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Towards Intercontinental Teleoperation: A Cloud-Based Framework for Ultra-Remote Human-robot Dual-Arm Motion Mapping 1

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16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Lv, Honghao Zhou, Huiying Wang, Ruohan Wu, Haiteng Pang, Zhibo Yang, Geng State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou Shenhao Technology Hangzhou China Department of Automation Technology ABB Corporate Research Vasteras Sweden Stockholm Sweden

ISBN: (数字)9789819964987

ISBN: (纸本)9789819964970

Teleoperated robots offer a unique combination of robotic strength and precision, coupled with human judgment and ingenuity, to enhance productivity and safety in complex, unstructured, and hazardous industrial environments. However, teleoperation over ultra-remote distances has posed a significant challenge, with control performance being compromised by the inherent trade-off between distance and latency. This study presents a novel cloud-based human-robot motion mapping framework for ultra-remote teleoperation. An intuitive dual-arm human-robot motion mapping framework based on capturing human motion has been implemented, and private network connectivity is established using the Google Cloud platform for the efficient transfer of control data required for human-robot motion mapping. Moreover, a novel feedforward control framework is proposed to mitigate the negative impact of high network latency on teleoperation control performance. To demonstrate the feasibility of the proposed approach, an intercontinental teleoperation system between China and Sweden was developed, and a series of practical applications were demonstrated by capturing the motion of an operator in Sweden to control the dual-arm robot located over 7800 km away in China. The proposed feedforward control framework for intercontinental teleoperation has the potential utility for improving human-robot interaction performance in ultra-remote teleoperation scenarios with high network latency. More demonstration videos can be found at https://***/intercontinental-teleoperation/. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Remote control

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Towards Immersive Teleoperation: Dynamic Identification for Force Feedback of a Wearable Exoskeleton 1

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7th IFToMM Asian conference on Mechanism and Machine Science, Asian MMS 2024

作者： Wang, Ruohan Zhang, Guangwei Zhang, Guangyao Lv, Honghao Dong, Na Zhang, Zhongwei Hao, Yungang Yuan, Haihui Wu, Haiteng Yang, Geng State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China Innovation Institute Co. Ltd Hangzhou China Automation Research Institute Co. Ltd. of China South Industries Group Corporation Mianyang China Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou Shenhao Technology Hangzhou China

ISBN: (数字)9783031675690

ISBN: (纸本)9783031675683

Force-feedback haptic interfaces serve as vital tools in enhancing task execution during teleoperation. Wearable exoskeletons, as one of the haptic devices, provide a uniquely intuitive interface by directly translating operators’ motions to remote robots. Additionally, it is of great significance to obtain a precise dynamic model, a fundamental aspect for optimizing the force feedback function of the exoskeleton. Traditional methods like CAD modeling and heuristic techniques, while common, often introduce inaccuracies and complexities. This paper introduces a holistic system dynamic identification method, incorporating an optimized exciting trajectory. Through the application of a least-squares damping algorithm, we attain feasible parameters for the trajectory, ensuring accuracy and efficiency. Experimental simulations with the exoskeleton validate the practicality of the entire system identification method. Furthermore, comparative experiments, utilizing different trajectories, underscore the efficacy of the proposed Fourier series-based trajectory. The results highlight not only the feasibility of the method but also its potential to significantly advance the field of wearable exoskeletons and force feedback in teleoperation. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Exoskeleton (robotics)

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Keeping Workers Safe in Electric Working: A robot System for High-Voltage Live operation *

Keeping Workers Safe in Electric Working: A Robot System for...

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IEEE International Conference on Industrial technology (ICIT)

作者： Longqiang Wang Ruohan Wang Haiteng Wu Geng Yang State Key Laboratory of Fluid Power & Mechanical Systems School of Mechanical Engineering Zhejiang University Hangzhou China Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou Shenhao Technology Co. LTD. Hangzhou China State Key Laboratory of Fluid Power & Mechanical Systems Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot School of Mechanical Engineering Zhejiang University Hangzhou China

In conventional high-voltage live work, operators are required to work near high-voltage cables, which poses risks such as falling and getting an electric shock. To promise the worker's safety, regional breakout of power is one of the common methods that the power sector would deploy. However, with the development of society, a lot of trouble will be brought about due to the economic loss and social impact caused by regional power outages, which pose higher requirements for the power sector. Hence, it is demanding to carry out a safe and effective method for high-voltage live work without power failure. In such a context, we have developed a dual-arm collaborative robotic system for high-voltage live work. The system includes a human-computer interaction interface and a pair of Omega handles, which allow workers to operate remotely at the control center. In laboratory experiments, the system can accurately complete stripping, trimming, and wiring operations. Also, some actions are pre-programmed inside the control system to realize simple operations automatically. This dual-arm robot collaboration system with a teleoperation function can greatly reduce the labor intensity of workers and ensure their safety.

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An Electromyographic Signal Acquisition System for Sarcopenia 1

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5th International Workshop on Internet of Things of Big Data for Healthcare, IoTBDH 2023

作者： Jian, Yihui Mao, Kaitai Chen, Jing Ling, Xinrui Jin, Ziguan Ye, Zhiqiu Yang, Geng Zhang, Qin Xu, Kaichen State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310000 China School of Ocean Science and Engineering Harbin Institute of Technology Weihai China Department of Geriatrics First Affiliated Hospital School of Medicine Zhejiang University Hangzhou China Key Laboratory of Diagnosis and Treatment of Aging and Physic-Chemical Injury Diseases of Zhejiang Province School of Medicine The First Affiliated Hospital Zhejiang University Zhejiang Hangzhou China Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou China

ISBN: (数字)9783031522161

ISBN: (纸本)9783031522154

Sarcopenia, characterized by age-related loss of strength and muscle mass, profoundly affects the elderly’s well-being. Currently, diagnosing sarcopenia requires the utilization of extensive and cumbersome testing equipment. Surface electromyography (sEMG) is able to track muscle status and has been effectively employed in diagnosing various diseases or human-machine interactions, but its application in sarcopenia detection remains unexplored. In this study, a compact sEMG system is developed to monitor sarcopenia, which is endowed with compact dimensions, ease of operation, and wireless data transmission capabilities. The investigation involves the analysis of sEMG signals from 15 elderly participants. A significant correlation is established between the median frequency of these sEMG signals and the appendicular skeletal muscle mass (ASM). The proposed sEMG-based sarcopenia detection device exhibits the merit in portable use and highly operational efficiency. In future, it holds a high potential to replace the commercially cumbersome or non-portable testing devices, thereby facilitating widespread sarcopenia screening across diverse populations. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Muscle

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Design, Kinematic and Variable Stiffness Analysis of a Tensegrity-Based Joint

Design, Kinematic and Variable Stiffness Analysis of a Tense...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Wu, Jinlong Liu, Gang Li, Ke Zhang, Niansong Yu, Zhiyuan Wu, Haiteng Liu, Yixiang Li, Yibin School of Control Science and Engineering Shandong University Jinan250061 China School of Mechanical Engineering Nanjing University of Science and Technology Nanjing210094 China School of Mechatronics Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China Hangzhou Shenhao Technology Co. Ltd Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou311121 China Jilin University Key Laboratory of Bionic Engineering Ministry of Education Jilin130022 China

ISBN: (纸本)9781665481090

In this paper, a new compact, low-inertia, and flexible tensegrity joint is proposed, which aims to overcome the shortcomings of traditional collaborative robots and tendon-driven robots. The joint is composed of two circular frames, and is connected by three surrounding pneumatic muscles and an intermediate spring. The stiffness of the joint is changed by inflating and releasing air to the pneumatic muscles, which is also the principle of the joint's variable stiffness. Firstly, a detailed kinematic analysis of the proposed tensegrity joint was carried out to explore its position change in multi-axis motion. Secondly, the stiffness analysis was carried out to evaluate the deformation response and stiffness characteristics of the joint under different loads, which provided an important reference for its design optimization. Finally, the performance of the model is verified by simulation analysis, and the reliability and practicability of the model in dynamic work are verified by comparison with actual data. This study provides a theoretical and experimental basis for the promotion of new tensegrity joints in robot applications, and provides new design ideas and methods for the development and innovation of future robotics technology. © 2024 IEEE.

关键词： Collaborative robots

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Enhancing robot Teleoperation in Remote Automation Production through an Event-Triggered Control Strategy

Enhancing Robot Teleoperation in Remote Automation Productio...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Mengke Wang Honghao Lv Ruohan Wang Haiteng Wu Lipeng Chen Yi Chen Haihui Yuan Geng Yang State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou Shenhao Technology Hangzhou China Robotics X Tencent Shenzhen China Intelligent Manufacturing Center DongFang Electric Corporation Academy of Science and Technology Co Chengdu China China South Industries Group Corporation Hangzhou Automation Research Insititute Co. Ltd. China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou China

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

With the advancement of intelligent manufacturing, an increasing number of industrial production processes are transforming unmanned operations. This trend is particularly evident in factories that involve potential safety hazards, where the demand for unmanned production is becoming increasingly urgent. Teleoperation, as a core technology for achieving unmanned factories, holds tremendous importance in keeping workers safe from danger. However, traditional teleoperation strategies encounter challenges due to mismatches between master and slave workspaces, making it difficult to achieve both high precision and operation across large workspaces simultaneously. To address this issue, this paper proposes an event-triggered control strategy for a teleoperated robot system. By introducing a foot pedal as the event-triggered switch, the enablement and termination of teleoperation are associated with the activation of the pedal. Through resetting the start position, fine-grained teleoperation is achieved throughout the entire workspace of the robot. To demonstrate the advantages of the proposed control strategy, a mimicked wiring operation task scenario is constructed for experimental verification, and the teleoperation tasks are completed successfully and efficiently.

关键词： Wiring Accuracy Service robots Switches Market research Production facilities Main-secondary

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TensWheBot: A Double Wheeled Rolling robot Based on Tensegrity Structures

TensWheBot: A Double Wheeled Rolling Robot Based on Tensegri...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Zhang, Niansong Liu, Gang Li, Yiqing Li, Ke Yu, Zhiyuan Wu, Haiteng Liu, Yixiang Li, Yibin Nanjing University of Science and Technology School of Mechanical Engineering Nanjing210094 China Chengdu Aeronautic Polytechnic School of Automotive Engineering Chengdu610100 China Harbin Institute of Technology School of Mechatronics Engineering and Automation Shenzhen Shenzhen518055 China Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China Hangzhou Shenhao Technology Co. Ltd Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou311121 China Shandong University School of Control Science and Engineering Jinan250061 China Jilin University Key Laboratory of Bionic Engineering Ministry of Education Jilin130022 China

ISBN: (纸本)9781665481090

Tensegrity structure constitutes a self-supporting and self-stressed spatial grid framework, comprising distinct compression components and continuous tension components, which integrates the benefits of rigid structure and flexible structure. This paper introduces TensWheBot, a robot designed with deformable wheels based on tensegrity structure. Based on the force density method, the form-finding of the tensegrity module is accomplished. The tensegrity module can actively alter its shape through the central driving compression rod, thereby modifying the width and the wheel diameter of the robot. The robot's motion law is derived from kinematic modeling. The assembly of the prototype, the establishment of the robot model, and the results of related simulation experiments have validated the effectiveness of the robot. The tensegrity wheeled robot meets the needs of complex and variable environments, as well as diverse tasks such as disaster rescue and terrain exploration. © 2024 IEEE.

关键词： Wheels

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Modeling and Control of Differential-Drive Chassis for a Homecare Assistive robot

Modeling and Control of Differential-Drive Chassis for a Hom...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Ping He Honghao Lv Haiteng Wu Geng Yang State Key Laboratory of Fluid Power and Mechatronic Systems Polytechnic Institute Zhejiang University Hangzhou China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Enginerring Zhejiang University Hangzhou China Hangzhou Shenhao Technology Co. LTD. Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Enginerring Zhejiang University Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou China

With the increasing of the aging population, the demand for homecare services is escalating and the homecare assistive robots are becoming increasingly popular. In this paper, a differential mobile chassis design for a homecare assistive robot is presented. The mobile chassis is made of aluminum sheet and profile, and adopts a two-wheel differential model as the kinematic model. The STM32 single chip microcomputer is used as the cerebellum to control chassis movement, and the NVIDIA Jetson Nano Developer Kit is employed as the brain for perception and decision-making. The software architecture is based on the back-fore ground system and the ROS. A prototype is developed and experiments on simultaneous localization and mapping (SLAM) as well as autonomous navigation experiments are conducted to verify the practicality of the chassis design.

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Sparse Model Identification-Based Model Predictive Control of Rovs with Plant-Model Mismatch

SSRN

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SSRN 2023年

作者： Jiang, Xiaoyong Jing, Fandi Zhu, Weichen Gao, Peng Wu, Haiteng Zhou, Zhixin Geng, Xiaotang Yang, Ke-Ji School of Mechanical and Energy Engineering Zhejiang University of Science and Technology Hangzhou310023 China Department of Mechanical Engineering Zhejiang University 310058 China Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou310000 China Hangzhou Shenhao Technology Co. Ltd Hangzhou310000 China Wuhan University of Technology China

Remotely operated underwater vehicles (ROVs) have been widely applied for various marine activities. A good ROV control is difficult to be obtained if there is plant-model mismatch, for example, caused by environmental disturbances. In this work, we develop a novel sparse model identification-based model predictive control (MPC) to solve this problem. In the first step, a conventional MPC system with nominal process model parameters is applied to control ROVs. Then the sparse identification of nonlinear dynamics (SINDy) is used to identify and model the plant-model mismatch through the historical data, collected in the first step. Finally, a more accurate ROV model, updated with the identified models, obtained in the previous step, is used for the future MPC in order to improve the ROV controlling quality. The effectiveness of the developed framework is demonstrated for both Lab scale and real ROV systems developed in our group by comparing the closed-loop results of the proposed SINDy based MPC and the nominal MPC. © 2023, The Authors. All rights reserved.

关键词： Model predictive control

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Liberating Humanity from Heavy Labor: Dual-Arm Coordination and Teleoperation Control for an Assistive robot

Liberating Humanity from Heavy Labor: Dual-Arm Coordination ...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Lei Wang Ruohan Wang Honghao Lv Na Dong Zhongwei Zhang Yungang Hao Haihui Yuan Haiteng Wu Geng Yang State Key Laboratory of Fluid Power & Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China Dongfang Electric (Hangzhou) Innovation Insititute Co. Ltd Hangzhou China Automation Research Insititute Co. Ltd. of China South Industries Group Corporation Hangzhou China Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou Shenhao Technology Hangzhou China

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

With the increasing demand for smart assistive robotics, the interaction between robots and humans, as well as the interaction within robots themselves, have become increasingly important in human-robot collaboration. However, conventional autonomous robot control strategy struggles to flexibly adapt to dynamic and unstructured surroundings, such as household and medical environments. This paper proposes a dual-arm coordination control strategy based on admittance control, targeting work scenarios that require direct human involvement, to free human labor. The dual-arm robot is divided into master and slave arms, to play different roles during human-robot collaboration. The master arm is directly controlled by the operator through teleoperation and shares motion information. The slave arm, equipped with a force sensor at its end-effector, maintains the contact force with the object in the required directions through the admittance control algorithm and traces the trajectory of the master arm in other directions. Finally, an object-handling task for dual-arm is conducted to verify the feasibility of the proposed strategy. The results demonstrate the dual-arm coordination control strategy exhibits excellent maneuverability.

关键词： robot kinematics Force Collaboration Process control robot sensing systems End effectors Trajectory

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