检索结果-内蒙古大学图书馆

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

作者： Jinke Li Dingkui Tian Feng Li Jianquan Sun Meng Yin Xinyu Wu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen China SIAT CUHK Joint Laboratory of Robotics and Intelligent Systems

Designed to provide rehabilitation or the assistance of walking for individuals who are with lower limb muscle injuries or spinal during their activities, self-balancing lower limb exoskeletons have been developed. This paper introduces an innovative controller for a fully actuated exoskeleton that ensures stable walking for wearers without the need for external devices. The exoskeleton robot is represented as a center of mass model, and based on this representation, the trajectory generation and controller are discussed, aiming to improve locomotion stability. To assess the stability and dynamic performance, a stable walking experiment with the exoskeleton was conducted, involving a male subject.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Pipe-finder: Adaptive, Lightweight Pipe Robot Integrating Origami Anisotropic Stiffness Structure

Pipe-finder: Adaptive, Lightweight Pipe Robot Integrating Or...

引用

IEEE International Conference on robotics and Biomimetics

作者： Yifei Chen Deyu Yang Ziyu Liu Boyu Yang Hongqiang Wang Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Southern Marine Science and Engineering Guangdong Laboratory Guangzhou China

Pipeline inspection poses challenges that require robots to navigate complex environments. However, existing pipeline robots with the rigid bodies often face limitations in terms of efficiency, flexibility, and adaptability considering the significant size variations and complex terrains in pipelines. This paper introduces a novel design of wheel pipeline robots that addresses these limitations by incorporating the Origami Anisotropic Stiffness Structure (OASS). Inspired by the desert iguana's skin, the OASS offers a unique combination of rigidity and flexibility in different directions, making it an ideal skeletal framework for the robot with only 146 g weight. By integrating the OASS with PLA and resin materials, we enhance the robot's support and enable it to effectively navigate diverse pipeline configurations. Experimental results demonstrate the robot's capability to maneuver through pipelines of different diameters, U-shaped turns, obstacles, and even vertical sections. This research provides a promising solution for inspection tasks in complex pipeline systems.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Multiple Sensor Fusion-Based Positioning Robot for Steam Generator Inspection

Multiple Sensor Fusion-Based Positioning Robot for Steam Gen...

引用

Sensor Technology and Control (ISSTC), International Symposium on

作者： Jingwei You Shouqi Wei Xiong Wu Jianquan Sun Department of Electrical Engineering Guilin University of Electronic Technology Guilin China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems Shenzhen China

Nuclear energy is presently the clean energy source most likely to massively displace fossil energy, and the secondary side of the steam generator is an important part of a nuclear power plant. Due to the small space of the secondary side of the steam generator and the confinement of the vessel, the precise positioning of the robot inside the steam generator cannot be achieved by a single sensor alone. This paper introduces a multi-sensor fusion steam generator secondary side inspection robot. Primary emphasis is on data fusion of multiple sensors, such as laser sensors, cameras, IMU, and wheel encoder. First of all, this paper integrates data from wheel encoder data and IMU data by using extended Kalman filtering (EKF), which decreases the drift error during the motion and enhances the robot positioning precision. Afterwards, we incorporate laser ranging sensors and camera picture data to enhance the overall spatial sensitivity of the robot through particle filtering algorithms. Experiments show that the robot works reliably and has high positioning accuracy.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Terrain Classification Based on Wheel-terrain Interaction Measurements using Aside-Wheel Camera

Terrain Classification Based on Wheel-terrain Interaction Me...

引用

IEEE International Conference on robotics and Biomimetics

作者： Feng Xue Longteng Hu Chen Yao Jin Wei Yunzhou Li Peichen Wang Zheng Zhu Zhenzhong Jia Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology (SUSTech) Shenzhen China SUSTech Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen China Harbin of Institute of Technology (HIT) Harbin China

The scientific applications over a decade have demonstrated the robust practicality of wheeled rovers, which are capable of undertaking exploration tasks in various unstructured terrains. However, sinkage and slippage are extremely common on sandy terrains. Fortunately, these risks can be mitigated in a timely manner through the perception of terrain types. Thus, terrain classification technology has become a key solution to addressing these issues. In this paper, we propose a new terrain classification pipeline for a rover over sandy terrains. It exploits the aside-wheel sensor suite to measure sinkage, contact angle, slip ratio, and normal force. Due to the strong correlation between contact characteristics and terrain types form our experiments, we can infer terrain types based on wheel-terrain interaction parameters. We train various machine learning models and obtained classification results, which is evaluated using the record dataset form a singlewheel testbed. Through Experimental comparison, most models achieve high accuracy (over 90%), we analyze the reasons behind performance discrepancies among different models and recommend LGBM as the preferred approach. In the end, we transfer the models to use data collected from rover field tests and achieve a higher level of accuracy, which proves the effectiveness of our approach.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Learning Quasi-stiffness Control Framework of a Powered Transfemoral Prosthesis for Adaptive Speed and Incline Walking

arXiv

引用

arXiv 2023年

作者： Ma, Teng Yin, Shucong Hou, Zhimin Wang, Yuxuan Huang, Binxin Yu, Haoyong Fu, Chenglong Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Department of Biomedical Engineering National University of Singapore Singapore119077 Singapore

Impedance-based control represents a prevalent strategy in the powered transfemoral prostheses because of its ability to reproduce natural walking. However, most existing studies have developed impedance-based prosthesis controllers for specific tasks, while creating a task-adaptive controller for variable-task walking continues to be a significant challenge. This article proposes a task-adaptive quasi-stiffness control framework for powered prostheses that generalizes across various walking tasks, including the torque-angle relationship reconstruction part and the quasi-stiffness controller design part. A Gaussian Process Regression (GPR) model is introduced to predict the target features of the human joint’s angle and torque in a new task. Subsequently, a Kernelized Movement Primitives (KMP) is employed to reconstruct the torque-angle relationship of the new task from multiple human reference trajectories and estimated target features. Based on the torque-angle relationship of the new task, a quasi-stiffness control approach is designed for a powered prosthesis. Finally, the proposed framework is validated through practical examples, including varying speeds and inclines walking tasks. Notably, the proposed framework not only aligns with but frequently surpasses the performance of a benchmark finite state machine impedance controller (FSMIC) without necessitating manual impedance tuning and has the potential to expand to variable walking tasks in daily life for the transfemoral amputees. © 2023, CC BY.

关键词： Adaptive control systems

来源：评论

学校读者我要写书评

暂无评论

Online Optimal Energy Management for Building Heating with Thermal Energy Storage

Online Optimal Energy Management for Building Heating with T...

引用

IEEE Conference on Decision and Control

作者： Mengfan Cao Shibo Chen Haoyu Miao Zaiyue Yang Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This paper studies the online optimal energy management problem for the building heating system. This system is driven by electric heat pumps, and equipped with the thermal energy storage (TES) that provides heat flexibility. The temporal coupling introduced by building temperature dynamics and TES energy level dynamics, together with the uncertainties of real-time electricity price and outdoor temperature, pose the optimal energy management problem a computationally challenging one. Hence, based on the Lyapunov optimization method, an online algorithm is proposed to minimize the long-term time average cost of heating system. Our algorithm can ensure the building temperature constraints and TES energy level constraints are satisfied all the time. The maximum optimality gap of our algorithm is also rigorously derived. Simulation results show that this algorithm can achieve user comfort and reduce energy cost effectively.

关键词： Costs Uncertainty Simulation Heuristic algorithms Buildings Optimization methods Energy management

来源：评论

学校读者我要写书评

暂无评论

Motion Planning for Nonlinear Robotic System based on ADMM and Convex Feasible Set Algorithm

Motion Planning for Nonlinear Robotic System based on ADMM a...

引用

IEEE Conference on Decision and Control

作者： Ruishuang Chen Zaiyue Yang Jie Cheng Zhihui Liang Department of Mechanical and Energy Engineering and the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

In the motion planning of robot, nonlinear dynamic constraints and obstacle avoidance constraints make the problem highly non-convex and difficult to solve. In this paper, a general algorithmic framework for trajectory optimization is proposed based on alternating direction method of multipliers (ADMM) and convex feasible set algorithm (CFS). The ADMM framework decomposes the original problem into an optimal control sub-problem with only dynamic constraints and a subproblem with only obstacle avoidance constraints, while the sub-problem with obstacle avoidance constraints is solved via CFS based on the geometric properties of the feasible region. The convergence of proposed algorithm is proven, and the simulation results in different cases verify the feasibility and effectiveness of proposed algorithm.

关键词： Heuristic algorithms Simulation Dynamics Convex functions Planning Nonlinear dynamical systems Collision avoidance

来源：评论

学校读者我要写书评

暂无评论

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

Adaptive Planar Foot with Compliant Ankle Joint and Multi-modal Sensing for Quadruped Robots

Adaptive Planar Foot with Compliant Ankle Joint and Multi-mo...

引用

IEEE International Conference on robotics and Biomimetics

作者： Guowei Shi Chen Yao Wenhui Wang Zheng Zhu Zhenzhong Jia Department of Mechanical and Energy Engineering Southern University of Science and Technology (SUSTech) Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics Shenzhen China

ISBN: (纸本)9781665481106

An adaptive sensorized robot foot that can adapt to uneven and rough terrains and have contact state sensing capability is vital for legged locomotion in exploration missions. Inspired by quadruped animals, we present an adaptive planar foot with large contact area to reduce sinkage, two degrees of freedom (2-DOF) compliant ankle joint for better terrain adaptation, in-foot multi-modal sensing capability. We propose customized ankle design with encoders instead of IMU for ankle joint angle measurement, in order to mitigate the noise injected by large impact forces. The foot also provides an accurate estimated force according to foot-shank relative orientation and the 6-axis force/torque sensor data. We develop a control algorithm for a quadruped robot equipped with our proposed robot feet and test its performance through simulation. Real-world experiments including foot orientation estimation, swing sensitivity, and force perception verify that our robot foot is suitable for dynamic quadruped locomotion.

关键词： Legged locomotion Sensitivity Force measurement Heuristic algorithms Force Robot sensing systems Sensors

来源：评论

学校读者我要写书评

暂无评论

A Bipedal Wheel-Legged Robot with High-frequency Force Control by Qausi-Direct Drive: Design and Experiments

A Bipedal Wheel-Legged Robot with High-frequency Force Contr...

引用

IEEE International Conference on robotics and Biomimetics

作者： Yuntian Zhao Shiyuan Lin Zheng Zhu Zhenzhong Jia Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology (SUSTech) Shenzhen China

ISBN: (纸本)9781665481106

Under-actuated systems like bipedal wheel-legged robots have dynamics coupled with force control, which cannot be separated or integrated out. Joint force control is necessary for these robots to realize model based controllers. In this paper, we design a bipedal wheel-legged robot prototype with proprioceptive quasi-direct drive (QDD) actuators to realize high-frequency force control and good back-drivability to deal with unexpected impacts. We compare the control bandwidth, back-drivability (impact mitigation capability) of three commonly used force-control actuation paradigms including geareddown motor with integrated torque sensor, QDD, and SEA (series elastic actuation) in details. Detailed actuator calibration reveals good current-torque linearity, thereby simplifying the control problem. We also use EtherCAT-based communication network and real-time main controller to ensure high control frequency. We derive the robot dynamics model, establish the simulation model, and design a LQR controller, in order to demonstrate our proposed design. Moreover, in the real-world experiments, we use a velocity-based balance controller together with position joint controller to show preliminary mobility, including balancing, rotating, and forward motion.

关键词： Actuators Torque Dynamics Prototypes Propioception Linearity Real-time systems

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：