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检索条件"机构=IEEE State Key Laboratory of Robotics and System"

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Cross-coupling control of dexterous hand based on neuron networks

Cross-coupling control of dexterous hand based on neuron net...

引用

2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Gu, Haiwei Fan, Shaowei Zhang, Yuanfei Liu, Yiwei Jin, Minghe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

In this paper, the author proposes a cross-coupling control approach based on neuron network, of which multiple parameters can be adjusted on line. According to the demand on the convergence of synchronization error in cross-coupling control, synchronization error item is introduced in this method to improve the performance function of BP (back propagation) neuron network, therefore it decreases synchronization error and meanwhile realizes the real-time adjustment of multiple parameters. The results of experiments show that compared with cross-coupling control method of which the parameters are stable, the method proposed in the paper holds the advantage that it can decrease position error and increase the stability of position tracking. © 2012 ieee.

关键词： Backpropagation

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Stance control of the SLIP hopper with adjustable stiffness of leg spring

Stance control of the SLIP hopper with adjustable stiffness ...

引用

2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Yu, Haitao Li, Mantian Guo, Wei Cai, Hegao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

In this paper, a stance control strategy of the Spring Loaded Inverted Pendulum (SLIP) hopper with adjustable stiffness of leg spring is proposed. Due to the lack of a closed form analytic solution of SLIP dynamics, a novel perturbation method is developed to obtain the approximate analytic solution of the SLIP dynamics in stance phase, based on which the apex return map is also established. To compensate the energy variation between the current apex state and the desired apex state, a stiffness adjustment of leg spring in stance phase is presented. The deadbeat controller of the angle of attack is designed to track the regulated apex height and horizontal velocity in a single stride. Moreover, we illustrate through simulations that the SLIP hopper applied the proposed stance controller reveals high tracking accuracy and rapidly converges to regulated apex state. This work will benefit in both structure and adaptive controller design of legged bio-inspired robot. © 2012 ieee.

关键词： Controllers

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Study on the exciting mode of ultrasonic motor using bending vibration transducer

Study on the exciting mode of ultrasonic motor using bending...

引用

2012 ieee 7th International Power Electronics and Motion Control Conference - ECCE Asia, IPEMC 2012

作者： Yang, Xiao-Hui Liu, Ying-Xiang Chen, Wei-Shan Liu, Jun-Kao State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Heilongjiang Province China

ISBN: (纸本)9781457720864

Ultrasonic motors (USM) are new type actuators that exhibit merits such as simple structure, high torque at low speed, compact size, quick response, quiet operation, self-locking when power off, no electromagnetic radiation and higher position accuracy. In the previous study, the authors proposed a new type USM using bending vibration mode. In that new design, elliptical trajectory vibrations are formed on the two driving feet by composing two orthogonal bending vibration modes of a piezoelectric-metal beam, that avoid the mode degeneration problem in the design process. In this paper, our research focuses on the exciting mode of bending vibration ceramics of the proposed motor. Firstly, the vibration characteristics of the proposed motor under different exciting modes by changing the imposed position of the electrode are obtained by transient analysis. Then, the exciting mode is adjusted by changing the imposed area of the electrode, and the vibration strengths of the driving feet are analyzed. Analysis results show that the PZT ceramic away from the neutral plane of the bending mode shape offers more contributions to the bending vibration of the motor under the same exciting voltage, while the PZT ceramic that near to the neutral plane give very few contribution. The study results of this paper can guide the design of general bending vibration transducer. © 2012 ieee.

关键词： Electromagnetic waves

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Improving the efficiency and effectiveness of estimating the ego motion of a stereo camera

Improving the efficiency and effectiveness of estimating the...

引用

2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Li, Xingdong Li, Mantian Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Estimating the ego motion is a key problem for a mobile robot, its efficiency and precision are hard to be balanced. In this paper, a fast and accurate approach is proposed to estimate the ego motion of stereo camera. Firstly, two images from left and right cameras are rectified. secondly, a index is introduced to speed up the matching process to find corresponding point from right image for each point from left image. finally, a RANSAC structure based method is proposed, which eliminates the outliers before estimating the ego motion. Methods developed in this paper are validated using both real and synthetic data. © 2012 ieee.

关键词： Cameras

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Automatic function-isomorphic configuration recognition and control for UBot modular self-reconfigurable robot

Automatic function-isomorphic configuration recognition and ...

引用

2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Zhu, Yanhe Li, Ge Wang, Xiaolu Cui, Xindan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Versatility of configurations is a significant feature for modular self-reconfigurable robots. For an arbitrarily assembled typical configuration, it is not easy to find the control method quickly in case of the symmetries of the configuration and module shape. To solve this problem, a database with lots of known configurations has been established. All the configurations in the database have their own control methods which have been studied before. Therefore, the way for matching the new configuration to one existing configuration in the database is quite important in locomotion and self-reconfiguration control of the self-reconfigurable robotic system. A combined configuration recognition method based on Matlab graphisomorphism function and improved three-dimensional linked list of modules algorithm was proposed. Firstly we use graphisomorphism function to find the configurations sharing the same underlying graph structure, then use improved three-dimensional linked list algorithm to acquire the ID and gait mappings. The method has been verified by simulation and experiment. © 2012 ieee.

关键词： Modular robots

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Development of the hexapod robot HITCR-II for walking on unstructured terrain

Development of the hexapod robot HITCR-II for walking on uns...

引用

2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Zhao, Jie Zhang, He Liu, Yubin Yan, Jihong Zang, Xizhe Zhou, Ziwei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

The purpose of this paper is to describe the design and development of the hexapod robot HITCR-II for walking on unstructured terrain. The leg and joint with modularized structure have been designed, and an objective function has been made up to further optimize the parameters of structure, thereby enhancing the motion performance of this robot;The 3-D.O.F force sensor in the foot end and joint torque sensors have been designed into the structure of leg, thus the leg has the omnidirectional perception of force, and the robot is also equipped with pose sensor, joint position sensor and binocular vision, so it can apperceive its own state and external environment;A highly integrated electric system has been developed, and finally the shell of the robot has been designed to make the robot more beautiful as well as better wrap-around. © 2012 ieee.

关键词： Robots

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Multisensor-based autonomous docking for UBot modular reconfigurable robot

Multisensor-based autonomous docking for UBot modular reconf...

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2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Liu, Pijun Zhu, Yanhe Cui, Xindan Wang, Xiaolu Yan, Jihong Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Autonomous docking is still a major challenge for self-reconfigurable robots, it is an essential capability for the system to realize reconstruction, self-repairing and even for completing operational tasks in the complex environment. In this paper, we developed a new sensor module for the UBot self-reconfigurable robot system, and proposed a novel docking method for precise docking between module group with the sensor module and the target module. We describe this automated docking progress as three steps: The visual pre-positioning process;Precise positioning through hall sensors;Crawling and self-locking by the hook-type connecting systems. Finally, this method is proved to be effective by the S-4 module group automatic docking experiment. © 2012 ieee.

关键词： Modular robots

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The tip interface mechanics modeling of a bevel-tip flexible needle insertion

The tip interface mechanics modeling of a bevel-tip flexible...

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2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Dong, Wei Han, Huimin Du, Zhijiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9781467312776

As a bevel-tip flexible needle is inserted through soft tissue, the asymmetry of the needle tip conducts the needle bending naturally. The needle inside the tissue can follow a desired trajectory via controlling the direction of the asymmetrical tip. If the force between the needle and the soft tissue is explicit, the needle can be controlled to escape from obstacles and reach target lesions as accurately as possible, so a mechanics modeling between the flexible needle and the soft tissue is particularly important. In this paper, based on the consideration of friction force, the interaction of needle tip and soft tissue is modeled and analyzed during the needle linear feeding and axial rotating. In the analytical model, the forces applied on the bevel tip are formulated based on the geometry of the bevel edge and material properties of soft medium. Meanwhile, the relationship between the forces generated on the bevel-tip and the major influence factors is obtained, which is described in the several figures and also further discussed in detail. The concept and approach outlined in this paper is generic which can be extended to a variety of flexible needle insertion involved applications. © 2012 ieee.

关键词： Needles

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A time-optimal trajectory planning approach based on calculation cost consideration

A time-optimal trajectory planning approach based on calcula...

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2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Xiao, Yongqiang Dong, Wei Du, Zhijiang State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin 150080 China

ISBN: (纸本)9781467312776

A new smooth online near time-optimal trajectory planning approach is proposed to reduce the computation cost compared to traditional dynamics trajectory planning method. The robot path is expressed by a scalar path coordinate s. The joints torque bounds and speed bounds are transformed into the s-s plane, which can generate the limitation curves of pseudo-velocity. The maximum pseudo-velocity curve which meets the limitation of torque and speed is constructed through the feature points and control points in the s-s plane using cubic polynomial fitting method. Control points used for cubic polynomial construction are optimized by the Golden-Section method. The calculation time of this method is shorter than traditional dynamics method. Compared to five-order polynomial trajectory optimization method, the approach proposed in this paper can effectively take advantage of joints maximum speed. © 2012 ieee.

关键词： Trajectories

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An anthropomorphic design guideline for the thumb of the dexterous hand

An anthropomorphic design guideline for the thumb of the dex...

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2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Wang, Hairong Fan, Shaowei Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

The preeminent manipulation capabilities of the human hand are undoubtedly related to the thumb. In view of this, this paper presents an anthropomorphic design guideline for the thumb of the dexterous hand. Anatomy analysis of the human thumb represents an excellent base from which a robotic design can be inferred. With simplification of human thumb's joint motion model, five configurations of thumb are given for the design of dexterous robotic hand. A new method for determining the position of thumb on the palm is proposed, according to the Euler Theorem about Finite Rotation of Rigid Body. A numeric method for computing the opposability of the thumb is described based on Monte Carlo methods, to evaluate dexterity of the hand in object manipulation. In order to verify the effectiveness of the proposed method, it is applied to the revised design of the HIT/DLR II hand. Performance indexes of both the original and the revised hand are calculated for comparison. The opposability of the thumb on revised dexterous robotic hand is 2.92 times of the original, which indicates the effectiveness of the proposed method. © 2012 ieee.

关键词： Monte Carlo methods

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