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16th International Conference on Modelling, Identification and Control, ICMIC 2024

作者： Heng, Shuai Song, Chao Chen, Boyang Zhang, Yue Zang, Xizhe Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9789819617760

In this paper, our objective is to achieve stable walking for biped robots using a simple yet powerful control scheme. This control scheme consists of a planning and control framework. For the motion planner, we utilize the Linear Inverted Pendulum Model as the equations of motion for the biped. Model Predictive Control is applied to plan the Zero Moment Point (ZMP) for future steps. Trajectories for the swing foot and base are generated based on the planned ZMP. Subsequently, a straightforward and intuitive control method called Virtual Model Control is employed to calculate control torques for tracking the generated trajectories. Finally, simulations conducted on flat-foot bipedal robots in MuJoCo validate the effectiveness of the proposed control scheme in achieving stable walking and attaining the desired locomotion velocity. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Predictive control systems

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Modeling tactile perceived intensity for vibration from a coin eccentric rotating mass motor

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Science China(Technological Sciences) 2025年第2期68卷 125-135页

作者： Yun FANG Jingchen HUANG Yujun WU Jiaqi DONG Weichao GUO Xinjun SHENG State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Meta Robotics Institute Shanghai Jiao Tong UniversityShanghai 200240China

Establishing the relationship between vibrotactile parameters and perceived intensity(PI)is of great significance in the regulation of desired sensations,which contribute to haptic interfaces in practical *** eccentric rotating mass(ERM)motors are routinely utilized due to their lightweight design and efficient ability to evoke strong tactile *** adjusting input voltages,ERMs can yield different stimuli,but the effects of their physical properties on PI remain ***,we developed the physical model of the ERM-skin system and optimized the parameters affecting ***,the relationship between stimulus and perception was derived based on Fechner's *** experiments were conducted on fifteen subjects(ten males and five females,aged 24.40±2.87 years)to identify the vibration parameters and corresponding PI to verify the proposed PI *** in this study were attached to phantom skin/forearm with slim adhesive tape to minimize the *** 1 performed vibration calibration with ERM attached to the skin phantom to simulate the actual ***,the relative and absolute PI of subjects on specific stimuli were acquired in Experiments 2 and *** fitting reliability of the proposed PI model was evaluated on fifteen subjects with R^(2) of 0.73±0.07 and root mean squared error(RMSE)of 1.35±***,the proposed PI model established the quantitative relationship between stimulus parameters(vibration parameters and physical parameters)and subjective PI,which provided theoretical support for ERM optimization and vibrotactile modulation.

关键词： coin ERM vibrotactile perceived intensity vibration

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High-precision trajectory calibration for robot surface machining by meta-heuristic search algorithm from local error in machining area

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International Journal of Advanced Manufacturing Technology 2025年第5期138卷 2281-2295页

作者： Bi, Guangde Lu, Lei Zhang, Lei Fan, Cheng Sun, Lining School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou215123 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Industrial robots used in complex surface machining are gradually increasing because of their high flexibility and large workspace. However, due to their low geometric accuracy, their application in high-precision surface machining is hindered. In order to improve the machining accuracy, a high-precision robot trajectory calibration method for complex surface machining is proposed. In the machining process, the machining trajectory is usually only within a certain machining area. In the method, high-precision standard balls are set at the boundary of the machining area. Based on the precise position information of these standard balls, the trajectory of the robot in the machining area is calibrated. Compared with the global robot calibration method, the proposed method can calibrate the robot trajectory in the machining area through standard parts, which will improve the trajectory accuracy of the machining robot to the level of repeated positioning accuracy. In this method, a large amount of standard ball data is obtained by the in-place measuring device before the machining process. Then, based on these data, a meta-heuristic search algorithm is used to calibrate the kinematic deviation of the robot measurement and the machining system. The trajectory of the machining robot is adjusted by the kinematic deviation after calibration, and it is applied to the motion control of the machining process to improve the positioning accuracy of the machining trajectory. In the end, to verify the accuracy and practicability of the machining trajectory obtained by this method, measurement and machining experiments are carried out. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Industrial robots

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Modelling and experimental investigation of micro-dimpled structures milling with spiral trajectory tool reciprocating motion

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Chinese Journal of Aeronautics 2025年第2期38卷 577-596页

作者： Guangzhou WANG Linjie ZHAO Qi LIU Xiguang LI Yazhou SUN Mingjun CHEN School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China Centre for Precision Manufacturing DMEMUniversity of StrathclydeGlasgow G11XJUK State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

To mill fine and well-defined micro-dimpled structures,a machining manner of spiral trajectory tool reciprocating motion,where the tool repeats the process of‘feed milling–retract–cutting feed–feed milling again’along the spiral trajectory,was *** the kinematics analysis,it is found that the machining quality of micro-dimpled structures is highly dependent on the machining trajectory using spiral trajectory tool reciprocating *** reveal this causation,simulation modelling and experimental studies were carried out.A simulation model was developed to quantitatively and qualitatively investigate the influence of the trajectory discretization strategies(constant-angle and constant-arc length)and parameters(discrete angle,discrete arc length,and pitch)on surface texture and residual height of micro-dimpled ***,micro-dimpled structures were milled under different trajectory discretization strategies and parameters with spiral trajectory tool reciprocating motion.A comprehensive comparison between the milled results and simulation analysis was made based on geometry accuracy,surface morphology and surface roughness of milled ***,the errors and factors affecting the above three aspects were *** results demonstrate both the feasibility of the established simulation model and the machining capability of this machining way in milling high-quality micro-dimpled *** trajectory tool reciprocating motion provides a new machining way for milling micro-dimpled structures and micro-dimpled functional *** an appropriate machining trajectory can be generated based on the optimized trajectory parameters,thus contributing to the improvement of machining quality and efficiency.

关键词： Tool reciprocating motion Spiral trajectory Micro-dimpled structure Micromachining Simulation modelling with diamond tool Surface texture

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A Novel Filtering Framework for High-Density sEMG Based on Variational Mode Decomposition and Independent Vector Analysis

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IEEE Sensors Journal 2025年第6期25卷 9831-9841页

作者： Zhao, Zeming Guo, Weichao Xia, Miaojuan Sheng, Xinjun Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration The Meta Robotics Institute Shanghai200240 China

During the acquisition process, surface electromyography (sEMG) recordings are unavoidably contaminated by different types of noise signals, including baseline noise (BLN), powerline interference (PLI), and white Gaussian noise (WGN). The inclusion of these noise signals significantly diminishes the quality of sEMG signals and impairs the accuracy and resilience of their subsequent utilization. There are two significant issues concerning existing filters: 1) the primary technique for filters targeting BLN and PLI remains IIR filters. However, this methodology makes it challenging to prevent the filters from suppressing sEMG signals in the stopband and 2) the noise signals that are filtered out by the filters targeting WGN do not adhere to a Gaussian distribution. In this study, we propose a novel filtering framework that combines split spectrum processing (SSP) and mix source separation (MSS) to effectively eliminate the three types of noise signals and address the two aforementioned concerns. In this article, other four well-designed filtering methods, including the infinite impulse response (IIR) filter, ensemble empirical mode decomposition (EEMD) method, variational mode decomposition (VMD) method and the independent vector analysis (IVA) method, were evaluated for comparison. The proposed filtering framework demonstrated superior performance in eliminating all three types of noise signals. The simulated signals showed an improvement in SNR of 29.7, 22.4, and 12.9 dB for sEMG signals corrupted by BLN, PLI, and WGN with input SNRs of -10 dB, respectively. The experimental results indicated that the proposed method achieved an average improvement in SNR of 15.9 dB. The proposed filter is highly effective in eliminating all three types of noise and can be utilized for various applications that necessitate sEMG signals, such as gesture recognition and sEMG decomposition.(Figure presented.) © 2001-2012 IEEE.

关键词： White noise

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Leader-follower:Human-centered intention-guided controller for novel SuperLimb with application to load-carrying scenarios

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Science China(Technological Sciences) 2025年第1期68卷 321-334页

作者： Qinghua ZHANG Xianglong LI Hongwei JING Kerui SUN Yuancheng LI Sikai ZHAO Lele LI Haotian JU Ziqi WANG Rui WU Tianjiao ZHENG Jie ZHAO Yanhe ZHU The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China The Learning Algorithms and Systems Laboratory School of EngineeringÉcole Polytechnique Fédérale de LausanneLausanne CH 101510587Switzerland

Supernumerary robotic arms(SuperLimb)are a new type of wearable robot that works closely with humans as a third hand to augment human operation *** conveyance of wearers'intentions,allocation of roles,and humancentered interaction considerations are the key points in the process of human-SuperLimb *** paper proposes a human-centered intention-guided leader-follower controller that relies on the dynamic modeling of SuperLimb with application to load-carrying *** proposed leader-follower controller takes the human as the leader and the SuperLimb as the follower,achieving effective information communication,autonomous coordination,and good force compliance between SuperLimb,humans,and the environment under human safety ***,the human-SuperLimb dynamic system is modeled to achieve force interaction with the environment and ***,to achieve the precise intention extraction of humans,pose data from five visual odometry sensors are fused to capture the human state,the generalized position,the velocity of hands,and the surface electromyography signals from two myoelectric bracelets sensors are processed to recognize the natural hand gestures during load-carrying scenarios by a designed Swin transformer ***,based on the real-time distance detection between human and mechanical limbs,the security assurance and force-compliant interaction of the human-SuperLimb system are ***,the human hand muscle intention recognition,human-robot safety strategy verification,and comparative load-carrying experiments with and without the proposed method are conducted on the SuperLimb *** showed that the task parameters are well estimated to produce more reasonable planning trajectories,and SuperLimb could well understand the wearer's intentions to switch different SuperLimb *** proposed sensor-based human-robot communication framework motivates future studies of other collaboration scenes fo

关键词： SuperLimb leader-follower human intention estimation human-robot safety human-robot communication

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Rethinking Attention Module Design for Point Cloud Analysis 27th

Rethinking Attention Module Design for Point Cloud Analysis

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27th International Conference on Pattern Recognition, ICPR 2024

作者： Wu, Chengzhi Wang, Kaige Zhong, Zeyun Fu, Hao Zheng, Junwei Zhang, Jiaming Pfrommer, Julius Beyerer, Jürgen Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe Germany Fraunhofer Institute of Optronics System Technologies and Image Exploitation IOSB Karlsruhe Germany

ISBN: (纸本)9783031783944

In recent years, there have been significant advancements in applying attention mechanisms to point cloud analysis. However, attention module variants featured in various research papers often operate under diverse settings and tasks, incorporating potential training strategies. This heterogeneity poses challenges in establishing a fair comparison among these attention module variants. In this paper, we address this issue by rethinking and exploring attention module design within a consistent base framework and settings. Both global-based and local-based attention methods are studied, with a focus on the selection basis and scales of neighbors for local-based attention. Different combinations of aggregated local features and computation methods for attention scores are evaluated, ranging from the initial addition/concatenation-based approach to the widely adopted dot product-based method and the recently proposed vector attention technique. Various position encoding methods are also investigated. Our extensive experimental analysis reveals that there is no universally optimal design across diverse point cloud tasks. Instead, drawing from best practices, we propose tailored attention modules for specific tasks, leading to superior performance on point cloud classification and segmentation benchmarks. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Attention mechanism Module design exploration. Point cloud data

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FWAF-VID: A Flapping-Wing Aggressive Flight Benchmark Dataset for Visual-Inertial Localization

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IEEE robotics and Automation Letters 2025年第6期10卷 6328-6335页

作者： Jiang, Jizhou Pan, Erzhen Xu, Wenfu Sun, Wei Ye, Jingyang Harbin Institute of Technology School of Robotics and Advanced Manufacture Shenzhen518055 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China Guangdong Biomimetic Intelligent Unmanned System Engineering Technology Research Center Shenzhen518052 China

Accurate state estimation of micro aerial vehicles (MAVs) in high-speed and dynamic environments poses a significant challenge for visual-inertial odometry (VIO) algorithms. Flapping-wing aerial vehicles (FWAVs), as an emerging flight platform, have attracted significant attention for stealth capabilities and efficient flight characteristics. Despite the availability of numerous MAV visual-inertial datasets for six-degree-of-freedom (6-DoF) state estimation, these datasets are not applicable for FWAVs with pronounced vibrations and agile maneuverability. To address this gap, we propose a large-scale flapping-wing aggressive flight visual-inertial dataset FWAF-VID. It contains diverse integrations of synchronized onboard cameras and IMU sensors. A total of 28 sequences include static flapping, calibration, and real-world flights collected in outdoor and indoor environments. The 17 flight sequences feature variations in illuminations, speeds, trajectories, camera perspectives, and flight modalities. We provide precisely aligned ground truth RTK and UWB measurements for algorithm evaluation. Furthermore, a comprehensive benchmark comparison is conducted, qualitatively and quantitatively evaluating the positioning accuracy of state-of-the-art VIO algorithms. The experimental results indicate that despite the degradation in localization accuracy in high-dynamic environments, FWAF-VID can effectively support the further development of VIO algorithms for FWAVs. To the best of our knowledge, this is the first onboard benchmark dataset tailored for aggressive flight in flapping-wing airborne platforms. © 2025 IEEE.

关键词： Micro air vehicle (MAV)

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UAGE: A Supervised Contrastive Method for Unconstrained Adaptive Gaze Estimation 17th

UAGE: A Supervised Contrastive Method for Unconstrained Ada...

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17th Asian Conference on Computer Vision, ACCV 2024

作者： Lan, Enfan Hu, Zhengxi Liu, Jingtai Institute of Robotics and Automatic Information System Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Tianjin China TBI Center Nankai University Tianjin China

ISBN: (纸本)9789819609628

Gaze estimation, which involves perceiving human gaze directions, is the foundation of gaze analysis. It provides crucial clues for understanding human attention and intention. However, most existing methods are designed for constrained environments, which leads to a significant performance drop in unconstrained practical applications. In this work, we propose a supervised contrastive method for Unconstrained Adaptive Gaze Estimation (UAGE), which consists of an unconstrained gaze estimation method and a Gaze-guided Contrastive Domain Adaptation (GCDA) framework. Our method leverages the entire human body states and the uncertainty of gaze behaviors to robustly estimate gazes in unconstrained environments, rather than solely relying on head states. Additionally, we employ the GCDA framework to adapt the model to new domains, thereby improving its generalization ability. Experiment results show that our UAGE method has achieved state-of-the-art within-domain performance on the unconstrained GAFA dataset and has reduced the angular error by 14% compared to the baseline in cross-domain gaze estimation, with GAFA as the source domain and Gaze360 as the target domain. The code is available at https://***/youthhfor/***. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Domain adaptation Gaze estimation Unconstrained environment

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Predicting Vessel Speed Using Ensemble MLR and RF Models on AIS Data

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Defence Science Journal 2025年第2期75卷 250-256页

作者： Raj, Nitish Kumar, Prabhat Goyal, Divyanshi Weapons and Electronics System Engineering Establishment Delhi110 066 India National Institute of Technology Patna801 503 India University School of Automation and Robotics GGSIPU Delhi110 032 India

Defence agencies like the DRDO, Indian Navy, Indian Army, Indian Air Force (IAF), and many other organizations require ongoing oversight of their applications and devices to detect anomalous behaviour. The purpose of this research is to track the ship’s speed to facilitate navigation. AIS data plays a substantial role in this investigation, as it provides critical information such as the speed, course, and position of a vessel. Monitoring vessel speed is essential to ensure smooth functioning, enabling collision avoidance, route optimisation, and accurate analysis of the ship’s schedule for transportation. In this study, an ensemble approach using Multiple Linear Regression (MLR) and Random Forest (RF) models to predict vessel speed more accurately is developed. The proposed ensemble model outperformed existing methods, showing significant improvements in prediction accuracy and robustness. This enhanced performance also aids in the precise Estimation of the Time of Arrival (ETA) of the vessel, contributing to more efficient operation procedures and environmentally friendly practices. Early oversight of vessel speed ensures maritime navigation and safety, promoting reliable and optimized routes for vessels. © 2025, DESIDOC.

关键词： Multiple linear regression

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