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2013 7th ICME International Conference on Complex Medical Engineering, CME 2013

作者： Syed, Amjad Ali Duan, Xing-Guang Kong, Xiangzhan Li, Meng Wang, Yonggui Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian Beijing 100081 China Key Laboratory of Biomimetic Robots and Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9781467329699

Operation in the area of Maxillofacial section is very difficult and risky due to its complicated and random anatomical structure. Therefore, to resolve these types of surgical issues, a multi-arm medical robot is designed. This paper presents a system able to perform complex maxillofacial surgeries using 6-DOF surgical manipulator and haptic device with force feedback capability. Force sensor is placed on manipulator end-effector and force feedback responses are felt on Haptic device. This proposed system improves surgical accuracy and removes surgeon's tension during tele-operation. The prototype of the whole system is designed and tests are conceded out under the surveillance of optical tracking system. The results demonstrate the system accuracy and reliability with force feedback competency. © 2013 IEEE.

关键词： Robotic surgery

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The CPG Gait Generate Method of the Quadruped Robot Based on Iterative Learning Control Algorithm

The CPG Gait Generate Method of the Quadruped Robot Based on...

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The Second International Conference on Micro Nano Devices,Structure and Computing systems(MNDSCS 2013)

作者： WANG Cheng GAO Junyao DUAN Xingguang LIU Yi LI Xin XU Zhe SUN Wentao Intelligent Robotics Institute Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Key Laboratory of Intelligent control and decision of complex systems' School of Mechatronical Engineering Beijing Institute of Technology

Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies the CPG gait generate method of the quadruped robot based on iterative learning control algorithm. From the principle of bionics, firstly, we use the CPG principle to generate gait, and then use the iterative learning control theory to make the control more optimization.

关键词： Quadruped bionic robot the walking gait CPG the repeated iterative learning

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Mechanical Design of the Legs of Hydraulically Actuated Quadruped Bionic Robot

Mechanical Design of the Legs of Hydraulically Actuated Quad...

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2013 ICME International Conference on Complex Medical Engineering(2013 ICME复合医学工程国际会议)

作者： Xin Li Wentao Sun Junyao Gao Xingguang Duan Qiang Huang Hui Li Huaxin Liu Wenxue Zhao Zhe Xu Yi Liu Intelligent Robotics Institute State Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent control and decision of complex systems School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9781467329705

This paper discusses the design of the mechanical structure of a quadruped robot and a three-dimensional simulation model is built under Adams simulating the mechanism's motion to capture the dynamic characteristics of the quadruped *** paper analyses the effect of the length of legs on the walking structure from different aspects: its movement speed,capability of climbing obstacles and the workspace of its foot *** addition,to achieve the optimization target of balancing the output force of each hydraulic cylinder,the paper establishes a mathematical model under required constraints working out the lever members that accommodated with the *** all these factors,the most satisfied structural parameters of the autonomous quadruped robot are selected.

关键词： hydraulic quadruped robot the output force of the hydraulic cylinder structural parameters

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Trot Pattern Generation for Quadruped Robot Based on the ZMP Stability Margin

Trot Pattern Generation for Quadruped Robot Based on the ZMP...

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2013 ICME International Conference on Complex Medical Engineering(2013 ICME复合医学工程国际会议)

作者： Si Zhang Yi Liu Zhe Xu Junyao Gao Xingguang Duan Hui Li Zhangguo Yu Xuechao Chen Jing Li Huaxin Liu Xin LI Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9781467329705

Quadruped robot is expected to serve in complex conditions such as mountain road,grassland,etc.,therefore we desire a walking pattern generation that can guarantee both the speed and the stability of the quadruped *** order to solve this problem,this paper focuses on the stability for the tort pattern and proposes trot pattern generation for quadruped robot on the basis of ZMP stability *** foot trajectory is first designed based on the work space *** the ZMP and stability margin is computed to achieve the optimal trajectory of the midpoint of the hip joint of the *** angles of each joint are finally obtained through the inverse kinematics ***,the effectiveness of the proposed method is demonstrated by the results from the simulation and the experiment on the quadruped robot in BIT.

关键词： Quadruped robot ZMP stability margin Trot pattern

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The control system design and experiments of mandible reconstruction multi-arm surgery robot

The control system design and experiments of mandible recons...

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Chinese Control Conference (CCC)

作者： Xingguang Duan Xiangzhan Kong Yonggui Wang Meng Li Chao Chen Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education School of Mechatronical Engineering Beijing Institute of Technology 100081 China

Mandible reconstruction surgery is an extremely complex and high-risk surgical plastic surgery. The aim of the project is to import the robotics technology into mandible reconstruction surgery, which can reduce the workload for doctors, decrease the difficulty of operation and improve the accuracy and quality of surgery. The paper gives an overview of the mandible reconstruction surgery robot and focuses on the control system design of the multi-arm robot. At last, some experiments for the robot system were performed.

关键词： Robots Surgery Control systems Electronic mail Automation Chaos

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Adaptive visual servoing using common image features with unknown geometric parameters

Adaptive visual servoing using common image features with un...

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作者： Liu, Yun-Hui Wang, Hesheng Chen, Weidong Zhou, Dongxiang Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Hong Kong Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China State Key Laboratory of Robotics Technology and System Harbin Institute of Technology Harbin 150001 China Joint Center for Intelligent Sensing and Systems National University of Defense Technology China

This paper generalizes the concept of the depth-independent interaction matrix, developed for point and line features in our early work, to generalized image features. We derive the conditions under which the depth-independent interaction matrix can be linearly parameterized by the geometric parameters of the generalized image features, and propose an adaptive visual servo controller for robot manipulators using the generalized image features whose geometric parameters are unknown. To estimate the unknown parameters on-line, we propose new error functions that are linear to estimation errors of the parameters and an algorithm that minimizes the error functions using multiple images. The Lyapunov theory is used to prove asymptotic stability of the proposed controller based on the nonlinear dynamics of the manipulator. It is also shown that in addition to points and lines, other common image features like distances, angles, areas, and centroids all satisfy the conditions for the linear parameterization. Experiments have been conducted to validate the proposed control method. © 2013 Elsevier Ltd. All rights reserved.

关键词： Controllers

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Distributed Robust Consensus of Heterogeneous Uncertain Multi-agent systems

Distributed Robust Consensus of Heterogeneous Uncertain Mult...

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第三十二届中国控制会议

作者： Zhongkui Li Zhisheng Duan Frank L. Lewis State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Aerospace Engineering College of Engineering Peking University The Automation and Robotics Research Institute The University of Texas at Arlington

ISBN: (纸本)9781479900305

This paper considers the distributed robust consensus problem of multi-agent systems with nominal linear dynamics but subject to different matching uncertainties. Due to the existence of nonidentical uncertainties, the multi-agent systems discussed in this paper are essentially heterogeneous. A distributed continuous static consensus protocol based on the relative state information is first designed, under which the consensus error is uniformly ultimately bounded and exponentially converges to a small adjustable residual set. A fully distributed adaptive consensus protocol is then designed, which, contrary to the static protocol, relies on neither the eigenvalues of the Laplacian matrix nor the upper bounds of the uncertainties. A sufficient condition for the existence of the proposed protocols is that each agent is stabilizable.

关键词： Multi-agent system, consensus, adaptive control, robust control, uncertain systems.

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Dynamical Balance Optimization and Control of Quadruped Robots Under Perturbing External Force

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IFAC Proceedings Volumes 2013年第20期46卷 199-205页

作者： Zhijun Li Sijia Yu Sibang Liu Key Laboratory of Autonomous Systems and Networked Control Ministry of Education College of Automation Science and Engineering South China University of Technology Guangzhou China The Robotics Institute and School of Mechanical Engineering University of Electronic Science and Technology of China Chengdu China 610054 The Robotics Institute and Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China Chengdu China 610054

This paper investigates the optimal feet forces distribution and control of quadruped robots under external disturbance forces. First, we formulate a constrained dynamic model of quadruped robots and derive a reduced order dynamical model of motion/force. Consider an external wrench on quadruped robots, the distribution of required forces and moments on the supporting legs of a quadruped robot is handled as a tip-point force distribution and used to equilibrate the external wrench. Then, a gradient neural network is adopted to minimize the optimized objective function with linear equality and inequality constraints, and hybrid motion/force control based on adaptive neural network is used to compensate for the external perturbation in the environment and approximate feedforward force and impedance of the leg joints on line. The verification of the proposed control is conducted using the extensive simulations.

关键词： quadruped robot forces distribution external wrench motion/force control

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Mechanical Design and Kinematic Analysis of a Medical Robot Assisted Maxillofacial Surgery

Mechanical Design and Kinematic Analysis of a Medical Robot ...

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2013 ICME International Conference on Complex Medical Engineering(2013 ICME复合医学工程国际会议)

作者： Xingguang Duan Yonggui Wang Xiangzhan Kong Meng Li Yang Yang Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9781467329705

Since the intricate anatomical structure of the maxillofacial region and the limitation of surgical field and instrument,the current surgery is extremely high risk and difficult to *** contrast to traditional manual surgery,the paper introduces a multi-arm medical robot assisted the maxillofacial surgery using the optical *** mechanical design was proposed gradually to satisfy the requirements of high precision,stability and safety in surgery,including the design of robot arm,wrist and the passive joint of the *** addition,the jacobian matrix with differential method and flexibility analysis based on condition number were displayed to describe the motion performance analysis of the medical *** the kinematic simulation with forward and inverse kinematics validates the stabile motion regarding displacement,velocity and acceleration,to express that it could be implied in clinic.

关键词： Medical Robot Mechanical Design Motion Performance Kinematics Simulation

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Coordinated Control of a Novel Multi-arm Robot for Maxillofacial Surgery

Coordinated Control of a Novel Multi-arm Robot for Maxillofa...

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2013 ICME International Conference on Complex Medical Engineering(2013 ICME复合医学工程国际会议)

作者： Xingguang Duan Meng Li Xiangzhan Kong Yonggui Wang Chang Li Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education School of Mechatronical Engineering Beijing Institute of Technology＃5 Zhongguancun South Street Haidian Beijing China

ISBN: (纸本)9781467329705

The anatomical structure of maxillofacial region is complex,and surgery in this area needs to be of high accuracy and *** a novel multi-arm robot was developed to assist such surgery,especially the jaw bone reconstruction ***,operation space was limited and arms of the robot may interfere with each ***,coordinated control for the robot is *** this paper,overview of the whole robot system was ***,as the main point,kinematics analysis and coordinated control were carried ***,simulation experiments verified the feasibility of the control method.

关键词： Coordinated Control Multi-arm robot Maxillofacial Surgery Kinematics

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