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Mechanical Properties Inside Origami-Inspired Structures: An Overview

Applied Mechanics Reviews 2025年第1期77卷 011001页

作者： Yan, Peng Huang, Hailin Meloni, Marco Li, Bing Cai, Jianguo Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China Harbin Institute of Technology Shenzhen518052 China Key Laboratory of C & PC Structures of Ministry of Education National Prestress Engineering Research Center Southeast University Nanjing211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China Key University Laboratory of Mechanism Machine Theory and Intelligent Unmanned Systems of Guangdong Habin Institute of Technology Shenzhen518052 China

In recent decades, origami has transitioned from a traditional art form into a systematic field of scientific inquiry, characterized by attributes such as high foldability, lightweight frameworks, diverse deformation modes, and limited degrees-of-freedom. Despite the abundant literature on smart materials, actuation methods, design principles, and manufacturing techniques, comprehensive reviews focusing on the mechanical properties of origami-inspired structures are relatively rare and unsystematic. This review aims to fill this void by analyzing and summarizing the significant studies conducted on the mechanical properties of origami-inspired structures from 2013 to 2023. We begin with an overview that includes essential definitions of origami, classical origami patterns, and their associated tessellated or stacked structures. Following this, we delve into the principal dynamic modeling method for origami and conduct an in-depth analysis of the key mechanical properties of origami-inspired structures. These properties include tunable stiffness, bistability and multistability, metamechanical properties demonstrated by origami-based metamaterials, and bio-inspired mechanical properties. Finally, we conclude with a comprehensive summary that discusses the current challenges and future directions in the field of origami-inspired structures. Our review provides a thorough synthesis of both the mechanical properties and practical applications of origami-inspired structures, aiming to serve as a reference and stimulate further research. © 2025 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Degrees of freedom (mechanics)

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PID Steering Control for Lane Keeping Assist based on IMU Sensor and ROS 2

PID Steering Control for Lane Keeping Assist based on IMU Se...

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2nd IEEE International Conference on Electrical Engineering, Computer and Information Technology, ICEECIT 2024

作者： Siagian, Marco Yosafat Salim, Taufik Ibnu Manurung, Philippians Firmansyah, Rendra Dwi Putrasari, Yanuandri Wahono, Bambang Wardana, Muhammad Khristamto Aditya Anam, Khairul Del Institute Of Technology North Sumatra Indonesia Research Center for Smart Mechatronics National Research and Innovation Agency Bandung Indonesia Faculty Del Institute Of Technology North Sumatra Indonesia Intelligent System and Robotics CDAST UNEJ Jember Indonesia

ISBN: (纸本)9798331504373

This study presents the development and implementation of a PID steering control system for lane-keeping assistance using an IMU sensor and ROS (Robot Operating system). The system leverages the capabilities of the Teensy 4.1 microcontroller and the HWT905-TTL IMU sensor to maintain precise steering adjustments, crucial for autonomous vehicle applications. The PID controller, designed to respond dynamically to real-time feedback, ensures that the motor reaches designated target angles, even under varying test conditions. The control system was tuned experimentally to achieve optimal response times, resulting in a rise time of approximately 2 seconds, a steady-state error within ±1-2 degrees, and a maximum overshoot of 4.09%. Performance metrics such as the Integral of Squared Error (ISE) and the Integral of Time-weighted Squared Error (ITSE) further confirmed system accuracy and stability over time. Results indicate that the proposed control system effectively maintains lane-keeping with minimal error, demonstrating potential for future deployment in real-world autonomous driving scenarios. Future work will focus on enhancing system adaptability through advanced tuning techniques and sensor fusion to improve robustness in dynamic environments. © 2024 IEEE.

关键词： Microcontrollers

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Nonlinear Adaptive Control for 3-D Ship-mounted Cranes with Double-pendulum Effect Without Velocity Feedback

Nonlinear Adaptive Control for 3-D Ship-mounted Cranes with ...

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第43届中国控制会议

作者： Ling Yang Kai Wang Xin Ma Zizhong Wei Jiankang Zhang Center for Robotics School of Control Science and EngineeringEngineering Research Center of Intelligent Unmanned SystemMinistry of EducationShandong University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Unmeasurable velocities and noise amplification by numerical differentiators are difficult problems for crane *** this paper,an adaptive controller,without velocity feedback,is proposed for 3-D ship-mounted cranes to achieve swing suppression and accurate boom positioning. Auxiliary variables are designed to substitute for velocities that cannot be obtained directly. Additionally,bounded functions are utilized to constrain the input torque for safety. The stability of the control system is rigorously proven using Lyapunov's method. Furthermore,simulations validate the effectiveness of the proposed method.

关键词： Adaptive Control Ship-mounted Cranes Wave Disturbances

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A dual-robot collaborative coverage path planning method for complex surfaces based on a 2.5D grid map

A dual-robot collaborative coverage path planning method for...

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第43届中国控制会议

作者： Hui Gao Qihang Zhang Xin Ma Center for Robotics School of Control Science and EngineeringShandong UniversityEngineering Research Center of Intelligent Unmanned SystemMinistry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The coverage path planning(CPP) for complex three-dimensional(3 D) surfaces is one of the challenging problems in the field of path *** this paper,we propose a dual-robot collaborative coverage path planning method based on a 2.5-dimensional(2.5 D)grid map to address the CPP problem for complex ***,to effectively describe the CPP problem for complex surfaces,we establish a new model called the Generalized Traveling Salesman Problem(GTSP).Secondly,we develop a 2.5 D grid map that better conforms to the shape of complex surfaces by preserving their height ***,an adaptive Vertex Reward-based Coverage Path Planning(VR-CPP) algorithm is proposed to solve GTSP,which can achieve a coverage path with shorter length,fewer transitions,and lower robot energy *** tests are carried out on complex surface and the results validate the effectiveness of the proposed approach.

关键词： Coverage path planning(CPP) Dual-robot Complex surfaces Vertex Reward-based Coverage Path Planning

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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HCRI: A ROS2 Human Collision Object Interface for Robotic Manipulation Planning

HCRI: A ROS2 Human Collision Object Interface for Robotic Ma...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Wang, Changcong Wei, Chongyi Bai, Shaoping Li, Yibin Tian, Xincheng Zhou, Lelai Shandong University The Center for Robotics School of Control Science and Engineering Jinan250061 China The Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China Aalborg University Department of Materials and Production Aalborg9220 Denmark

ISBN: (纸本)9798350327182

Human-Robot Collaboration (HRC) is people and robots work together in the same workspace to achieve shared goals. To ensure safety, robots need to perceive the position of the human body for planning purposes. However, there is no universal method for converting the human body into collision objects. To solve this problem, we propose an interface to convert the human body segments into collision objects in the robot planning scene. The interface estimates the human body Skinned Multi-Person Linear model (SMPL) by RGB image and measures the collision object size of the corresponding body segment. The corresponding size of collision objects are added to the corresponding positions of the human pose estimated by different types of sensors. The accuracy of human size estimation is verified on TotalMocap of AMASS. The interface with OctoMap is compared to evaluate the efficiency and the validity on interface is verified on the robot UR5e. © 2023 IEEE.

关键词： Image segmentation

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Transfer Learning Based Multi-Perception Safety Strategy for Human-Robot Collaboration

Transfer Learning Based Multi-Perception Safety Strategy for...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Wei, Chongyi Wang, Changcong Bai, Shaoping Li, Yibin Tian, Xincheng Zhou, Lelai Shandong University Center for Robotics School of Control Science and Engineering Jinan250061 China Ministry of Education Engineering Research Center of Intelligent Unmanned System Jinan250061 China Aalborg University Department of Materials and Production Aalborg9220 Denmark

ISBN: (纸本)9798350327182

Human-robot collaboration (HRC) is vital to adapt to the significant change in manufacturers' demands for automation, and safety is a primary and major challenge that must be addressed for it. In this paper, a muti-perception safety strategy and framework are introduced to ensure human safety while trying to avoid reducing the work efficiency of the robot by taking human activity intentions and human-robot distance into account. To realize the safety strategy, an LSTM-CNN based neural network is built for human activity classification. To improve the generalization ability and performance of the network with data scarcity for existing deep learning-based human activity recognition methods, transfer learning-enabled activity recognition is proposed. Based on the studies, a feasible security system is implemented in the human-robot collaboration scenario. © 2023 IEEE.

关键词： Long short-term memory

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Safe and Robust Human Following for Mobile Robots Based on Self-Avoidance MPC in Crowded Corridor Scenarios

Safe and Robust Human Following for Mobile Robots Based on S...

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IEEE International Conference on robotics and Biomimetics

作者： Yinuo Song Qianyi Zhang Zhengxi Hu Jingtai Liu Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics TBI Center Nankai University

The robot could provide convenient service for humans by following them. But it is not easy for the robot to follow a person while avoiding various objects in real crowded corridors. In this paper, a self-avoidance model predictive controller (SA-MPC) for human following in crowded environments is proposed. An obstacle avoidance optimization item is designed to enable the generalized controller to avoid collisions. Another adaptive method of selecting waypoints is introduced to make the robot move at the specific linear and angular velocities. We verified our method on the pedestrian simulation platform. Qualitative and quantitative simulations demonstrate that the proposed SA-MPC achieves a higher scene pass rate and improves safety and robustness in dense environments. Simulations are implemented in dense corridors and complex scenarios with random obstacles. SA-MPC can serve as a generalized controller for various mobile robots.

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MPC-MF: Multi-Point Cloud Map Fusion Based on Offline Global Optimization for Mobile Robots

MPC-MF: Multi-Point Cloud Map Fusion Based on Offline Global...

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第42届中国控制会议

作者： Haiming Gao Qibo Qiu Shun Zhang Wei Hua Zhiyi Su Xuebo Zhang Research Center for Intelligent transportation Zhejiang Lab Institute of Robotics and Automatic Information System (IRAIS) Tianjin Key Laboratory of Intelligent Robotics (TJKLIR) Nankai University

This paper proposes a Multi-Point Cloud Map Fusion(MPC-MF) approach based on offline global optimization for mobile robots. To realize the effective map fusion of multiple point clouds, an offline global optimization approach is firstly proposed based on self constraint generation and mutual constraint generation. Different from the simple addition of fusing multiple maps to generate final complete map, this work makes use of mutual constraint factors between two adjacent sessions to eliminate inconsistencies in the fused map. Note that the factor generation of mutual constraint and the map fusion of global optimization are main contributions of this work. To evaluate the effectiveness of the proposed map fusion approach, three independent sessions have been collected in a real environment. Experimental results on multi-trajectory fusion and multi-map fusion show superior performance of our proposed approach on eliminating local inconsistencies and realizing effective fusion.

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Research on Motion Mode Conversion Control of Wheel-legged Biped Robot 20

Research on Motion Mode Conversion Control of Wheel-legged B...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Fu, Yili Li, Xu Dong, Xinyu Intelligent Robot Research Center Zhejiang Laboratory Hangzhou China Harbin Institute of Technology State Kay Laboratory of Robotics and System Heilongjiang Province Harbin China Harbin Institute of Technology Heilongjiang Province Harbin China

ISBN: (纸本)9798350320831

The bipedal wheel-legged robot with auxiliary legs studied in this paper has two motion modes, two wheels and four wheels, and can transform motion modes according to operation requirements. This paper focuses on how to realize motion mode transformation control under stable equilibrium. Firstly, kinematics analysis and dynamics modeling of the robot are carried out to complete the motion description and dynamics description of the robot in Cartesian space. Then the robot is simplified into a wheeled inverted pendulum model, and the driving wheel and other parts are decoupled to analyze its dynamic characteristics. In this paper, LQR controller will be used to ensure the robot is always in a balanced state, and then priority task space control (PTSC) based on quadratic programming (QP) will be adopted to track the robot trajectory. Finally, the smooth transformation of the robot under two motion modes of two wheels and four wheels is completed by experiments, which verifies the effectiveness of the control algorithm designed in this paper. © 2023 IEEE.

关键词： Quadratic programming

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