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23rd IFToMM China International Conference on Mechanism and Machine Science and engineering, IFToMM CCMMS 2022

作者： Zhao, Yi Zhang, Ningbin Feng, Miao Gu, Guoying State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9789811993978

Although various advanced anthropomorphic hands have been proposed, the design and fabrication of thumb joints to achieve dexterity function in a limited space is still a great challenge. To promote the dexterity of the anthropomorphic thumb joints in the cramped space of the palm, we present a fabric-based flexible actuator used for thumb joints to realize two degrees of freedom (DOFs): circumduction and adduction. First, we introduce the design concept inspired by muscle groups of the human palm. A kind of pneumatic small-scale actuators that relies on fabric-crease to produce deformation is proposed. Then the properties of flexible lightweight actuators are characterized. The actuators just need ± 10 kPa pressure to realize a flexion range of 90°. Finally, we modularly assemble the actuators to construct a compact two DOFs thumb joints. Experimental results show that the applied fabric-based thumb joints can achieve dexterous manipulation like sliding the smartphone screen. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Degrees of freedom (mechanics)

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Walking of biped robot with variable stiffness at the ankle joint

Walking of biped robot with variable stiffness at the ankle ...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Bi, Qing Liu, Yixiang Zang, Xizhe Song, Rui Wang, Haibin Li, Weimin Chinese Academy of Sciences Shandong Institute of Advanced Technology Jinan250001 China Shandong University School of Control Science and Engineering Jinan250061 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150080 China

ISBN: (纸本)9781728163215

Achieving versatile and efficient walking on biped robots is an important research objective. The impact between the foot and the ground has significant effects on the walking stability of biped robots. Research on human walking indicates that the joints in human lower limbs show different stiffness values in different phases of walking. Inspired by humans, this paper presents the realization of biped robot walking with variable stiffness at the ankle joint. A walking control scheme which combines PD control and variable impedance control is designed for the biped robot. Results of dynamic walking simulation verified that variable stiffness at the ankle joint could contribute to the improvement of walking stability and energy efficiency. © 2019 IEEE.

关键词： Energy efficiency

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Enhancing Household Service Robots with a Dual-Arm Mobile Manipulator and Multimodal Large Language Models

Enhancing Household Service Robots with a Dual-Arm Mobile Ma...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Liu, Yang Zhao, Yanchao Guo, Weichao Sheng, Xinjun Ding, Han School of Mechanical Engineering Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781665481090

This research aims to enhance the practicality of household service robots by integrating multimodal large language models (MLLMs). Utilizing a dual-arm mobile manipulator platform, our focus is on advancing autonomous mobile manipulation in home environments. By leveraging the advanced text understanding and visual processing capabilities inherent in MLLMs, the proposed system adeptly converts user dialogues and environmental visual inputs into precise robotic plans. Among the suite of tested models, GPT-4o mini and Gemini 1.5 flash perform exceptionally well in generating accurate robotic plans. These results underscore a significant enhancement in the robot's ability to manipulate objects within complex home environments, thereby contributing to more seamless human-robot interactions and markedly improved task execution. We anticipate that our findings will inspire future advances in the field of human-robot interaction for home robots. © 2024 IEEE.

关键词： Human robot interaction

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Diagnosis of actuator faults using LPV-gain scheduling techniques

Diagnosis of actuator faults using LPV-gain scheduling techn...

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AIAA Guidance, Navigation and Control Conference 2011

作者： Varga, Andreas Hecker, Simon Ossmann, Daniel Department of System Dynamics and Control Institute of Robotics and Mechatronics DLR Oberpfaffenhofen D-82234 Wessling Germany Department of Electrical Engineering and Information Technology University of Applied Sciences Munich D- 80335 Munich Germany

ISBN: (纸本)9781600869525

We present a new approach for the synthesis of robust fault detection filters for the model based diagnosis of actuator faults. The underlying synthesis model is a linear pa- rameter varying (LPV) description obtained using a combination of analytic and numerical parameter fitting techniques. The actuator LPV model contains uncertain parameters which are partly measurable, thus can be used for gain scheduling, and partly not measur- able, for which robustness must be ensured. The detector synthesis approach is basically a parametric nullspace method combined with min-max parameter fitting. The synthesis technique is applied to the diagnosis of two classes of actuator faults for a civil aircraft: elevator runaway and elevator jamming at null position. © 2011 by the American institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Elevators

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system Identification in Adaptive Inverse Control for Electrohydraulic Shaking Table Using Variable Tap-length NLMS Algorithm

System Identification in Adaptive Inverse Control for Electr...

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2017 5th International Conference on Mechanical, Automotive and Materials engineering（CMAME 2017）

作者： Man Wang Dacheng Cong Zhidong Yang Changhong Gao State Key Laboratory of Robotics and System School of Mechatronics EngineeringHarbin Institute of Technology

Adaptive inverse control（AIC） is an advanced control technology which can efficiently learn and control the severely nonlinear and real-time plant,such as the electrohydraulic shaking table（EST）.The foundation of AIC is the system identification of the plant via an adaptive *** traditional adaptive filter theory is known as a fixed tap-length（length of the weight vector） FIR（Finite impulse response） filter whose weights change by adaptive algorithm *** mismatch between plant and the fixed taplength will cause inaccuracy or compute *** paper introduce a variable tap-length NLMS（VTLNLMS） algorithm to find the optimum tap-length（OPTL） of the model of multi-DOF EST,then use AIC to improve the accuracy of time wave *** dynamics response nonlinear model of the EST is built to reflect the experimental *** nonlinear EST model and referred algorithm are simulated in MATLAB/*** show the AIC with OPTL is effective in the EST.

关键词： Adapative Inverse Control Electrohydraulic Shaking Table Variable Tap-length Nl MS Nonliner system system Identification

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Duality in Deep Reinforcement Learning——Theory

Duality in Deep Reinforcement Learning——Theory

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2019 2nd International Conference on Mechanical,Electronic and engineering Technology(MEET 2019)

作者： Jie Bai Jianfei Li Zihao Luo Yaobing Wang Li Liu Peking University Center of Excellence for Intelligent Robotics Beijing Institute of Spacecraft System Engineering

More and deeper reinforcement learning algorithms have been proposed and demonstrated on a series of decision-making domains. However, little research has been hammered at algorithm extraction. With duality in deep reinforcement learning substantially summarized, we propose a conceptually simple framework for deep reinforcement learning based on duality. Then, we propose the dual method of prioritized sampling: prioritized learning. Finally, we give the formula and analysis for the duality with priority. The algorithm implementation and experiment will be put on Part II-Implementation.

关键词： Deep Reinforcement Learning Duality Prioritized Sampling Prioritized Learning

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A Lightweight Jumping Robot with Untethered Actuation 16th

A Lightweight Jumping Robot with Untethered Actuation

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

作者： Wang, Jinqiang Wang, Dong State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9789819964918

Jumping motion is enlarging the robotic toolbox by providing agile and rapid locomotion functions that can overcome the limitations of environment and size. Although these jumping robots powered by novel mechanisms and functional materials have shown remarkable dexterity and adaptability, their intricate actuation mechanics make it challenging to realize the jumping robots lightweight and compact. To address this challenge and endow robots capable of untethered movements, we focused on ultralight magnetic carbon fiber beams that exhibit arch-like bending when triggered under magnetic field and induce a rapid release of stored strain energy after the magnetic field is removed. We evaluated their bending process under magnetic field and build untethered jumping robots with respect different geometries to help analyze their jumping performances. In our experiment, a single magnetic carbon fiber beam robot (0.8 g) with a height of 0.2 mm and a length of 80 mm is able to achieve a jumping height of 420 body heights and a jumping distance of 4.5 body length. By assembling two magnetic beams together, our robot can jump to more than 325 times of its body height carrying a payload of 3 times its body weight. These results demonstrate the developed jumping robot avails a new design strategy for lightweight and compact jumping robot to function in complicated conditions. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Carbon fibers

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Visual programming in ANDECS for controlled systems design experimenting

Visual programming in ANDECS for controlled systems design e...

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IEEE International Symposium on Computer Aided Control system Design (CACSD)

作者： R. Finsterwalder G. Grubel Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany

Computer-aided design of 'well-balanced' dynamic systems is an iterative search process which requires multi-models/multi-criteria experimenting by means of appropriate computational chains and loops. Visual programming is the way to set up or to modify such an experimentation environment from reusable computational modules, and to monitor its functioning. As realized in the control-engineering software environment ANDECS (Analysis and Design of Controlled systems), visual programming relies on data abstraction in form of control data objects, and on tool abstraction to compose a software system from separate function modules which do not communicate among each other directly but via a suited database system only. In particular, this kind of visual programming yields a direct view on those parts of a modular computational set-up which can be automatically parallelized by the PVM (parallel virtual machine) software.< >

关键词： Control systems Functional programming Design automation Computerized monitoring Communication system software Software tools Software systems Database systems Automatic programming Parallel programming

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Robotic Anchoring system with Two Locomotion Modes for Preoperative Localization of Colorectal Cancer

Robotic Anchoring System with Two Locomotion Modes for Preop...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Wang, Jiale Ren, Hao Yang, Liu Zhao, Haoxiang Zhang, Ruijia Shen, Yajing Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Kowloon Hong Kong City University of Hong Kong Department of Biomedical Engineering Kowloon Hong Kong Institute of Robotics and Automatic Information System Nankai University China

ISBN: (纸本)9781665481090

At present, colorectal cancer is one of the most prevalent cancers in the world. Colectomy serves as an effective treatment option for this disease. Preoperative localization plays a vital role in the colectomy procedure. However, traditional preoperative localization techniques have a greater risk of infection and lower accuracy. Moreover, it is difficult for the previous anchoring robots to adapt to the unstructured environment of the GI tract because of their limited movement abilities. To address these challenges, this work develops a robotic anchoring system with two locomotion modes which can anchor in the designated position. Driven by the external magnetic field, the robot can achieve slipping and flipping in the stomach. When the gradients of the field increase, the robot is triggered to deploy the anchoring mechanism in the intestine. Two in vitro experiments are conducted in the stomach and intestine phantoms. The first experiment demonstrates that the robot system can achieve both slipping and flipping in the stomach and its average position error is 2.96mm. The second experiment shows that the robot system can anchor in the designated position near the tumor and can resist a peristalsis force of 0.82N from the intestine wall. © 2024 IEEE.

关键词： Diseases

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A new algorithm for wireless sensor network based on NS-2

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Journal of Measurement Science and Instrumentation 2013年第3期4卷 272-275页

作者：焦国太孟庆丰 State Key Laboratory of Robotics and System Harbin Institute of Technology College of Mechatronics Engineering North University of China Robotics Research Center North University of China

Considering wireless sensor network characteristics,this paper uses network simulator,version2(NS-2)algorithm to improve Ad hoc on-demand distance vector(AODV)routing algorithm,so that it can be applied to wireless sensor *** studying AODV routing protocol,a new algorithm called Must is brought *** paper introduces the background and algorithm theory of Must,and discusses the details about how to implement Must *** last,using network simulator(NS-2),the performance of Must is evaluated and compared with that of *** results show that the network using Must algorithm has perfect performance.

关键词： wireless sensor networks routing protocol network simulator, version 2 （NS-2） Must algorithmCLC number：TN926 Document code：AArticle ID：1674-8042（2013）03-0272-04

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