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Research on the mechanics of the HIT/DLR Hand II anthropomorphic five-finger dexterous hand

Harbin Gongcheng Daxue Xuebao/Journal of Harbin engineering University 2009年第2期30卷 171-177页

作者： Fan, Shao-Wei Liu, Yi-Wei Jin, Ming-He Lan, Tian Chen, Zhao-Peng Liu, Hong Zhao, Da-Wei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China German Aerospace Center Institute of Robotics and Mechatronic Munich 82230 Germany College of Automation Harbin Engineering University Harbin 150001 China

A new anthropomorphic robot with a five-finger dexterous hand-named HIT/DLR Hand II-was developed to make hand appearance and structural functions more anthropomorphic. The hand is composed of an independent palm and five identical modular fingers, and each finger has three degrees of freedom (DOF) and four joints. To meet the mechatronic idea, all actuators, drivers, and electronics were integrated in the fingers and the palm. By using a steel coupling mechanism, the distal phalanx transmission ratio was kept exactly 1:1 over the whole movement range. The packing mechanism which was implemented in the fingers and palm not only reduces the size of whole hand but also makes it more anthropomorphic. The finger size is about one third of the former finger in this innovative design. In additional, the newly designed force/torque and position sensors are well integrated with the hand. It was verified by experiments that the dexterous hand not only met design goals, but also exhibits great grasping capacity.

关键词： Anthropomorphic robots

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Mobility performance analysis of lunar rover based on terramechanics

Mobility performance analysis of lunar rover based on terram...

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2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008

作者： Zhang, Peng Deng, Zongquan Hu, Ming Gao, Haibo State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781424424955

In order to analyze the performance of lunar rover, drawbar pull and motion resistance are analyzed in this paper based on terramechanics. The relationships between configuration parameters (like wheel width, wheel bases et al.) and mobility performance parameters are obtained from the analysis. Meanwhile, the sensitive factors of the motion resistance are found. Then main performance evaluation metrics and indexes of mobility performance are presented, based on which performance comparison of LER-1 and ALR (a new configuration lunar rover) locomotion systems is performed. The method of evaluating mobility performance of lunar rover by simulation is introduced. The analysis results indicate that the new locomotion system configuration ALR has good mobility performance. The study results can apply to the design of planetary exploration rovers for reference. © 2008 IEEE.

关键词： Wheels

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Annual business and news: Beginning the 32nd year

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Journal of Guidance, Control, and Dynamics 2009年第1期32卷 1-7页

作者： Schmidt, George T. Akella, Maruthir Balakrishnan, S.N. Campbell, Mark E. Clarke, John-Paul Colgren, Richard D. Crassidis, John L. Doman, David B. Eke, Fidelis O. Enns, Russell J. Gawronski, Wodek Hablani, Hari B. Leitner, Jesse A. Ping, Lu MacDonald, Malcolm McFarland, Michael B. Melton, Robert G. Mitchell, James Mukhopadhyay, Vivekanand Sasiadek, Jurek Z. Schaub, Hanspeter Wise, Kevin A. United States NATO Systems and Electronics Technology Panel Lecture Series on Low Cost Navigation Sensors and Integration Technology U.S. Air Force Office of Scientific Research United States United States American Automatic Control Council United States Sibley School of Mechanical and Aerospace Engineering Cornell University United States School of Aerospace Engineering Air Transportation Laboratory Georgia Institute of Technology United States Lockheed Martin Aeronautics Company Palmdale CA United States United States Wright-Patterson Air Force Base Dayton OH United States Davis United States Apache Longbow Jet Propulsion Laboratory California Institute of Technology United States GSFC United States Department of Aerospace Engineenng Iowa State University United States Raytheon Electronic Systems United States Department of Aerospace Engineering Pennsylvania State University United States NASA Langley Research Center United States Indian Institute of Technology India Department of Aerospace Engineering Carleton University Canada International Federation of Automatic Control Robotics Technical Committee Joint Robotics and Control Systems Societies Chapter Ottawa Canada X-45 Joint-Unmanned Combat Air System Program

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Damping parameters measurement and preisach modeling of extra vehicular activity glove based on exoskeleton mechanism

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Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University 2008年第7期42卷 891-894+899页

作者： Fang, Honggen Shi, Shicai Liu, Hong Li, Tanqiu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Robotics and Mechatronics German Aerospace Center Munich 82230 Germany Institute of Space Medicine and Medical Engineering Beijing 100094 China

By combination of parallelogram link and gear, a new type of exoskeleton mechanism is developed. As placed on the back of extra vehicular activity (EVA) glove in an external way, this mechanism is able to drive the EVA glove finger to extent or flex like human finger grasp *** force sensor located at the tip of exoskeleton mechanism measures the EVA glove damping force during flexion or extension. The force reaches even to 10 N and the hysteresis of the force approaches to 31%.To predict the force which corresponds to an angular displacement of EVA glove and simulate the human factors performance metrics of extra vehicular activity, an unified Preisach numerical calculating strategy is presented by recording the number of vertices of the interface line in discrete Preisach plane and getting a series of first order reversal curves. A distance-weighted interpolation is chosen to evaluate at the points belonging to the Preisach plane except the discrete grid points. The proposed method is validated by the experiments.

关键词： Damping

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Modified strategy to inertia weight in PSO for searching threshold of Otsu rule

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Guangxue Jingmi Gongcheng/Optics and Precision engineering 2008年第10期16卷 1907-1912页

作者： Cheng, Wan-Sheng Zang, Xi-Zhe Zhao, Jie Cai, He-Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China School of Electronic and Information Engineering Liaoning University of Science and Technology Anshan 114044 China

In order to searching the best threshold of Otsu rule rapidly, a modified strategy to the inertia weight in Particle Swarm Optimization (PSO) is introduced. The strategy correlates the inertia weight in PSO with the globally best position and the individual best position in particle swarm and modifies the inertial weight by the distance between the best individual position and the globally best position. With the reduction of the distance between the globally best position and the individual best position, the inertia weight of the individual particle will be reduced, vice versa. The experimental results indicate that this algorithm decreases computational work and improves average convergence rate by 21.0726% as compared with that of traditional methods. It can speed up on-line image segmentation using this method.

关键词： Image segmentation

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Mobility Performance Analysis of Lunar Rover Based on Terramechanics

Mobility Performance Analysis of Lunar Rover Based on Terram...

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2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Pages 1-476

作者： Peng Zhang Zongquan Deng Ming Hu Haibo Gao State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781424424948

关键词： mobility performance performance evaluation locomotion system terramechanics lunar rover

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Correction method for pixel response nonuniformity of CCD

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Guangxue Jingmi Gongcheng/Optics and Precision engineering 2008年第2期16卷 314-318页

作者： Cheng, Wan-Sheng Zhao, Jie Cai, He-Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China School of Electronic and Information Engineering Liaoning University of Science and Technology Anshan 114044 China

After analyzing the reasons related to the pixel nonuniformity in details, an algorithm based on least square method is presented to correct the pixel nonuniformity of a CCD. The grey level datum sets of each pixel are acquired on the cases of different irradiances, then a least square method is used to estimate the relation between irradiance and desired grey level data. The correct parameters of each pixel are computed, and the correct matrix is established. Finally, the pixel response uniformity is achieved by using the matrix to correct the grey level data of each pixel. The maximum deviation is 76.5 before correcting, while correcting by the proposed method, the maximum deviation is only 0.00108. The experimental results indicate that the method is effective to correct CCD nonuniformity.

关键词： Charge coupled devices

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Mobile Robot Path Tracking in Unknown Dynamic Environment

Mobile Robot Path Tracking in Unknown Dynamic Environment

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IEEE Conference on robotics, Automation and Mechatronics

作者： Du Zhi Jiang Wang Zhong Min State key laboratory of robotics and system Harbin Institute of Technology Harbin China Department of Mechanical Engineering Tianjin University of Technology and Education Tianjin China

The paper proposes a cooperative system of fuzzy neural networks (FNN) and fuzzy logic control (FLC). And this system is used to on-line path tracking of a mobile robot in unknown dynamic environment, instead of the commonly used FLC to research on this problem. Firstly, the application of FNN based on the kinematics models of mobile robot is described in detail, moreover, it uses an improved back propagation (BP) algorithm to complete the network learning and training. Secondly, it utilizes FLC to fulfill the real-time avoiding obstacles. The simulation results show that the proposed cooperative system is effective and robust, meanwhile possesses better abilities of path tracking and real-time avoiding obstacles in unknown dynamic environment.

关键词： Mobile robots Fuzzy neural networks Fuzzy control Kinematics Cooperative systems Control systems Path planning Intelligent robots Feedback control Neural networks

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Annual business and news:: Beginning the 31st year of the Journal of Guidance, Control, and Dynamics

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2008年第1期31卷 1-1页

作者： Schmidt, George T. Aeronautics and Astronautics Massachusetts Institute of Technology (MIT) AIAA Institute of Electrical and Electronics Engineers Russian Federation Academy of Navigation and Motion Control Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla(UMR) Lockheed Electronics Company Center for Space Research University of Texas Austin United States Wright Laboratory Eglin Air Force Base UMR AIAA Guidance Navigation and Control Technical Committee American Automatic Control Council Lockheed Martin Aeronautics Company Palmdale CA United States C4ISR and Unmanned Air Vehicle (UAV) Programs for Air Vehicle Sciences and Systems Accreditation Board Engineering and Technology Inc./Aeronautical National Technical Committee on Guidance Navigation and Control Department of Mechanical and Aerospace Engineering University at Buffalo State University of New York (SUNY) AIAA Technical Committee on GN and C Air Vehicles Directorate Air Force Research Laboratory (AFRL) Wright-Patterson Air Force Base Space Access and Hypersonic Vehicle Guidance and Control Group Control Science Center of Excellence AFRL AIAA Technical Committee on Guidance Navigation and Control Department of Mechanical and Aeronautical Engineering University of California (UC) Davis United States Boeing Company Modernized Flight Control System for the Apache Longbow AIAA Institute of Electrical and Electronics Engineers AHS Jet Propulsion Laboratory California Institute of Technology Boeing Company Flight Sciences and Advanced Design Group Guidance Navigation and Control (GN and C) Systems Engineer Distributed Space Systems NASA Goddard Space Flight Center (GSFC) AIAA GN and C Technical Committee Department of Aerospace Engineering and Engineering Mechanics University of Texas Austin United States Institute of Navigation American Astronautical Society AIAA Guidance Navigation (GN and C) and Control Technical Committee Department of Aerospace Engineering Iowa State University Iowa

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Real-time gait planning for Rh-1 humanoid robot, using Local Axis Gait algorithm

Real-time gait planning for Rh-1 humanoid robot, using Local...

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IEEE-RAS International Conference on Humanoid Robots

作者： Mario Arbulu Carlos Balaguer Robotics Laboratory Department of System and Automation Engineering Universidad Carlos III de Madrid Madrid Spain

It is proposed the local axis gait algorithm in order to generate real-time gait patterns for a humanoid robot. The 3D foot motion planning for the humanoid global motion is developed in order to walk in any surface as plane, ramp, climbing stairs. Furthermore, it is possible continuous change the step length and orientation in real time. The cart-table model is used for planning COG and ZMP motion. The proposed algorithm takes into account physical robot constraints as joint angles, angular velocity and torques. Torques are computed by Lagrange method under Lie groups. Some results are shown and discussed.

关键词： Humanoid robots Foot Motion planning Biological system modeling Lagrangian functions Torque Legged locomotion Real time systems robotics and automation Angular velocity

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