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Design and Dynamic Model of a Frog-inspired Swimming Robot Powered by Pneumatic Muscles

Chinese Journal of Mechanical Engineering 2017年第5期30卷 1123-1132页

作者： Ji-Zhuang Fan Wei Zhang Peng-Cheng Kong He-Gao Cai Gang-Feng Liu State Key Laboratory of Robotics and System Harbin Institute of Technology

Pneumatic muscles with similar characteristics to biological muscles have been widely used in robots, and thus are promising drivers for frog inspired robots. How- ever, the application and nonlinearity of the pneumatic system limit the advance. On the basis of the swimming mechanism of the frog, a frog-inspired robot based on pneumatic muscles is developed. To realize the indepen- dent tasks by the robot, a pneumatic system with internal chambers, micro air pump, and valves is implemented. The micro pump is used to maintain the pressure difference between the source and exhaust chambers. The pneumatic muscles are controlled by high-speed switch valves which can reduce the robot cost, volume, and mass. A dynamic model of the pneumatic system is established for the sim- ulation to estimate the system, including the chamber, muscle, and pneumatic circuit models. The robot design is verified by the robot swimming experiments and the dynamic model is verified through the experiments and simulations of the pneumatic system. The simulation results are compared to analyze the functions of the source pressure, internal volume of the muscle, and circuit flow rate which is proved the main factor that limits the response of muscle pressure. The proposed research provides the application of the pneumatic muscles in the frog inspired robot and the pneumatic model to study muscle controller.

关键词： Frog-inspired robot Pneumatic muscle High-speed switch valve Pneumatic model

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Method for Analyzing Articulated Torques of Heavy-duty Six-legged Robot

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Chinese Journal of Mechanical Engineering 2013年第4期26卷 801-812页

作者： ZHUANG Hongchao GAO Haibo DING Liang LIU Zhen DENG Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology

The accuracy of an articulated torque analysis influences the comprehensive performances of heavy-duty multi-legged robots. Currently, the extremal estimation method and some complex methods are employed to calculate the articulated torques, which results in a large safety margin or a large number of calculations. To quickly obtain accurate articulated torques, an analysis method for the articulated torque is presented for an electrically driven heavy-duty six-legged robot. First, the rearmost leg that experiences the maximum normal contact force is confirmed when the robot transits a slope. Based on the ant-type and crab-type tripod gaits, the formulas of classical mechanics and MATLAB software are employed to theoretically analyze the relevant static torques of the joints. With the changes in the joint angles for the abductor joint, hip joint, and knee joint, variable tendency charts and extreme curves are obtained for the static articulated torques. Meanwhile, the maximum static articulated torques and the corresponding poses of the robot are also obtained. According to the poses of the robot under the maximum static articulated torques, ADAMS software is used to carry out a static simulation analysis. Based on the relevant simulation curves of the articulated torques, the maximum static articulated torques are acquired. A comparative analysis of the maximum static articulated torques shows that the theoretical calculation values are higher than the static simulation values, and the maximum error value is approximately 10%. The proposed method lays a foundation for quickly determining accurate articulated torques to develop heavy-duty six-legged robots.

关键词： heavy-duty six-legged robot articulated torque MATLAB static simulation analysis ADAMS

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Analysis on the Performance of the SLIP Runner with Nonlinear Spring Leg

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Chinese Journal of Mechanical Engineering 2013年第5期26卷 892-899页

作者： YU Haitao LI Mantian CAI Hegao State Key Laboratory of Robotics and System Harbin Institute of Technology

The spring-loaded inverted pendulum(SLIP) has been widely studied in both animals and ***,the majority of the relevant theoretical studies deal with elastic leg,the linear leg length-force relationship of which is obviously conflict with the biological observations.A planar spring-mass model with a nonlinear spring leg is presented to explore the intrinsic mechanism of legged locomotion with elastic *** leg model is formulated via decoupling the stiffness coefficient and exponent of the leg compression in order that the unified stiffness can be scaled as convex,concave as well as linear *** apex return map of the SLIP runner is established to investigate dynamical behavior of the fixed *** basin of attraction and Floquet Multiplier are introduced to evaluate the self-stability and initial state sensitivity of the SLIP model with different stiffness *** numerical results show that larger stiffness exponent can increase top speed of stable running and also can enlarge the size of attraction domain of the fixed *** addition,the parameter variation is conducted to detect the effect of parameter dependency,and demonstrates that on the fixed energy level and stiffness profile,the faster running speed with larger convergence rate of the stable fixed point under small local perturbation can be achieved via decreasing the angle of attack and increasing the stiffness *** perturbation recovery test is implemented to judge the ability of the model resisting large external *** result shows that the convex stiffness performs best in enhancing the robustness of SLIP runner negotiating irregular *** research sheds light on the running performance of the SLIP runner with nonlinear leg spring from a theoretical perspective,and also guides the design and control of the bio-inspired legged robot.

关键词： spring-loaded inverted pendulum legged locomotion apex return map nonlinear spring

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Multi-state autonomous drilling for lunar exploration

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Chinese Journal of Aeronautics 2016年第5期29卷 1397-1404页

作者： Chen Chongbin Quan Qiquan Shi Xiaomeng Deng Zongquan Tang Dewei Jiang Shengyuan State Key Laboratory of Robotics and System Harbin Institute of Technology

Due to the lack of information of subsurface lunar regolith stratification which varies along depth, the drilling device may encounter lunar soil and lunar rock randomly in the drilling process. To meet the load safety requirements of unmanned sampling mission under limited orbital resources, the control strategy of autonomous drilling should adapt to the indeterminable lunar environments. Based on the analysis of two types of typical drilling media （i.e., lunar soil and lunar rock）, this paper proposes a multi-state control strategy for autonomous lunar drilling. To represent the working circumstances in the lunar subsurface and reduce the complexity of the control algo- rithm, lunar drilling process was categorized into three drilling states： the interface detection, initi- ation of drilling parameters for recognition and drilling medium recognition. Support vector machine （SVM） and continuous wavelet transform were employed for the online recognition of drilling media and interface, respectively. Finite state machine was utilized to control the transition among different drilling states. To verify the effectiveness of the multi-state control strategy, drilling experiments were implemented with multi-layered drilling media constructed by lunar soil simulant and lunar rock simulant. The results reveal that the multi-state control method is capable of detecting drilling state variation and adjusting drilling parameters timely under vibration interferences. The multi-state control method provides a feasible reference for the control of extraterrestrial autonomous drilling.

关键词： Finite state machine Recognition algorithm Simulants Support vector machine Wavelet transform

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Crashworthiness Analysis on Alternative Square Honeycomb Structure under Axial Loading

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Chinese Journal of Mechanical Engineering 2013年第4期26卷 784-792页

作者： LI Meng DENG Zongquan GUO Hongwei LIU Rongqiang DING Beichen State Key Laboratory of Robotics and System Harbin Institute of Technology

Hexagonal metal honeycomb is widely used in energy absorption field for its special construction. However, many other metal honeycomb structures also show good energy absorption characteristics. Currently, most of the researches focus on hexagonal honeycomb, while few are performed into different honeycomb structures. Therefore, a new alternative square honeycomb is developed to expand the non-hexagonal metal honeycomb applications in the energy absorption fields with the aim of designing low mass and low volume energy absorbers. The finite element model of alternative square honeycomb is built to analyze its specific energy absorption property. As the diversity of honeycomb structure, the parameterized metal honeycomb finite element analysis program is conducted based on PCL language. That program can automatically create finite element model. Numerical results show that with the same foil thickness and cell length of metal honeycomb, the alternative square has better specific energy absorption than hexagonal honeycomb. Using response surface method, the mathematical formulas of honeycomb crashworthiness properties are obtained and optimization is done to get the maximum specific energy absorption property honeycomb. Optimal results demonstrate that to absorb same energy, alternative square honeycomb can save 10% volume of buffer structure than hexagonal honeycomb can do. This research is significant in providing technical support in the extended application of different honeycomb used as crashworthiness structures, and is absolutely essential in low volume and low mass energy absorber design.

关键词： crashworthiness alternative square honeycomb energy-absorption characteristic response surface methodology numerical simulation

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On Modeling Drilling Load in Lunar Regolith Simulant

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Chinese Journal of Mechanical Engineering 2018年第1期31卷 41-52页

作者： Qi-Quan Quan Chong-Bin Chen Zong-Quan Deng Jun-Yue Tang De-Wei Tang State Key Laboratory of Robotics and System Harbin Institute of Technology

Drilling and coring, as effective ways to obtain lunar regolith along the longitudinal direction, are widely applied in the lunar sampling field. Conventionally, modeling of drill-soil interaction was divided into soil cutting and screw conveyance processes, ignoring the differences in soil mechanical properties between them. To improve the modeling accuracy, a hypothesis that divides the drill-soil interaction into four parts: cuttings screw conveyance, cuttings extruding, cuttings bulldozing, and in situ simulant cutting, is proposed to establish a novel model based on the passive earth pressure theory. An iterative numerical calculation method is developed to predict the drilling loads. A drilling and coring testbed is developed to conduct experimental tests. Drilling experiments indicate that the drilling loads calculated by the proposed model match well the experimental results. The proposed research provides the instructions to adopt a suitable drilling strategy to match the rotary and penetrating motions, to increase the safety and reliability of drilling control in lunar sampling missions.

关键词： Lunar regolith drilling Lunar regolith simulant Drill-simulant interaction Screw conveyance

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Topology Structure Synthesis and Analysis of Spatial Pyramid Deployable Truss Structures for Satellite SAR Antenna

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Chinese Journal of Mechanical Engineering 2014年第4期27卷 683-692页

作者： WANG Yan DENG Zongquan LIU Rongqiang YANG Hui GUO Hongwei State Key Laboratory of Robotics and System Harbin Institute of Technology

Many attentions for structural synthesis are paid to planar linkages and parallel mechanisms, while design novel pyramid deployable truss structure（PDTS） of satellite SAR mainly depends on experience of designer. To design novel configuration of PDTS, a two-step topology structure synthesis and analysis approach is proposed. Firstly, a conceptual configuration of PDTS is synthesized. Weighted graph and weighted adjacency matrix are established to realize topological description for PDTS. Graph properties are then summarized to distinguish differentia between PDTS and other type structures. According to graph properties, a procedure for synthesis conceptual configuration of PDTS is presented. Secondly, join relationship of components in a PDTS is analyzed. Kinematic chain and corresponding incidence/adjacency matrix are employed to analyze join relationship of PDTS. Properties and simplified rules of kinematic chain are extracted to construct kinematic chain. A procedure for construction kinematic chain of PDTS is then established. Finally, with this two-step approach all 11 rectangular pyramid deployable structures whose folded state is planar are discovered and their kinematic chains are constructed. Based on synthesis results, a novel deployable support structure for satellite SAR is designed. The proposed research can be applied to obtain some novel PDTSs, which is of great importance to design some novel deployable support structures for satellite SAR antenna.

关键词： structural synthesis deployable truss structure spatial linkage graph theory SAR antenna

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Drilling load modeling and validation based on the filling rate of auger flute in planetary sampling

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Chinese Journal of Aeronautics 2017年第1期30卷 434-446页

作者： Quan Qiquan Tang Junyue Yuan Fengpei Jiang Shengyuan Deng Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology

Some type of penetration into a subsurface is required in planetary sampling. Drilling and coring, due to its efficient penetrating and cuttings removal characteristics, has been widely applied in previous sampling missions. Given the complicated mechanical properties of a planetary regolith, suitable drilling parameters should be matched with different drilling formations ***, drilling faults caused by overloads could easily happen. Hence, it is necessary to establish a drilling load model, which is able to reveal the relationships among drilling loads, an auger＇s structural parameters, soil＇s mechanical properties, and relevant drilling parameters. A concept for the filling rate of auger flute（FRAF） is proposed to describe drilling conditions. If the FRAF index under one group of drilling parameters is less than 1, this means that the auger flute currently removes cuttings smoothly. Otherwise, the auger will be choked with compressed cuttings. In drilling operations, the drilling loads on the auger mainly come from the conveyance action, while the drilling loads on the drill bit primarily come from the cutting action. Experiments in one typical lunar regolith simulant indicate that the estimated drilling loads based on the FRAF coincide with the test results quite well. Based on this drilling load model, drilling parameters have been optimized.

关键词： Coring Drilling load Filling rate of auger fluteLunar regolith simulant Planetary drilling

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Composite iterative learning controller design for gradually varying references with applications in an AFM system

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Journal of Central South University 2014年第1期21卷 180-189页

作者：方勇纯张玉东董晓坤 Institute of Robotics and Automatic Information System Nankai University

Learning control for gradually varying references in iteration domain was considered in this research, and a composite iterative learning control strategy was proposed to enable a plant to track unknown iteration-dependent trajectories. Specifically, by decoupling the current reference into the desired trajectory of the last trial and a disturbance signal with small magnitude, the learning and feedback parts were designed respectively to ensure fine tracking performance. After some theoretical analysis, the judging condition on whether the composite iterative learning control approach achieves better control results than pure feedback contro! was obtained for varying references. The convergence property of the closed-loop system was rigorously studied and the saturation problem was also addressed in the controller. The designed composite iterative learning control strategy is successfully employed in an atomic force microscope system, with both simulation and experimental results clearly demonstrating its superior performance.

关键词： iterative learning control saturation feedback control feedforward control atomic force microscope

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MQADet: A Plug-and-Play Paradigm for Enhancing Open-Vocabulary Object Detection via Multimodal Question Answering

arXiv

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arXiv 2025年

作者： Li, Caixiong Zhao, Xiongwei Zhang, Jinhang Zhang, Xing Sun, Qihao Wu, Zhou School of Computer and Information Science Qinghai Institute of Technology China School of Information Science and Technology Harbin Institute of Technology Shen Zhen China The State Key Laboratory of Robotics and System Harbin Institute of Technology China School of Computer Science and Technology Qinghai University China Eryuan Digital Technology Co. Ltd. China

Open-vocabulary detection (OVD) is a challenging task to detect and classify objects from an unrestricted set of categories, including those unseen during training. Existing open-vocabulary detectors are limited by complex visual-textual misalignment and long-tailed category imbalances, leading to suboptimal performance in challenging scenarios. To address these limitations, we introduce MQADet, a universal paradigm for enhancing existing open-vocabulary detectors by leveraging the cross-modal reasoning capabilities of multimodal large language models (MLLMs). MQADet functions as a plug-and-play solution that integrates seamlessly with pre-trained object detectors without substantial additional training costs. Specifically, we design a novel three-stage Multimodal Question Answering (MQA) pipeline to guide the MLLMs to precisely localize complex textual and visual targets while effectively enhancing the focus of existing object detectors on relevant objects. To validate our approach, we present a new benchmark for evaluating our paradigm on four challenging open-vocabulary datasets, employing three state-of-the-art object detectors as baselines. Experimental results demonstrate that our proposed paradigm significantly improves the performance of existing detectors, particularly in unseen complex categories, across diverse and challenging scenarios. To facilitate future research, we will publicly release our code. © 2025, CC BY.

关键词： Object detection

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