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检索条件"机构=Key Laboratory of Parallel Robots and Mechatronic Systems"

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Haptic intelligent interfaces for NAO robot hand control

Haptic intelligent interfaces for NAO robot hand control

引用

International Conference on Advanced mechatronic systems (ICAMechS)

作者： Octavian Melinte Luige Vladareanu Ligia Munteanu Hongnian Yu Shuang Cang Zeng-Guang Hou Gui-Bin Bian Hongbo Wang Dept. Robotics and Mechatronics Institute of Solid Mechanics of Romanian Academy Bucharest Romania Engineering and Computing Bournemouth University Dorset UK State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Parallel Robot and Mechatronic Sys. Lab. Yanshan University Qinhuangdao China

The paper presents a new approach on haptic interface control for NAO robotic hand. The haptic teleoperation of NAO robot hand raises some issues, mapping the haptic device dynamic being the most important. The mapping was achieved through Neural Network by determining a dynamic gain of robot haptic feedback. The results lead to the achievement of the haptic intelligent interfaces for the NAO robot hand control which can be integrated into an innovative haptic robot control system.

关键词： Decision support systems Humanoid robots Haptic interfaces Economic indicators Joints mechatronics

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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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A new pattern of hybrid bionic space robot and path planning algorithm

A new pattern of hybrid bionic space robot and path planning...

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International Conference on Information and Automation (ICIA)

作者： Chengjun Ji Weimin Du Hui Li Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China School of Mechatronic Engineering Beijing Institute of Technology Henan Branch of Air Traffic Control of Civil Aviation of China Zhengzhou Henan China

The extravehicular activities are complex and dangerous technical activities, if with the replacement of the space extravehicular robots, not only the whole process can be more efficient but also the astronauts can be safer. Due to these, based on analysis of the ISS extravehicular surface and the requirements of the operations, a pattern of hybrid bionic robot inspired by chameleon is proposed. The robot has lower limbs simulating chameleon as travel mechanisms and upper limbs simulating human as operating mechanisms. Because of the limit of power, a series of reasonable motion modes and path planning methods were raised. At last, throughout data software, the functions of robot were simulated and the results showed the rationality of the feasibility of robot's structure as well as the effectiveness of the path planning methods.

关键词： Path planning Joints Robot kinematics Space stations Legged locomotion Power demand

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Impedance control with force signal compensation on space manipulator-assisted docking mission

Impedance control with force signal compensation on space ma...

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International Conference on Information and Automation (ICIA)

作者： Yang Mo Sheng Gao Zhihong Jiang Hui Li Qiang Huang Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China School of Mechatronic Engineering Beijing Institute of Technology Beijing Institute of Spacecraft System Engineering China Academy of Space Technology Beijing China

Aiming at the task demands for space manipulator docking massive module, this paper studies the problem that docking mechanism cannot achieve docking due to the low precision of manipulator pose caused by factors such as flexibility of big wingspan manipulator, control error, mechanism error. First, this paper analyzes the docking mechanism in the docking mission, finds out that there is uniformity between the direction of force applied in the docking mechanism and the direction of centralization pose error of peg and hole decreased, and verifies the feasibility of impedance control algorithm. Then, because 6-D force sensor is installed far from docking mechanism and massive docking module leads to big inertia force, impedance control algorithm cannot get the force signals that reflect the actual situation of docking mechanism. For this matter, this paper proposes a 6-D force signals compensation algorithm to guarantee the correctness of impedance control calculation. Simulation experiment results indicate that impedance control algorithm with force signals compensation can both docking successfully and reducing the contact force effectively.

关键词： Force Impedance Manipulators Force sensors Aerospace electronics Torque Algorithm design and analysis

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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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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on Control (CONTROL)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion Robot sensing systems Impedance Force

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Research on the Relationship between Classic Denavit-Hartenberg and Modified Denavit-Hartenberg

Research on the Relationship between Classic Denavit-Hartenb...

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International Symposium on Computational Intelligence and Design, ISCID

作者： Hang Wang Hanghang Qi Minghui Xu Yanhua Tang Jiantao Yao Xuedong Yan Ming Li Shanghai University Haitian Plastics Machinery Ltd. Ningbo HAITIAN Drive Systems Co. Ltd. Yanshan University Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University Department of Chemistry Northeast Normal University NINGBO VEKEN BATTERY CO. LTD

ISBN: (纸本)9781479970063

Currently, homogeneous transformation method has been widely used for its advantages in robot. Its more commonly used modeling methods are classic Denavit-Hartenberg method and modified Denavit-Hartenberg method, but the relationship between the two is very few devoted. Then, the use area is limited. Therefore, the relationship between classic Denavit-Hartenberg method and modified Denavit-Hartenberg method for robotics research has important practical significance. Based on this, the geometric representations of classic Denavit-Hartenberg method and modified Denavit-Hartenberg method are described respectively, the models of link parameters are built by the two, and the corresponding transformation matrix is deduced. The relationship between classic Denavit-Hartenberg method and modified Denavit-Hartenberg method is researched deeply, and the relational expression of classic Denavit-Hartenberg method and modified Denavit-Hartenberg method is obtained. The research results of this paper are useful for the robot kinematics, dynamics and control algorithms.

关键词： Joints Kinematics Heuristic algorithms Service robots Robot kinematics mechatronics

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Dextrous stick coordination manipulation for 3D hydrogel assembly by dual-nanomanipulator

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

引用

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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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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An active embedded stereo vision system with IR filters for robust indoor localization

An active embedded stereo vision system with IR filters for ...

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

作者： Chen, Xiaopeng Pan, Min Wang, ZhanTao Meng, Fei Bao, Han Ni, Wencheng 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

In this paper, an active embedded stereo vision system with IR filters is proposed for robust three-dimensional localization. In the system, ordinary cameras with infrared (IR) filters are used instead of expensive IR cameras. IR filtered images could be easily transferred to binary image with low noises. Two control servos do contribution to the pan-tilt movement of the stereo pair. A global search algorithm is then proposed for rapid object localization. Experiments show that the system has a good performance on object localization. © 2012 IEEE.

关键词： Binary images

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