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Perception-Driven Learning of High-Dynamic Jumping Motions for Single-Legged robots

Journal of Bionic Engineering 2024年第4期21卷 1733-1746页

作者： Nengxiang Sun Fei Meng Sai Gu Botao Liu Xuechao Chen Zhangguo Yu Qiang Huang School of Mechatronical Engineering Beijing Institute of TechnologyBeijing100081China Key Laboratory of Biomimetic Robots and Systems Ministry of EducationBeijing100081China

Legged robots show great potential for high-dynamic motions in continuous interaction with the physical environment,yet achieving animal-like agility remains significant *** animals usually predict and plan their next locomotion by combining high-dimensional information from proprioception and exteroception,and adjust the stiffness of the body’s skeletal muscle system to adapt to the current *** control methods have limitations in handling high-dimensional state information or complex robot motion that are difficult to plan manually,and Deep Reinforcement Learning(DRL)algorithms provide new solutions to robot motioncontrol *** by biomimetics theory,we propose a perception-driven high-dynamic jump adaptive learning algorithm by combining DRL algorithms with Virtual Model Control(VMC)*** robot will be fully trained in simulation to explore its motion potential by learning the factors related to continuous jumping while knowing its real-time jumping *** policy trained in simulation is successfully deployed on the bio-inspired single-legged robot testing platform without further *** results show that the robot can achieve continuous and ideal vertical jumping motion through simple training.

关键词： Deep reinforcement learning High-dynamic jump Perception driven Single-legged robot

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High Dynamic Bounding and Jumping Motion of Quadruped Robot Based on Stable Optimization Control

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Journal of Bionic Engineering 2024年第1期21卷 101-111页

作者： Sai Gu Fei Meng Botao Liu Junyao Gao Qiang Huang School of Mechatronical Engineering Beijing Institute of Technology100081 BeijingChina Key Laboratory of Biomimetic Robots and Systems Ministry of EducationBeijing 100081China

Aiming at the environment such as ravines and obstacles that may be encountered in the actual movement,this paper proposes a method for optimizing the bounding and jumping motion based on the ground touching force trajectory and the air motion trajectory of the quadruped *** method of optimizing the ground reaction force according to the speed of the demand and the height of the jump,and adjusting the stance and swing time according to the relationship of dynamics and momentum *** the same time,under the constraints of dynamics and energy consumption of the robot system,considering the jumping distance and height,a method for optimizing the air trajectory of bounding and jumping is *** switching and landing stability control are also ***,the experimental results show that the quadruped robot has strong bounding and jumping ability,and has achieved stable bounding movement and forward jump movement of 0.8 m.

关键词： Quadruped robot High dynamic motion control-Periodic limit cycle Trajectory optimization

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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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Task-space Whole-body Control with Variable Contact Force Control for Position-controlled Humanoid Adaptation to Unknown Disturbance

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Journal of Bionic Engineering 2023年第5期20卷 2069-2087页

作者： Zelin Huang Chencheng Dong Zhangguo Yu Xuechao Chen Fei Meng Qiang Huang School of Mechatronical Engineering Beijing Institute of TechnologyBeijing100081China Key Laboratory of Biomimetic Robots and Systems Ministry of EducationBeijing100081China

Whole-body control is beneficial for improving the disturbance adaptation of humanoid robots,since it can simultaneously optimize desired joint torque,joint acceleration,and contact force while considering whole-body dynamics and other physical ***,the lack of torque feedback information prevents the position-controlled humanoids from utilizing whole-body control directly,because it enhances the difficulty of guaranteeing desired contact force which is important for maintaining *** this paper,a whole-body control that integrates task-space inverse dynamics and variable contact force control is proposed for position-controlled humanoids to enhance the robot’s adaptability toward the unknown *** task-space inverse dynamics generates the desired joint acceleration and contact force with the consideration of whole-body dynamics and other limits to track the *** variable contact force control modifies references related to Center of Mass(CoM)and end effectors to ensure reasonable contact force tracking performance,thereby assuring good tracking performance of CoM and momentum to maintain robot *** and experiments of balancing and walking under unknown disturbance have been successfully conducted on a position-controlled humanoid robot,BHR-7P3,with the proposed method.

关键词： Whole-body control Contact force Admittance control Humanoid robot

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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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Integrated Cross-Scale Manipulation and Modulable Encapsulation of Cell-Laden Hydrogel for Constructing Tissue-Mimicking Microstructures

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Research 2025年第1期2024卷 704-717页

作者： Yanfeng Zhao Xinyi Dong Yang Li Juan Cui Qing Shi Hen-Wei Huang Qiang Huang Huaping Wang Intelligent Robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Peking University First Hospital Xicheng DistrictBeijing 100034China Key Laboratory of Instrumentation Science and Dynamic Measurement Ministry of EducationNorth University of ChinaTaiyuan 030051China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Laboratory for Translational Engineering Harvard Medical SchoolCambridgeMA 02139USA Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of EducationBeijing 100081China

Engineered microstructures that mimic in vivo tissues have demonstrated great potential for applications in regenerative medicine,drug screening,and cell behavior ***,current methods for engineering microstructures that mimic the multi-extracellular matrix and multicellular features of natural tissues to realize tissue-mimicking microstructures in vitro remain ***,we propose a versatile method for constructing tissue-mimicking heterogeneous microstructures by orderly integration of macroscopic hydrogel exchange,microscopic cell manipulation,and encapsulation ***,various cell-laden hydrogel droplets are manipulated at the millimeter scale using electrowetting on dielectric to achieve efficient hydrogel ***,the cells are manipulated at the micrometer scale using dielectrophoresis to adjust their density and arrangement within the hydrogel ***,the photopolymerization of these hydrogel droplets is triggered in designated regions by dynamically modulating the shape and position of the excitation ultraviolet ***,heterogeneous microstructures with different extracellular matrix geometries and components were constructed,including specific cell densities and *** resulting heterogeneous microstructure supported long-term culture of hepatocytes and fibroblasts with high cell viability(over 90%).Moreover,the density and distribution of the 2 cell types had significant effects on the cell proliferation and urea *** propose that our method can lead to the construction of additional biomimetic heterogeneous microstructures with unprecedented potential for use in future tissue engineering applications.

关键词： cell behavior explorationhowevercurrent tissue mimicking microstructures cell laden hydrogel electrowetting dielectric regenerative medicinedrug screeningand heterogeneous microstructures engineered microstructures orderly integration

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A method for estimating the state-of-charge of LFP pouch batteries based on force-electrical coupled signals

A method for estimating the state-of-charge of LFP pouch bat...

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2024 IEEE Transportation Electrification Conference and Expo, Asia-Pacific, ITEC Asia-Pacific 2024

作者： Jia, Zhenyu Xu, Jun Xie, Yanmin Jin, Chengwei Xi'an Jiaotong University State Key Laboratory For Manufacturing Systems Engineering Shaanxi Key Laboratory Of Intelligent Robots School Of Mechanical Engineering Xi'an China

ISBN: (纸本)9798331529277

Estimating the state-of-charge (SOC) of LiFePO4 (LFP) batteries is challenging due to their long open-circuit-voltage (OCV) plateau regions. In this paper, a SOC estimation method based on force-electrical coupled signals in the framework of filtering algorithm is designed by combining the first-order equivalent mechanical model (EMM) and the first-order RC equivalent circuit model (ECM). Combining the respective advantages of LFP battery force curve characteristics and OCV curve characteristics to achieve globally optimal SOC estimation with multi-sensor fusion. First, an innovative EMM is proposed to simulate the force variation of the battery with SOC change, and a particle swarm optimization (PSO) algorithm is used to identify the model parameters. Second, the ECM and EMM adopt a tandem structure to estimate the SOC using extended Kalman filtering (EKF), where a noise covariance adaptive updating step is introduced to dynamically adjust the estimation weights of the two models in order to address the problem that the non-monotonicity of the force-SOC curves may lead to erroneous convergence of the SOC. Finally, it is demonstrated that the root-mean-square error of the SOC estimation of this method is within 2%, which improves the accuracy by a factor of 2-3 compared to the traditional voltage feedback method. © 2024 IEEE.

关键词： State of charge

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Learning Robust Locomotion for Bipedal Robot via Embedded Mechanics Properties

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仿生工程学报（英文版） 2024年第3期21卷 1278-1289页

作者： Yuanxi Zhang Xuechao Chen Fei Meng Zhangguo Yu Yidong Du Junyao Gao Qiang Huang School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Biomimetic Robots and Systems Ministry of EducationBeijing 100081China

Reinforcement learning(RL)provides much potential for locomotion of legged *** to the gap between simulation and the real world,achieving sim-to-real for legged robots is ***,the support polygon of legged robots can help to overcome some of these *** robot has a considerable support polygon,followed by bipedal robot with actuated feet,and point-footed bipedal robot has the smallest support ***,despite the existing sim-to-real gap,most of the recent RL approaches are deployed to the real quadruped robots that are inherently more stable,while the RL-based locomotion of bipedal robot is challenged by zero-shot sim-to-real *** for the point-footed one that gets better dynamic performance,the inevitable tumble brings extra barriers to sim-to-real ***,the crux of this type of problem is the difference of mechanics properties between the physical robot and the simulated one,making it difficult to play the learned skills well on the physical bipedal *** this paper,we introduce the embedded mechanics properties(EMP)based on the optimization with Gaussian processes to RL training,making it possible to perform sim-to-real transfer on the BRS1-P robot used in this work,hence the trained policy can be deployed on the BRS1-P without any *** validate the performance of the learning-based BRS1-P on the condition of disturbances and terrains not ever learned,demonstrating the bipedal locomotion and resistant performance.

关键词： Bipedal robot Reinforcement learning Sim-to-real Mechanics properties

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Calibration of the reflectivity-related error of the indirect time-of-flight imaging systems

Calibration of the reflectivity-related error of the indirec...

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2024 International Conference on Optoelectronic Information and Optical Engineering, OIOE 2024

作者： Luo, Yi Song, Ping Bai, Yunjian Key Laboratory of Biomimetic Robots and Systems Ministry of Education School of Mechatronical Engineering Beijing Institute of Technology Beijing100081 China

ISBN: (数字)9781510680470

ISBN: (纸本)9781510680463

The indirect time-of-flight imaging system possesses the characteristics of high real-time, high integration, and low cost, so it has a wide range of applications. However, the different reflectivity of the measured object will affect the change of the received signal, resulting in different degrees of depth error in the system. In this paper, we analyze the influence of reflectivity on the system, establish the reflectivity-related error model, and propose the error calibration method. The proposed method estimates the approximate reflectivity of the measured object through the range and amplitude information output by the system at first, Then the parameters of the error curve model are changed according to the obtained reflectivity, and the corresponding compensation is obtained. This method can select the corresponding compensation amount for objects with different reflectivity. The experimental verification shows that the method in this paper has a good effect on the calibration of reflectivity-related errors. © 2024 SPIE.

关键词： Reflection

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Magnetic Microrobots Fabricated by Photopolymerization and Assembly

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Cyborg and Bionic systems 2023年第1期4卷 41-46页

作者： Xiyue Liang Yue Zhao Dan Liu Yan Deng Tatsuo Arai Masaru Kojima Xiaoming Liu Key Laboratory of Biomimetic Robots and Systems Ministry of EducationState Key Laboratory of Intelligent Control and Decision of Complex SystemBeijing Advanced Innovation Center for Intelligent Robots and Systemsand School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Center for Neuroscience and Biomedical Engineering The University of Electro-CommunicationsTokyo 182-8585Japan Department of Materials Engineering Science Osaka UniversityOsaka 560-8531Japan

Magnetic soft microrobots have great potential to access narrow spaces and conduct multiple tasks in the biomedical *** now,drug delivery,microsurgery,disease diagnosis,and dredging the blocked blood vessel have been realized by magnetic soft microrobots in vivo or in ***,as the tasks become more and more complex,more functional units have been embedded in the body of the developed magnetic *** magnetic soft microrobots with complex designed geometries,mechanisms,and magnetic orientation are now greatly challenging the fabrication of the magnetic *** this paper,we propose a new method combining photopolymerization and assembly for the fabrication of magnetic soft *** the micro-hand assembly system,magnetic modules with different shapes and materials are firstly arrayed with precise position and orientation ***,the developed photopolymerization system is employed to fix and link these modules with soft *** on the proposed fabrication method,3 kinds of soft magnetic microrobots were fabricated,and the fundamental locomotion was *** believe that the presented fabrication strategy could help accelerate the clinical application of magnetic microrobots.

关键词： Magnetic system precise

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