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SLIDING MODE CONTROL FOR GRADIENT TRACKING AND ROBOT NAVIGATION USING ARTIFICIAL POTENTIAL FIELDS

IEEE TRANSACTIONS ON robotics AND AUTOMATION 1995年第2期11卷 247-254页

作者： GULDNER, J UTKIN, VI DLR Institute for Robotics and System Dynamics Wessling Germany

This paper introduces a sliding mode control strategy for tracking the gradient of an artificial potential field, The control methodology is applicable to fully actuated holonomic robotic systems with n-degrees of freedom, The controller yields exact tracking of the gradient lines and is invariant with respect to parametric uncertainty and disturbances in system dynamics, A detailed case study for mobile robots introduces the equilibrium point placement method for designing harmonic planar potential fields for circular obstacle security zones. Diffeomorph mappings can be utilized for more complex obstacle security zones, The gradient of the harmonic potential field is shown to always lead away from the obstacle security zone and to continuously approach the goal point.

关键词： Sliding mode control Navigation Control systems Mobile robots Mechanical systems Force control Security Motion control Torque control Actuators

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Forces Acting on Submillimeter Spheres at the Air-Water Interface

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Chinese Physics Letters 2015年第11期32卷 97-100页

作者：王乐锋刘路徐慧超荣伟彬孙立宁 State Key Laboratory of Robotics and System Harbin Institute of Technology

The forces acting on submillimeter spheres at the air-water interface are investigated theoretically and experimentally. To calculate the capillary force acting on the sphere, an iterative method is used to determine the immersing position of the liquid interface on the sphere for a given distance. Then the total forces acting on the sphere are considered. The scaling effects of the net force acting on the sphere at the air-water interface are demonstrated. For the experiments, the force-position relationship of microspheres is measured with a precise electronic balance. The results show that the evaporation of the liquid in the container affects the measuring results greatly under ambient conditions. After considering the evaporation compensation, there is a great agree- ment between the theoretical and experimental results. Obvious hysteresis phenomena of the force-distance curve during the emersion processes are also observed and explained.

关键词： Forces Acting on Submillimeter Spheres at the Air-Water Interface

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Position Control of a Series Elastic Actuator Based on Global Sliding Mode Controller Design

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IEEE/CAA Journal of Automatica Sinica 2019年第3期6卷 850-858页

作者： Wei Yin Lei Sun Meng Wang Jingtai Liu IEEE the Institute of Robotics and Automatic Information System Nankai University and also with Tianjin Key Laboratory of Intelligent Robotics

A series elastic actuator(SEA) is a powerful device in the area of human-machine integration, but it still suffers from difficult position control issues. Therefore, in this paper,an efficient approach is proposed to solve this problem. The approach design is divided into two steps: feedback linearization(FL) and global sliding mode(GSM) controller design. The bounded analysis is presented and global asymptotic convergence is analytically proven. Simulation and experiment results illustrate the effectiveness of the proposed scheme.

关键词： Feedback linearization (FL) global sliding mode (GSM) position control series elastic actuator (SEA)

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Method for optimizing manipulator's geometrical parameters and selecting reducers

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Journal of Central South University 2013年第5期20卷 1235-1244页

作者：杜志江肖永强董为 State Key Laboratory of Robotics and System Harbin Institute of Technology

A geometrical parameters optimization and reducers selection method was proposed for robotic manipulators design. The Lagrangian approach was employed in deriving the dynamic model of a two-DOF manipulator. The flexibility of links and joints was taken into account in the mechanical structure dimensions optimization and reducers selection, in which Timoshenko model was used to discretize the hollow links. Two criteria, i.e. maximization of fundamental frequency and minimization of self-mass/load ratio, were utilized to optimize the manipulators. The NSGA-II (fast elitist nondominated sorting genetic algorithms) was employed to solve the multi-objective optimization problem. How the joints flexibility affects the manipulators design was analyzed and shown in the numerical analysis example. The results indicate that simultaneous consideration of the joints and the links flexibility is very necessary for manipulators optimal design. Finally, several optimal combinations were provided. The effectiveness of the optimization method was proved by comparing with ADAMS simulation results. The self-mass/load ratio error of the two methods is within 10%. The maximum error of the natural frequency by the two methods is 23.74%. The method proposed in this work provides a fast and effective pathway for manipulator design and reducers selection.

关键词： robotic manipulator optimal design reducer selection flexible links flexible joints

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Lunar regolith simulant-derived 3D-printed geopolymers with optimized mechanical and thermal management properties

引用

Composites Part A: Applied Science and Manufacturing 2025年 196卷

作者： Sun, Yifan Ma, Siqi Chen, Qingze Chen, Guoliang He, Peigang Wang, Yaming Qiu, Jun Jia, Dechang School of Energy Science and Engineering Key Laboratory of Aerospace Thermophysics Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Institute for Advanced Ceramics Key Laboratory of Advanced Structure-Function Integrated Materials and Green Manufacturing Technology Harbin Institute of Technology Harbin150080 China Guangdong Provincial Key Laboratory of Mineral Physics and Materials Guangzhou Institute of Geochemistry Chinese Academy of Sciences Guangzhou510460 China

Lunar soil, as an in-situ resource, holds significant potential for constructing bases and habitats on the Moon. However, such constructions face challenges including limited mechanical strength and extreme temperature fluctuations ranging from −170 °C to +133 °C between lunar day and night. In this study, we developed a 3D-printed geopolymer derived from lunar regolith simulant with an optimized zig-zag structure, exhibiting exceptional mechanical performance and thermal stability. The designed structure achieved remarkable damage tolerance, with a compressive strength exceeding 12.6 MPa at ∼ 80 vol% porosity and a fracture strain of 3.8 %. Finite element method (FEM) simulations revealed that the triangular frame and wavy interlayers enhanced both stiffness and toughness. Additionally, by incorporating strategically placed holes and extending the thermal diffusion path, we significantly improved the thermal insulation of the structure, achieving an ultralow thermal conductivity of 0.24 W/(m K). Furthermore, an iron-free geopolymer coating reduced overheating under sunlight by 51.5 °C, underscoring the material's potential for space applications. © 2025 Elsevier Ltd

关键词： Compressive strength

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Mechanics analysis of a wheelchair robot with wheel-track coupling mechanism

引用

Journal of Beijing institute of Technology 2013年第3期22卷 301-307页

作者：李敬一白阳靳飞王冬晓高学山 Intelligent Robotics Institute Beijing Institute of Technology State Key Laboratory of Robotics and System ( HIT)

A barrier-free wheelchair robot with a mechanism coupled by wheel and track is presen- ted in this paper. Using the wheelchair, the lower limb disabled persons could be more relaxed to take part in outdoor activities whether on flat ground or stairs and obstacles in the city. The wheel- track coupling mechanism is designed and the stability of the bodywork of the wheelchair robot on the stairs is analyzed. In order to obtain the stability of wheelchair robot when it climbs obstacles, centroid projection method is applied to analyze the static stability, stability margin is proposed to provide the stability under some dynamic forces, and the push rod rotation angle in terms of the guaranteed stability margin is given. Finally, the dynamic model of the wheelchair robot based on Lagrange equation is established, which can be a theoretical foundation for the wheelchair control system design.

关键词： wheelchair robot wheel/track coupling mechanism centroid projection method sta-bility margin dynamic analysis

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HIT prosthetic hand based on tendon-driven mechanism

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Journal of Central South University 2014年第5期21卷 1778-1791页

作者：刘伊威丰飞高一夫 State Key Laboratory of Robotics and System Harbin Institute of Technology

An underactuated finger structure actuated by tendon-driven system is *** and static analysis of the finger is done,and the results indicate that the prosthetic finger structure is effective and *** on the design of finger,a prosthetic hand is *** hand is composed of 5 independent fingers and it looks more like *** size is about 85% of an adult's hand and weights about 350 *** the thumb finger,each finger is actuated by one DC motor,gear head and a tendon,and has three curling/extension *** thumb finger which is different from other existing prostheses is a novel design *** thumb finger has four joints including three curling/extension joints and a joint which is used to realize the motion of the thumb related to the palm,and these joints are also driven by one DC motor,harmonic drive and a *** underactuation and adaptive curling/extension motion of the finger are realized by joint torsion springs.A high-powered chip of digital signal processing(DSP)is the main part of the electrical system which is used for the motors control,data collection,communication with external controlling source,and so *** improve the reliability of the hand,structures and sensors are designed and made as simply as *** hand has strong manipulation capabilities that have been verified by finger motion and grasping tests and it can satisfy the daily operational needs and psychological needs of deformities.

关键词： prosthetic hand tendon-driven mechanism underactuation kinematics and static analysis

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Development of Chinese large-scale space end-effector

引用

Journal of Central South University 2011年第3期18卷 600-609页

作者：刘宏谭益松刘伊威介党阳高凯蔡鹤皋 State Key Laboratory of Robotics and System Harbin Institute of Technology

In order to achieve large tolerance capture and high stiffness connection for space payload operations,a Chinese large-scale space end-effector (EER) was *** flexible steel cables were adopted to capture the payload with large capture *** screw transmission mechanism and plane shape-constraint four bar linkage mechanism were utilized to connect the payload with high *** experiments show that capture tolerances in X,Y,Z,Pitch,Yaw,Roll directions are 100 mm,100 mm,120 mm,10.5°,10.5°,12°,*** maximum connection stiffness is 4 800 N·*** end-effector could meet the requirements for space large tolerance capture and high stiffness connection in the future.

关键词： large tolerance capture high stiffness connection end-effector flexible steel cable ball screw four bar linkage

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Semantic Region Estimation of Assistant Robot for the Elderly Long-Term Operation in Indoor Environment

引用

China Communications 2016年第5期13卷 1-15页

作者： Guanglei Huo Lijun Zhao Ke Wang Ruifeng Li State Key Laboratory of Robotics and System Harbin Institute of Technology

In this work, in order to improve spatial recognition abilities for the long-term operation tasks of the assistant robot for the elderly, a novel approach of semantic region estimation is proposed. We define a novel graphbased semantic region descriptions, which are estimated in a dynamically fashion. We propose a two-level update algorithm, namely, Symbols update level and Regions update level. The algorithm firstly adopts particle filter to update weights of the symbols, and then use the Viterbi algorithm to estimate the region the robot stays in based on those weights, optimally. Experimental results demonstrate that our proposed approach can solve problems of the long-term operation and kidnapped robot problem.

关键词： service robot semantic region estimation particle filter viterbi algorithm long-term tasks

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A review of heavy-duty legged robots

引用

Science China(Technological Sciences) 2014年第2期57卷 298-314页

作者： ZHUANG HongChao GAO HaiBo DENG ZongQuan DING Liang LIU Zhen State Key Laboratory of Robotics and System Harbin Institute of Technology

Heavy-duty legged robots have been regarded as one of the important developments in the field of legged robots because of their high payload-total mass ratio,terrain adaptability,and *** problems associated with the development and use of heavy-duty legged robots have motivated researchers to conduct many important studies,covering topics related to the mechanical structure,force distribution,control strategy,energy efficiency,***,heavy-duty legged robots have three main characteristics:greater body masses,larger body sizes,and higher payload-total mass ***,various heavy-duty legged robots and their performances are reviewed *** review presents the current developments with regard to heavy-duty legged ***,the main characteristics of high-performance heavy-duty legged robots are determined and conclusions are ***,the current research of key techniques of heavy-duty legged robots,including the mechanical structure,force distribution,control method,and power source,is *** assess the transportation capacity of heavy-duty legged robots,performance evaluation parameters are ***,problems that need further research are addressed.

关键词： heavy-duty legged robot mechanical structure force distribution control method power source

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