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IEEE International Conference on Mechatronics and Automation

作者： Kehong Chen Xuechao Chen Xin Zhu Xiaoshuai Ma Yue Dong School of Mechatronical Engineering Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Grippers capable of grasping and releasing under high loads are crucial for robots performing heavy-load tasks. This research introduces an innovative structural parameter selection strategy to develop such a mechanical gripper. This strategy emerges from detailed modeling and analysis of the mechanical gripper. The strategy significantly improves gripping force and anti-jamming ability by analyzing the screw and guide rail's parameters and the impact of gripping speed on the gripping and locking force. With this strategy, we have developed a mechanical gripper with the maximum gripping force of 311.08N and locking force of 755N. We also installed the gripper on a humanoid robot, enabling it to enter a car with one hand and manipulate the steering wheel. The results further assess the effectiveness of the selection strategy.

关键词： Resistance Rails Mechatronics Force Wheels Fasteners Structural engineering

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Acoustically Driven Micropipette for Hydrodynamic Manipulation of Mouse Oocytes

Acoustically Driven Micropipette for Hydrodynamic Manipulati...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Zhaofeng Zuo Xiaoming Liu Zhuo Chen Yuyang Li Xiaoqing Tang Dan Liu Qiang Huang Tatsuo Arai Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Micromanipulation techniques that can achieve controlled fine operations at the micro scale play an important role in biomedical fields including embryo engineering, gene engineering, drug screening, and cell analysis. However, micromanipulation of biological micro-objects, such as cells and micro tissues, suffers from mechanical damage and low efficiency. Several techniques have been introduced to manipulate cells more easily, but most of them are restricted by expensive devices, limited work area, and potential damage to cellular structure. Here we develop a hydrodynamic manipulation method to rotate and transport mouse oocytes, which utilizes acoustic waves and micropipette to generate acoustic radiation force and excite microstreaming. This method can accomplish rotational and translational operations precisely and controllably. We tested the process of trapping, rotation, and transportation of the mouse oocytes, and measured rotational and translational speed with a range of applied voltage. The method was able to shorten the cost time of delivery and posture adjustment before oocyte injection. Our study provides an easy-to-use technique for oocyte manipulation without contact, and it has the potential to be universally applied in many cellular studies.

关键词： Visualization Voltage measurement Three-dimensional displays Force Transportation Hydrodynamics Biology

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A Novel Single-Loop Multiple Metamorphic Mechanism Inspired by Thick-Panel Origami

A Novel Single-Loop Multiple Metamorphic Mechanism Inspired ...

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ASME/IFToMM International Conference on Reconfigurable Mechanisms and robots, ReMAR

作者： Yuyao Chen Xi Kang Bing Li Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Harbin Institute of Technology Shenzhen China

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

The relationship between origami and mechanism is very close, and the construction theory of thick-panel origami contains the way to discover new mechanism. There are relatively few single-loop metamorphic mechanisms generated from thick-panel origami. Inspired by thick-panel origami derived from Miura origami, this paper proposes a novel single-loop 6R multiple metamorphic mechanism. By constructing and solving the D-H closed-loop equation of the mechanism and analyzing its singular configuration by using the screw theory, the planar, spherical and Bennett motion branches of the mechanism are illustrated and all the three bifurcation points between motion branches are given.

关键词： Technological innovation Bifurcation Fasteners robots

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Learning Rat-Like Behavioral Interaction Using a Small-Scale Robotic Rat 12

Learning Rat-Like Behavioral Interaction Using a Small-Scale...

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12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Gao, Zihang Jia, Guanglu Xie, Hongzhao Guo, Xiaowen Fukuda, Toshio Shi, Qing Beijing Institute of Technology Ministry of Education Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Beijing100081 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In the existing robot-rat interaction, robots usually exert influence as stimuli to observe the response of target rats. However, the above single-stimulation model from robot to rat lacks a two-way communication. Therefore, we proposed a method to learn the rat-like behavioral interaction. First, we constructed two behavior patterns in the interaction process between the two rats: the individual pattern and the interaction pattern. We divided the roles of the two rats into active stimulator and passive receiver. The stimulator executes the individual pattern, and the receiver switches between the two patterns. Which pattern the receiver executes depends on the probability of interaction. Secondly, we proposed a hypothesis concerning the behavioral interaction between two rats and controlled the interaction process between two robots. Information entropy was used to measure the similarity between two robots and two rats. The results proved that the probability of interaction between rats depends on the distance of centroid and average relative velocity, and we obtained the optimal solution to express the relationship between them. In the future, the improvement of robots' interaction ability with rats will highly benefit from this study. © 2022 IEEE.

关键词： Rats

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Robust structured light measurement for large freeform surfaces

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Optics and Lasers in Engineering 2025年 192卷

作者： Song, Ping Zhang, Wuyang Hao, Chuangbo Bai, Yunjian Geng, Haocheng Key Laboratory of Biomimetic Robots and Systems Ministry of Education School of Mechatronical Engineering Beijing Institute of Technology Beijing100081 China Beijing Jinghang Computation and Communication Research Institute Beijing China

Structured light has shown substantial potential on large freeform surfaces measurements. However, existing methods encounter challenges associated with inaccurate initial pose estimation and cumulative errors in large-scale reconstructions. This paper introduces a robust automated measurement framework to address these issues. Initially, a structured light scanning platform is constructed to scan the target surface and acquire local point clouds. Subsequently, an initial pose optimization method based on a correction model is proposed to ensure high-quality initial poses for the local point clouds. Finally, a global registration method combining an improved graph optimization algorithm with the ICP (Iterative Closest Point) algorithm is introduced, enabling high-accuracy multi-frame registration and global optimization. Extensive experimental validations have been conducted. Compared to traditional methods, our approach reduces the RMSE (Root Mean Squared Error) from 1.43 mm to 0.93 mm, translation error from 0.98 mm to 0.53 mm, and rotation error from 0.21 degrees to 0.13 degrees. We believe that this study could provide a promising direction for achieving highly robust and accuracy 3D measurement over large areas. © 2025 Elsevier Ltd

关键词： Light measurement

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A 6R Metamorphic Mechanism with a Novel Variable-Axis Joint

A 6R Metamorphic Mechanism with a Novel Variable-Axis Joint

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ASME/IFToMM International Conference on Reconfigurable Mechanisms and robots, ReMAR

作者： Ruixin Ba Xi Kang Bing Li Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Harbin Institute of Technology Shenzhen China

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

This paper presents a 6R metamorphic mechanism with a novel variable-axis joint, which can achieve compliant switching between motion branches. This paper involves the utilization of a self-coupling variable-axis joint to increase the degree of freedom of the metamorphic mechanism in the vicinity of the bifurcation point. The expansion from the bifurcation point to the bifurcation domains facilitates the switching of motion branches without traversing the bifurcation point. The results show that this variable-axis joint can achieve compliant switching and also enable the mechanism to autonomously converge to the regular motion branch. The findings confirmed the feasibility and efficacy of the proposed method for achieving compliant switching between metamorphic mechanism motion branches.

关键词： Couplings Technological innovation Switches Bifurcation robots

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A Robust Multi-Sensor Fusion Localization for Small-Scale Biomimetic robots

A Robust Multi-Sensor Fusion Localization for Small-Scale Bi...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Li, Shengming Zhang, Yulai Chen, Zuowei Jiang, Dixuan Yu, Zhiqiang Shi, Qing School of Mechatronical Engineering Beijing Institute of Technology Beijing China Beijing Institute of Technology Ministry of Education Key Laboratory of Biomimetic Robots and Systems Beijing China School of Medical Technology Beijing Institute of Technology Beijing China Yangtze Delta Region Academy of Beijing Institute of Technology Zhejiang China

ISBN: (纸本)9781665481090

Robust localization is an important foundation for quadruped robots to achieve motion performance and application potential in real-world scenarios. Vision-based methods commonly suffer from undesired performance, especially in low-lighting conditions. To solve this problem, we present a multi-sensor fusion localization approach for slippery surfaces and poor visual quality conditions. The proposed approach creates an adaptive feature extraction framework that only extracts effective local features rather than global ones, improving data processing speed while ensuring sufficient feature extraction. Besides, we implement leg and inertial odometry based on motor encoders and IMU mounted on a small-scale robotic rat. The approach with information fusion has been proved with high robustness by reducing localization error by over 20% and processing time by 15.8%. The evaluation across multiple stages has been done and the results demonstrate competitive performance on both public benchmarks and a miniature quadruped robot, which shows high versatility for small-scale biomimetic robots in real-world scenarios. © 2024 IEEE.

关键词： Multipurpose robots

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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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Image-Based Visual Servoing under Field of View Constraints for Robot Manipulators 12

Image-Based Visual Servoing under Field of View Constraints ...

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12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Zuo, Guoyu Liu, Yan Huang, Gao Gong, Daoxiong Faculty of Information Beijing University of Technology Beijing100124 China Beijing Key Laboratory of Computing Intelligence and Intelligent Systems Beijing100124 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

The challenge in image-based visual servoing is to deal with the visibility constraints, which require the image features to always remain in the field of view (FOV) of the camera. In this paper, a novel constraint function is proposed to address this problem. The FOV constraint function represented by the coordinates of the features and the region boundaries defined in the image is added to the classical proportional controller, which leads the image features from the margin to the center of the image. Simulation results verify the efficiency of the modified controller by controlling a robot manipulator with eye-in-hand configuration. © 2022 IEEE.

关键词： Robot applications

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An Optimal Control Approach with Decoupled Space Constraints for the Magnetic-Assisted Surgical Robot

An Optimal Control Approach with Decoupled Space Constraints...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Tieru Wang Xiaolei Cao Xingfang Wang Shuqi Xue Xiao Huang Hui Li Zhihong Jiang School of Mechatronical Engineering Beijing Institute of Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS) Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education Beijing China National Key Laboratory of Human Factors Engineering China Astronaut Research and Training Center Beijing China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

Magnetic-assisted surgical robots represent an innovative direction within the field of medical robotics, due to their significant potential in addressing the instrument interference challenge during the single-port laparoscopic surgery. This paper proposes an optimal control approach for controlling the magnetic-assisted surgical manipulator translating and rotating in the single-dimensional space to execute specific surgical procedure. Firstly, we delineate the manipulator tasks and describe how to utilize a medical foot pedal to control it. Secondly, we model the tasks as an optimization problem, taking manipulator kinematics, task constraints, and safety requirements into consideration. Thirdly, in order to map foot pedal control commands to end-effector movements and achieve precise motion control in single-dimensional space, we propose Decoupled Space Constraints (DSCs) and use the Differential Dynamic Programming (DDP) to solve the optimization problem. Finally, simulation experiments are conducted on a 7-DOF manipulator and the result shows that our approach effectively improves trajectory planning accuracy in single-dimensional space and demonstrates reliable performance in addressing multiple constraints for the magnetic-assisted surgical robot.

关键词： Medical robotics Accuracy Trajectory planning Optimal control Aerospace electronics End effectors Trajectory Collision avoidance Optimization Manipulator dynamics

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