polygon and subsystem has been proposed. This technique, using variable structure regular polygon and neural networks models, is completely capable of solving the control problem of a planar hyper-redundant manipulator with any number of links following any desired path. With regular polygon side number's variety and its shape's transformation, the manipulator's configuration changes accordingly and moves actively to perform the task form point to point or following a path. Compared with other methods to our knowledge, this technique has such superiorities as fewer control parameters, higher precision and less computation. Simulation of a six-link modularized manipulator's inspection work in a bottle-like concave has demonstrated that this control technique is available and effective.

关键词： Redundant manipulators

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Novel micro gripping, probing, and sensing devices for single-cell surgery

Novel micro gripping, probing, and sensing devices for singl...

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Conference Proceedings - 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2004

作者： Li, Wen J. Xi, Ning Centre for Micro and Nano Systems Chinese University of Hong Kong Shatin N.T. Hong Kong Robotics and Automation Laboratory Department of Electrical Engineering Michigan State University East Lansing MI United States Micro/Nano Robotics Automations Lab. Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning China Chinese University of Hong Kong Michigan State University Shenyang Institute of Automation

Several novel devices under development in our laboratories to ultimately realize a micro robotic system for single cell nano-scale probing, injection, imaging and surgery is described in this paper. Thus far, we have 1) developed MEMS polymer grippers that can be actuated under water with very large deflection and are capable of gripping 500um embryonic cells in water with ∼2V input;2) developed a probe-etching technique to controllably shape fiber probes into various tip geometries, Le., fibers with initial diameter of 125um were sharpened into tips with angles ranging from <2.7 - 9.7° and with nano-scale tip diameters of <1um;3) developed a novel PVDF force sensing system with resolution in the sub-uN range for applications in bio-manipulation, bio-injection, and potentially single cell surgery. Details of these technologies are discussed in this paper.

关键词： Medical imaging

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