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Kangaroo Tail-Inspired Variable Stiffness Executive Mechanism for Rescue robots

IEEE Robotics and Automation Letters 2025年第6期10卷 5943-5950页

作者： Lu, Maoshi Zhao, Yanzhi Ma, Feixiang Shan, Yu Zhang, Bowen Yanshan University Key Laboratory of Parallel Robots and Mechatronic Systems Qinhuangdao066004 China Yanshan University College of Mechanical Engineering Qinhuangdao066004 China Dalian University of Technology College of Mechanical Engineering Dalian116024 China

In the field of casualty extraction and rescue, a key challenge is avoiding secondary injuries to the human body during rescue operations. Currently, most rescue robot executive mechanisms are rigid, which increases the risk of contact-related injuries. To address this issue, a rescue executive mechanism with variable stiffness, inspired by the kangaroo tail, is proposed. This mechanism can adapt to the human body's contours with flexible contact while providing sufficient rigidity and load-bearing capacity. By applying the layer jamming principle, the mechanism achieves variable stiffness, enabling it to self-adapt to the human body profile and support large loads. Drawing inspiration from the rigid support and shape adaptability of the kangaroo tail, a 3D model and a prototype of the executive mechanism were developed using bionic principles. The mechanism's performance was validated through variable stiffness tests, contour adaptation tests, and human model holding and loading experiments. The results demonstrate that the rescue robot executive mechanism exhibits high load-bearing capacity (load 32.17 kg), strong adaptability, and enhanced safety, effectively addressing the limitations of rigid mechanisms that may harm the human body. © 2016 IEEE.

关键词： Tail Jamming Pins Rescue robots robots Wire Injuries Muscles Friction Shape

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Type Synthesis of Fully Decoupled Three Translational parallel Mechanism with Closed-Loop Units and High Stifness

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Chinese Journal of Mechanical Engineering 2023年第5期36卷 231-247页

作者： Shihua Li Sen Wang Haoran Li Yongjie Wang Shuang Chen Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic Systems Yanshan UniversityQinhuangdao 066004China

In order to solve the problem of weak stifness of the existing fully decoupled parallel mechanism, a new synthesis method of fully decoupled three translational (3T) parallel mechanisms (PMs) with closed-loop units and high stifness is proposed based on screw theory. Firstly, a new criterion for the full decoupled of PMs is presented that the reciprocal product of the transmission wrench screw matrix and the output twist screw matrix of PMs is a diagonal matrix, and all elements on the main diagonal are nonzero constants. The forms of the transmission wrench screws are determined by the criterion. Secondly, the forms of the actuated and unactuated screws can be obtained according to their relationships with the transmission wrench screws. The basic decoupled limbs are generated by combination of the above actuated and unactuated screws. Finally, a closed-loop units construction method is investigated to apply the decoupled mechanisms in a better way on the high stifness occasion. The closed-loop units are constructed in the basic decoupled limbs to generate a high-stifness fully decoupled 3T PM. Kinematic and stifness analyses show that the Jacobian matrix is a diagonal matrix, and the stifness is obviously higher than that of the coupling mechanisms, which verifes the correctness of the proposed synthesis method. The mechanism synthesized by this method has a good application prospect in vehicle durability test platform.

关键词： Screw theory Three translational parallel mechanism Full decoupled Closed-loop units High stifness

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6D pose annotation and pose estimation method for weak-corner objects under low-light conditions

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Science China(Technological Sciences) 2023年第3期66卷 630-640页

作者： JIANG ZhiHong CHEN JinHong JING YaMan HUANG Xiao LI Hui School of Mechatronic Engineering Beijing Institute of TechnologyBeijing 100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing 100081China Key Laboratory of Biomimetic Robots and Systems Ministry of EducationBeijing 100081China

In unstructured environments such as disaster sites and mine tunnels,it is a challenge for robots to estimate the poses of objects under complex lighting backgrounds,which limit their *** to the shadows produced by a point light source,the brightness of the operation scene is seriously unbalanced,and it is difficult to accurately extract the features of *** is especially difficult to accurately label the poses of objects with weak corners and *** study proposes an automatic pose annotation method for such objects,which combine 3D-2D matching projection and rendering technology to improve the efficiency of dataset annotation.A 6D object pose estimation method under low-light conditions(LP_TGC)is then proposed,including(1)a light preprocessing neural network model based on a low-light preprocessing module(LPM)to balance the brightness of a picture and improve its quality;and(2)a 6D pose estimation model(TGC)based on the keypoint *** typical datasets are constructed to verify our method,the experimental results validated and demonstrated the effectiveness of the proposed LP_TGC *** estimation model based on the preprocessed image can accurately estimate the pose of the object in the mentioned unstructured environments,and it can improve the accuracy by an average of~3%based on the ADD metric.

关键词： 6D object pose estimation 6D pose annotation low-light conditions

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Configuration Design and Size Optimization of a High-Precision Novel parallel Pointing Mechanism Based on Interference Separation

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Chinese Journal of Mechanical Engineering 2024年第5期37卷 365-386页

作者： Sen Wang Shihua Li Xueyan Han Jiahao Wei Xueyuan Gao Hongyu Xu Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic Systems Yanshan UniversityQinhuangdao 066004China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China

Pointing mechanism is widely used in aerospace field,and its pointing accuracy and stability have high *** pointing mechanism will be affected by external interference when it *** order to eliminate the impact of interference forces on the output accuracy of the mechanism,firstly,this paper proposes a design method for highprecision pointing mechanisms based on interference separation,aiming at the high-precision pointing requirements of pointing *** on the screw theory,a synthesis method for inner compensation mechanisms has been *** a new type of double-layer parallel mechanism has been designed to compensate for interference ***,the kinematics and dynamics of the mechanism are carried *** evaluation index for compensating external interference forces is *** interference compensation analysis is conducted for the pointing *** correctness of the proposed interference force compensation coefficient is ***,in order to find the optimal solution for the workspace and interference force compensation coefficient of the pointing mechanism,multi-objective optimization design of the structural parameters of the mechanism was carried out based on the particle swarm optimization *** provides a theoretical basis for the prototype design of the subsequent double-layer parallel *** double-layer parallel mechanism combines the advantages of large load-bearing capacity,large workspace,and high output *** can be better applied in the aerospace field where high-precision pointing and force interference compensation are integrated.

关键词： Pointing mechanism Interference separation Double-layer parallel mechanism Force compensation coefficient Multi-objective optimization

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Design and fabrication of a gecko-inspired surface for improving the grasping ability of a humanoid dexterous hand

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Science China(Technological Sciences) 2023年第3期66卷 784-792页

作者： JIANG ZhiHong SHEN MingHui MA YiFan CHE JiangTao LI Hui School of Mechatronic Engineering Beijing Institute of TechnologyBeijing 100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing 100081China Key Laboratory of Biomimetic Robots and Systems Ministry of EducationBeijing 100081China China Electronics Standardization Institute Beijing 100007China

Many studies have examined the design,fabrication and characteristics of gecko-inspired adhesives,but applied research on gecko-inspired surfaces in humanoid dexterous hands is relatively ***,a wedged slanted structure with a curved substrate suitable for humanoid dexterous fingers was designed and manufactured via ultraprecision machining and replica *** adhesion and friction properties of the wedged slanted structure show obvious anisotropic characteristics in the gripping and releasing directions,and the influence of structural parameters and motion parameters on the adhesion and friction was systematically *** humanoid dexterous fingers with gecko-inspired surfaces greatly increased the grasping force limit(increase to 4.02 times)based on the grasping of measuring cups with different volumes of water and improved the grasping stability based on the picking up of smooth steel balls of different *** study shows that this process,based on ultraprecision machining and replica molding,is a green,high-efficiency,and low-cost method to fabricate large-area biomimetic surfaces that has potential applications in dexterous humanoid hands to improve grasping ability,stability and adaptability.

关键词： gecko-inspired surface curved substrate ultraprecision machining friction humanoid dexterous hand

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A kind of biomimetic control method to anthropomorphize a redundant manipulator for complex tasks

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Science China(Technological Sciences) 2020年第1期63卷 14-24页

作者： MO Yang JIANG ZhiHong LI Hui YANG Hong HUANG Qiang School of Mechatronic Engineering Beijing Institute of TechnologyBeijing 100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing 100081China Key Laboratory of Biomimetic Robots and Systems Ministry of EducationBeijing 100081China Institute of Manned Spacecraft System Engineering China Academy of Space TechnologyBeijing 100080China

It is an urgent problem for robots to operate complex tasks with some unknown motion mechanisms caused by the strong coupling of force and motion. However, humans can perform complex tasks well due to their natural evolution and postnatal training. A novel biomimetic control method based on a human motion mechanism with high movement adaptability is proposed in this paper. The core is to present a novel variable-parameter compliance controller based on human operation mechanisms with an action-planning method derived from optimization by human motion, and the main contribution is to change the parameters of compliance controller according to human operating intention synchronized with humanoid motion;this change could establish a humanoid map between the force and motion for a seven degree-of-freedom redundant manipulator to deal with the unknown motion mechanism in complex tasks, so the redundant manipulator can operate complex tasks with high performance. Sufficient experiments were performed, and the results validated the effectiveness of the proposed algorithm.

关键词： redundant manipulator biomimetic control humanoid mapping complex task

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A novel space target-tracking method based on generalized Gaussian distribution for on-orbit maintenance robot in Tiangong-2 space laboratory

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Science China(Technological Sciences) 2019年第6期62卷 1045-1054页

作者： MO Yang JIANG ZhiHong LI Hui YANG Hong HUANG Qiang School of Mechatronic Engineering Beijing Institute of Technology Beijing 100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing 100081 China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing 100081 China Institute of Manned Spacecraft System Engineering China Academy of Space Technology Beijing 100080 China

Accurate target tracking based on visual images is the key for intelligent robots to assist or replace astronauts to work in space station. However, the special space environment such as non-uniform illumination and high-energy particle radiation is a huge challenge, which may lead to complex noise coupling in vision image. This paper proposes a novel method for accurate target tracking, the essence of which is the Retinex image enhancement algorithm in CIELAB color space(LAB-GRetinex) and the generalized maximum correntropy Kalman filter(GMCKF) which are all based on generalized Gaussian distribution. The LABGRetinex algorithm chooses the CIELAB color space, which is closer to the human vision, as the processing color space, and the generalized Gaussian distribution can estimate the light image accurately, so the influence of non-uniform illumination can be reduced effectively. Meanwhile, the GMCKF algorithm adopts the generalized correntropy criterion based on the generalized Gaussian distribution to replace the minimum mean square error(MMSE) criterion to realize the optimal filtering effect under the complex non-Gaussian noise, which can improve the target tracking accuracy. Sufficient ground simulation experiments and application experiments in the Tiangong-2 space laboratory verify the effectiveness of the proposed algorithm which can track the target accurately in the special space environment and provide the precise pose information for on-orbit robot maintenance verification. This research lays a technical foundation for the application of intelligent robot in the construction and operation on space station in the future.

关键词： space robot LAB-GRetinex GMCKF target tracking

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A Dual-Motor Joint Model for Humanoid robots

A Dual-Motor Joint Model for Humanoid Robots

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第25届中国控制与决策会议

作者： Jingtao Xue Xiaopeng Chen Ye Tian Zhangguo Yu Fei Meng Qiang Huang IRI School of Mechatronic Engineering Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (纸本)9781467355339

To make humanoid robots walking fast, it's important to improve driving force of their leg joints. Usually, each joint of humanoid robots is driven by a single motor. Dual-motor joint, on the other hand, is one of the candidate solutions to meet the power requirement needed for fast walking. This paper proposed a new dual-motor control model. In the model, two motors are treated as a single control plant instead of two parallel control plants. With the usage of current distributor, the control model can pump different current to each motor freely so as to eliminate the unbalance of the load imposed on each motor. Simulation and experiment show that the proposed model works well under high joint load and it can be used on a fast walking humanoid robot.

关键词： Humanoid robot, dual motor, control model

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Actuation Spaces Synthesis of Lower-Mobility parallel Mechanisms Based on Screw Theory

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Chinese Journal of Mechanical Engineering 2021年第1期34卷 280-291页

作者： Shihua Li Yanxia Shan Jingjun Yu Yaxiong Ke Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic Systems Yanshan UniversityQinhuangdao 066004China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China School of Liren Yanshan UniversityQinhuangdao 066004China Robotics Institute Beihang UniversityBeijing 100191China

The lower-mobility parallel mechanism has been widely used in the engineering field due to its numerous excellent ***,little work has been devoted to the actuator selection and placement that best satisfy the system's functional requirements during concept *** this study,a unified approach for synthesizing the actuation spaces of both rigid and flexure parallel mechanisms has been presented,and all possible combinations of inputs could be obtained,laying a theoretical foundation for the subsequent optimization of *** to the linear independence of actuation space and constraint space of the lower-mobility parallel mechanism,a general expression of actuation spaces in the format of screw systems is deduced,a unified synthesis process for the lower-mobility parallel mechanism is derived,and the efficiency of the method is validated with two selective examples based on screw *** study presents a theoretical framework for the input selection problems of parallel mechanisms,aiming to help designers select and place actuators in a correct and even optimal way after the configuration design.

关键词： Lower-mobility parallel mechanism Screw theory Actuation space Actuator placement Input selection

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Design of an Impact-resistant Elbow Mechanism for Wheel-legged Robot Crawling 5

Design of an Impact-resistant Elbow Mechanism for Wheel-legg...

引用

5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023

作者： Ma, Xiaoshuai Gao, Junyao Qiu, Xuejian Zhao, Lingxuan Chen, Xuechao Yu, Zhangguo Huang, Qiang Beijing Institute of Technology School of Mechatronic Engineering Beijing100081 China Ministry of Education Key Laboratory of Biomimetic Robots and Systems Beijing100081 China

ISBN: (纸本)9798350307320

Wheel-legged robots utilize their arms for efficient crawling in low and narrow passages. However, during the transition from standing to crawling motion mode, wheeled-legged robots, which are underactuated systems, are susceptible to falling and potential damage. Additionally, the elbow joint requires a high torque during robot crawling. Therefore, we designed an elbow mechanism driven by a linear actuator for BIT- W robot. The torque requirement of the elbow joint is analyzed by constructing a crawling model of the robot. Subsequently, a novel optimization method is proposed to enhance impact resistance by optimizing the mechanical parameters. Finally, The experiments conducted validate the elbow mechanism's capability to provide stable support for crawling and motion mode switching. Moreover, the impact mitigation factor (IMF) results substantiate the mechanism's effective enhancement of the arm's impact-resistant ability. © 2023 IEEE.

关键词： Linear actuators

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