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

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Running and Turning Control of a Quadruped Robot with Compliant Legs in Bounding Gait

Running and Turning Control of a Quadruped Robot with Compli...

引用

2011 ieee International Conference on robotics and Automation(2011年ieee世界机器人与自动化大会 ICRA 2011)

作者： Xin Wang Mantian Li Pengfei Wang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of TechnologyChina

In this paper, we introduce a quadruped robot designed for bounding gait with only one actuator per compliant leg. Under the analysis of the dynamics model of the robot, a new simple linear running controller using the energy control idea, which requires minimal task level feedback and only controls both the leg torque and ending impact angle, is proposed. It successfully executes fast running from rest till a constant speed and hi-speed turning, both in the prototype simulation and robot experiment. These results contribute to that complex dynamically dexterous tasks may be controlled via simple energy control method and delayed task feedback, which is closer to the animal’s actual locomotion conditions. In the future, we plan to modify this method for reducing the energy expending and make the robot running fast.

关键词： Leg Torque Hip Legged locomotion Robot kinematics Turning

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Running control of a quadruped robot in trotting gait

Running control of a quadruped robot in trotting gait

引用

ieee Conference on robotics, Automation and Mechatronics

作者： Zhenyu Jiang Mantian Li Wei Guo State Key Laboratory of Robotics and System Harbin Institute of Technology China

In this work, a quadruped robot designed for trotting gait with compliant leg is proposed. Based on the Spring-Loaded Inverted Pendulum model (SLIP), simplified models of different degrees of freedom (DOF) of the robot body are constructed. Under the analysis of the dynamics model, a simple running control method was implemented to decouple six DOF of the body, which requires minimal task level feedback and only controls the leg torque and touch down angle. In simulation this control method successfully executes on robot running from stationary to a constant speed when climbing up or down slope with well regulated pitching, rolling and yawing motions. Additionally, a prototype robot is constructed, and the control method is verified by prototype experiment in the sagittal plane.

关键词： Legged locomotion Springs Hip Joints Shoulder Actuators

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A novel control strategy for quadruped robot walking over irregular terrain

A novel control strategy for quadruped robot walking over ir...

引用

ieee Conference on robotics, Automation and Mechatronics

作者： Peng Yin Pengfei Wang Mantian Li Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology China

Quadruped robot has great potential in traversing irregular terrains. Normally its performance relies greatly on the accuracy of local terrain data that the onboard sensor system acquired. In order to reduce its reliance on terrain information for locomotion control to the minimum, in this paper we intend to provide a method to intensify its walking adaptability by endowing the robot with blind walking ability. Based on the transfer strategies provided in the paper, the rough terrain walking problem could be simplified as common slope walking condition, and motion planning could be achieved via some basic criteria. Impedance control is implemented to reduce impact when foot stride to ground. On purpose of coping with foot slippage which would cause robot to fall, reflex control strategy is applied and tested. Via simulation we tested the control strategy and the feasibility was verified.

关键词： Legged locomotion Foot Robot sensing systems Planning Adaptation models Trajectory

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A study on out-of-plane compressive properties of metal honeycombs by numerical simulation

A study on out-of-plane compressive properties of metal hone...

引用

2011 First International Conference on High Performance Structures and Materials Engineering (ICHPSM 2011)

作者： Meng Li Rongqiang Liu Hongwei Guo Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin

To provide theoretical basis for metal honeycombs used as buffering and crashworthy structures,the effect of the cell length and foil thickness on compressive properties of metal honeycombs is investigated by numerical *** results are well consistent with the corresponding experimental *** numerical results show that metal honeycombs have cyclic buckling when loaded in out-of-plane *** thicker the foil is or the shorter the cell length is,the higher the plastic collapse stress is and the plastic collapse stress is much sensitive when cell length is *** numerical simulation used in this paper can well predict the crush *** and doubled foil portions of cell walls are also accounted in the FE *** results demonstrate that the method is effective which can be used in optimization design of buffers.

关键词： metal honeycombs quasi-static experiment numerical simulation out-of-plane compressive properties energy-absorption characteristic

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Mechanics Analysis of Beam-like Space Deployable Truss Mast

Mechanics Analysis of Beam-like Space Deployable Truss Mast

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2011 First International Conference on High Performance Structures and Materials Engineering (ICHPSM 2011)

作者： Hongwei Guo Rongqiang Liu Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin

A kind of beam-like space deployable truss mast with square batten frames supported by four longerons and two diagonal cables cross laced per face is described.A simple method for deriving mechanics parameters of the mast is *** loads for mast to maintain self-equilibrating structure are *** equations for the axial,bending,shear,torsional stiffness and bending strength of the mast are derived based on proposed *** derived by simple method are consistent with expressions for the effective continuum mechanics of beam-like truss derived previously based on equivalent continuum method,these equations are helpful for mast preliminary design and mechanics *** of mast structural parameters on mast stiffness and strength is analyzed,mast stiffness and strength can been improved by selecting reasonable structural parameters.

关键词： Mechanics Stiffness Strength Space deployable truss mast

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The Study Between Passive Self-adaptability and DOF of The Rover

The Study Between Passive Self-adaptability and DOF of The R...

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2011 First International Conference on High Performance Structures and Materials Engineering (ICHPSM 2011)

作者： Fei Yang Jianguo Tao Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin

For getting good passive self-adaptability,the model for single wheel system contacting with the terrain is established,and the degree of freedom(DOF) needed is studied when the system has good passive self-adaptability;further more,the model of one sided wheel-suspension is set up,and the DOF is obtained by analyzing with corresponding proof is given;several relative features of some common passive self-adaptive rovers are concluded,and these information testifies the universalism of this paper's conclusions.

关键词： rover passive self-adaptability DOF suspension structural synthesis

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Touchdown angle's impact on bounding gait of the quadrupeds

Touchdown angle's impact on bounding gait of the quadrupeds

引用

ieee Conference on robotics, Automation and Mechatronics

作者： Haowei Wang Pengfei Wang Xin Wang Mantian Li Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology China

The study of touchdown angle's impact on quadrupeds such as gait, stability, speed, height is valuable. This paper unifies two common models for quadrupeds-SLIP and planar model, gets a feasible and efficient fixed point search strategy, and proposes a gait classification method based on the event sequence. On this basis, we study the influence of touchdown angle on quadruped robot in a variety of energy levels, and find that the change of touchdown angle would cause cycle bifurcation and chaos phenomena. Meanwhile, we notice in certain energy level and reasonable parameters configuration, different touchdown angles mean different gaits and only change of touchdown angle can make gait transition. In a fixed energy level, the impact of touchdown angle on horizontal speed, apex height and pitch angle is not obvious, but for pitch angular velocity it has obvious effect, and we reveal the importance of pitch angle and related variables such as inertia, mass distribution for quadruped control. Under the meaning of stable fixed points, speed adjust by changing touchdown angle is of little effect; however energy control is a feasible method.

关键词： Energy states Legged locomotion Stability analysis Numerical models Numerical stability Animals

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Kernel based empirical mode decomposition and its application in gait signal de-noise

Kernel based empirical mode decomposition and its applicatio...

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作者： Wen, Shiguang Wang, Fei Wu, Chengdong College of Information Science and Engineering Northeastern University Shenyang 110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9789881725592

Gait signal analysis of quantitative has been a challenging task over the past decades for its non-linear and non-stationary nature. Empirical Mode Decomposition (EMD) is a data-driven signal analysis method developed by Norden. E. Huang, it is especially suitable for non-linear non-stationary signal processing. It has been successfully applied in many problems, but the envelop algorithm using traditional cubic spline interpolation by Norden. E. Huang have border swing problem and extra oscillations, it is because that the cubic spline interpolation couldn't adapt to the nature of the signal envelop, inspired by the ideas from machine learning, a new algorithm which is improved kernel ridge regression to estimate envelop of signal using the extrema is proposed in this paper. The new algorithm can used to recover the corrupted test signal. Numerical simulations show higher performance of the proposed algorithm than the traditional one. © 2011 Chinese Assoc of Automati.

关键词： Empirical mode decomposition

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Robot-assisted PET-CT-MRI image fusion

Robot-assisted PET-CT-MRI image fusion

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ieee/ICME International Conference on Complex Medical Engineering, CME

作者： Weidong Wang Dongmei Wu Pengfei Sun Zhijiang Du State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin Heilongjiang China

A novel robot-assisted PET/CT/MRI image fusion method is presented. The robot carries the patient from one device to another automatically, securely and precisely. The images obtained in each device are fused by the robot position transformational matrix. First, a 4WD and 4WS mobile robot is introduced. Its design features are super payload capability, precise navigation and positioning, ultrasonic obstacle avoidance and Anti- magnetic. Second, the general kinematics model of the 4WD and 4WS mobile robot is presented. Several special modes are simplified from the general model, Such as ZRT mode, navigation mode and so on. At last several clinical trial of this system is introduced. The comparison result between the result of robot-assisted PET/MRI image fusion and the result of combined machine is presented. The method of the robot-assisted PET/MRI image fusion can make the process of image fusion more automatically, securely and precisely.

关键词： Positron emission tomography Mobile robots Magnetic resonance imaging Biomedical imaging Radiation detectors Navigation

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Virtual space painting system based on transparency haptic interaction

Virtual space painting system based on transparency haptic i...

引用

International Conference on Consumer Electronics, Communications and Networks

作者： Zhu Yanhe Fan Jizhuang Cui Xindan Zhao Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

The traditional drawing system based on the 2-D mouse can not realize the haptic interaction between operators and virtual environment. This is not available for operator to feel the interaction sensitivity. A virtual space painting system based on transparency haptic interaction is proposed. This system uses the admittance type haptic device as the information interaction interface between operators and virtual environment. This paper presents an implicit force control algorithm to adapt the control of the transparency haptic interaction device. This system use the body contact detection, the virtual force generation and smoothness to build the virtual environment. Finally, a virtual painting experiment is done. The result shows that this system could improve the transparency of the haptic interaction. It means that the real artistic creation could be realized on the computer.

关键词： Haptic interfaces Force Virtual environment Painting Stability analysis Computers Force control

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