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Progress and Development Trend of Space Intelligent Robot Technology

Space(Science & Technology) 2022年第1期2022卷 286-296页

作者： Zhihong Jiang Xiaolei Cao Xiao Huang Hui Li Marco Ceccarelli School of Mechatronic Engineering Beijing Institute of TechnologyBeijing 100081China Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry Beijing Institute of TechnologyBeijing 100081China Department of Industrial Engineering University of Rome Tor VergataVia del Politecnico 100133 RomaItaly

Since space intelligent robots are not restricted by physiological conditions,it is an attractive choice for the development of automation technology to use them for space exploration and *** is currently the key development direction of the major space powers over the *** paper first investigates the robotic manipulators and humanoid robot systems for space station applications and reviews theories and methods for robots to achieve large-range stable motion and intelligent dexterous ***,the intelligent robot systems for on-orbit satellite maintenance are reviewed,and the related technologies of multirobot collaboration are ***,we investigate the intelligent robot systems for on-orbit assembly of large-scale spatial structures and summarize the technologies of modular assembly and on-orbit ***,this paper reviews the technological progress and development trends of space robots,which provides a good reference for further technical research in this field.

关键词： robot Robot attractive

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Moving Object Flexible Grasping Based on Deep Reinforcement Learning 8

Moving Object Flexible Grasping Based on Deep Reinforcement ...

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8th International Conference on Control, Automation and Robotics, ICCAR 2022

作者： Tu, Zhangpeng Yang, Canjun Wu, Xin Zhu, Yuanchao Wu, Weitao Jia, Ningbo Zhejiang University State Key Laboratory Of Fluid Power And Mechatronic Systems Hangzhou China Training Platform Of Robots And Intelligent Manufacturing From Polytechnic Institute Zhejiang University Hangzhou China

ISBN: (纸本)9781665481168

High manipulability can improve the movement ability of the robot end-effector in various degrees of freedom when it is engaged in autonomous grasping. In this paper, we propose a flexible grasping method based on deep reinforcement learning for moving objects. We use the deep deterministic policy gradient (DDPG) algorithm to train and control a six degrees of freedom manipulator, and introduce the manipulability index to optimize the grasping pose of the manipulator. A moving ball grasping mission was conducted using the Robot Operating System (ROS) and the Gazebo simulator to verify the effectiveness of the method. Compared with the DDPG algorithm without optimizing manipulability and the traditional tracking method, experimental results indicate that the proposed method maintains the high manipulability of the manipulator. © 2022 IEEE.

关键词： Reinforcement learning

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From the Yoshimura Origami Pattern to Foldable Structures: Optimizing Crease Design for Scalability

SSRN

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SSRN 2023年

作者： Xu, Dongyang Zhao, Yanzhi Han, Zhen Song, Linquan Key Laboratory of Parallel Robots and Mechatronic Systems Yanshan University Hebei066104 China Key Laboratory of Advanced Forging Technology and Science Ministry of Education Yanshan University Hebei066104 China

Crease design is crucial to the function and application scope of origami projects, yet for the Yoshimura origami pattern, the connection between origami two-dimensional (2D) creases and three-dimensional (3D) forms has not been established, which greatly limits the research and application of origami structures. In this paper, a crease design theory based on the Yoshimura origami pattern is proposed to create 3D foldable origami structures. Afterwards, the flat origami folding process is described, and the corresponding end trajectory equations are derived from the crease chain folding analysis performed on the element block and the expansion block. Next, the positional and angular constraint equations for single-variable, double-variable, and triple-variable foldable forms with only element blocks are systematically discussed. Finally, a detailed folding simulation analysis is performed based on the positional and angular constraint equations, and the foldable form family diagrams with the corresponding angular eigenvalue intersection curve constraints are summarized. This work provides an effective theory for the design of origami creases and provides extensive guidance for the study of Yoshimura-based tubular origami engineering structures. © 2023, The Authors. All rights reserved.

关键词： Eigenvalues and eigenfunctions

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Bouncing model for the table tennis trajectory prediction and the strategy of hitting the ball

Bouncing model for the table tennis trajectory prediction an...

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2012 9th IEEE International Conference on mechatronics and Automation, ICMA 2012

作者： Bao, Han Chen, Xiaopeng Wang, ZhanTao Pan, Min Meng, Fei Key Laboratory of Robots and Systems Ministry of Education China Intelligent Robotics Institute School of Mechatronic Engineering Beijing Institute of Technology Beijing 100081 China Measurement Technology Beijing Aerospace Institute for Metrology and Measurement Technology Beijing 100081 China

ISBN: (纸本)9781467312776

The bouncing model plays an important role in the trajectory prediction process when the humanoid robots play table tennis. A nonlinear bouncing model based on Momentum Theorem and Moment of Momentum Theorem considering spin of the ball is established to describe the collision between the ball and the table. With the constructed bouncing model, the hitting strategy is discussed to hit the ball the way we expect. The experiments show that with the existing aerodynamic model, we can predict the table tennis trajectory within the error range we expect. © 2012 IEEE.

关键词： Anthropomorphic robots

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A kind of modified Kalman filter for visual tracking in capturing noncooperation target aircrafts

A kind of modified Kalman filter for visual tracking in capt...

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International Conference on Information and Automation (ICIA)

作者： Zhihong Jiang Tao Jing Shilong Liu Yang Mo Hui Li Qiang Huang Ministry of Education Key Laboratory of Biomimetic Robots and Systems Beijing China School of Mechatronic Engineering Beijing Institute of Technology

ISBN: (纸本)9781479940998

To overcome the weakness of the slow convergence of the velocity component in the state vector in the classical Kalman filter (KF), a velocity item, the position difference of the observations, was introduced to serve as the observation velocity to rectify the prediction velocity and accelerate the convergence speed of the state vector, and then improve the tracking instantaneity. A modified mixed KF model, the linear combination of the uniform KF model and the uniform acceleration KF model, was presented to improve the tracking precision, due to the unknown of the real motion model of the noncooperation target aircraft and the weakness of the classical KF motion model' unchangeableness. Besides, the minimum mean square error (MSE) between the prediction points with the reference points, accompanied by the system error covariance, was designed to visually evaluate the performance of the modified KF. The simulation results indicate that the modified mixed KF with the observation velocity could effectively reduce the tracking error of the noncooperation target aircraft, and improve the tracking precision and instantaneity.

关键词： Aircraft Atmospheric modeling Convergence Target tracking Vectors Kalman filters Visualization

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

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

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WRC Symposium on Advanced Robotics and Automation (WRC SARA)

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

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.

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Type Synthesis of Fully Decoupled Three Translational parallel Mechanism with Closed loop Units and High Stiffness

Research Square

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Research Square 2021年

作者： Li, Shihua Wang, Sen Li, Haoran Wang, Yongjie Chen, Shuang Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic Systems Yanshan University China School of Mechanical Engineering Yanshan University Qinhuangdao066004 China

In this paper, a new synthesis method of fully decoupled three translational (3T) parallel mechanisms (PMs) with closed-loop units and high stiffness 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 stiffness occasion. The closed-loop units are constructed in the basic decoupled limbs to generate a high-stiffness fully decoupled 3T PM. Kinematic and stiffness analyses show that the Jacobian matrix is a diagonal matrix, and the stiffness is obviously higher than that of the orthogonal coupling mechanisms, which verifies the correctness of the proposed synthesis method. The mechanism synthesized by this method has a good application prospect in vehicle durability test platform. © 2021, CC BY.

关键词： Stiffness

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A Biomimetic Planning Control Method to anthropomorphize a 7-DOF Redundant Manipulator in Unstructured Environments

A Biomimetic Planning Control Method to anthropomorphize a 7...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Yang Mo Zhihong Jiang Hui Li Hong Yang Qiang Huang School of Mechatronic Engineering Advanced Innovation Center for Intelligent Robots and Systems Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education Beijing Institute of Technology Beijing China Institute of Manned Spacecraft System Engineering China Academy of Space Technology (CAST) Beijing China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

An increasingly important trend is to simulate a human arm using a 7-degrees-of-freedom (DOF) redundant manipulator and accomplish complex tasks in an unstructured environment by leveraging human experience. Human arm motion information acquired by a biomimetic motion capture system is mapped to planning information of the manipulator to leverage human experience in the control process and quickly improve the operational capability of the manipulator in complex environments. In this paper, extensive tests are performed for verification, and the test results prove the effectiveness of the proposed algorithm, which improve the operational performance of a redundant manipulator in a complex environment to accomplish humanoid tasks and is critical to robot-aided operations or the complete substitution of humans by robots in the future.

关键词： Manipulators Robot kinematics Transforms Planning Task analysis Kinematics

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Configu ation 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 384-405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 University School of Mechanical Engineering Yanshan University

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 works. In 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 mechanisms. Based on the screw theory, a synthesis method for inner compensation mechanisms has been proposed. And a new type of double-layer parallel mechanism has been designed to compensate for interference forces. Then, the kinematics and dynamics of the mechanism are carried out. An evaluation index for compensating external interference forces is proposed. The interference compensation analysis is conducted for the pointing mechanism. The 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 algorithm. This provides a theoretical basis for the prototype design of the subsequent double-layer parallel mechanism. This double-layer parallel mechanism combines the advantages of large load-bearing capacity, large workspace, and high output accuracy. It 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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Dextrous stick coordination manipulation for 3D hydrogel assembly by dual-nanomanipulator

Dextrous stick coordination manipulation for 3D hydrogel ass...

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IEEE Conference on Nanotechnology

作者： Huaping Wang Masahiro Nakajima Tao Yue Chengzhi Hu Masaru Takeuchi Qiang Huang Toshio Fukuda Key Laboratory of Biomimetic Robots and Systems School of Mechatronic Engineering Haidian District Beijing Nagoya University Institute for Advanced Research Nagoya Japan Faculty of Science and Engineering Meijo University Nagoya Japan

A novel dextrous stick coordination manipulation (DeSCom) system with dual-nanomanipulator was proposed for the assembly of three-dimensional (3D) structures. The coordination control between two dextrous sticks was realized based on the vision feedback and the manipulation resolution was around 30 nm. It was set up with hybrid motors to ensure the large operation range and operation precision. The dextrous stick was fabricated with glass pipette and the 2-dimensional (2D) unit was fabricated by UV illumination of the hydrogen named Poly (ethylene glycol) Diacrylate (PEGDA). The immobilization and assembly of 2D unit was achieved through the interaction of two sticks. The DeSCom system could realize the arbitrary 3D structure with the change of 2D unit shape through the different patterning with UV illumination. At last, the bottom-up integration of the 3D structure was performed based on the utilization of DeSCom strategies with image processing information. The preliminary assembly experiment was achieved.

关键词： Assembly Three-dimensional displays Microstructure Fabrication Machine vision Nanobioscience

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