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14th International Workshop of Advanced Manufacturing and Automation, IWAMA 2024

作者： Zhang, Linjun Zhou, Chuanhong Chen, Yuan School of Automation and Mechanical Engineering Shanghai University Shanghai200072 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai200072 China

ISBN: (纸本)9789819626243

This paper implements a greedy tabu search algorithm to deal with the offline palletizing problem, and proposes a two-phase greedy tabu search algorithm. In the first phase, a greedy stochastic adaptive search algorithm is utilized to obtain the local optimal solution of the palletizing problem in the construction process and the local search process, which includes the residual space strategy and the combination of the cargo block strategy, as well as the optimization of the space utilization rate by using the tiling wall strategy. In the second stage, the local optimal solution obtained in the first stage is used as the initial solution, and the tabu search algorithm is used to record the history information of the solution through the tabu table to prevent the algorithm from falling into the local optimal solution, so as to dig deeper into the global optimal solution. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Optimization algorithms

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Inflatable Metamorphic Origami

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Research 2023年第2期6卷 53-63页

作者： Sen Wang Peng Yan Hailin Huang Ning Zhang Bing Li School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518052P.R.China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of TechnologyShenzhen 518052P.R.China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

This study created a new type of inflatable metamorphic origami that has the advantage of being a highly simplified deployable system capable of realizing multiple sequential motion patterns with a monolithic actuation.

关键词： simplified lata system

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Geometric Mechanics of Contact-Switching Systems

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IEEE robotics and Automation Letters 2023年第12期8卷 8343-8349页

作者： Prasad, Hari Krishna Hari Hatton, Ross L. Jayaram, Kaushik Animal Inspired Movement and Robotics Laboratory Paul M. Rady Department of Mechanical Engineering University of Colorado Boulder BoulderCO80302 United States Mechanical Industrial and Manufacturing Engineering Oregon State University CorvallisOR97331 United States

Discrete and periodic contact switching is a key characteristic of steady-state legged locomotion. This letter introduces a framework for modeling and analyzing this contact-switching behavior through the framework of geometric mechanics on a toy robot model that can make continuous limb swings and discrete contact switches. The kinematics of this model form a hybrid shape-space and by extending the generalized Stokes' theorem to compute discrete curvature functions called stratified panels, we determine average locomotion generated by gaits spanning multiple contact modes. Using this tool, we also demonstrate the ability to optimize gaits based on the system's locomotion constraints and perform gait reduction on a complex gait spanning multiple contact modes to highlight the method's scalability to multilegged systems. © 2023 IEEE.

关键词： Hybrid systems

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Power Consumption Characteristics Research on Mobile System of Electrically Driven Large-Load-Ratio Six-Legged Robot

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Chinese Journal of mechanical engineering 2023年第1期36卷 237-267页

作者： Hongchao Zhuang Ning Wang Haibo Gao Zongquan Deng School of Mechanical Engineering Tianjin University of Technology and EducationTianjin300222China School of Information Technology Engineering Tianjin University of Technology and EducationTianjin300222China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

The electrically driven large-load-ratio six-legged robot with engineering capability can be widely used in outdoor and planetary ***,due to the particularity of its parallel structure,the effective utilization rate of energy is not high,which has become an important obstacle to its practical *** research the power consumption characteristics of robot mobile system is beneficial to speed up it toward *** on the configuration and walking modes of robot,the mathematical model of the power consumption of mobile system is set *** view of the tripod gait is often selected for the six-legged robots,the simplified power consumption model of mobile system under the tripod gait is established by means of reducing the dimension of the robot’s statically indeterminate problem and constructing the equal force ***,the power consumption of robot mobile system is solved under different working *** variable tendencies of the power consumption of robot mobile system are respectively obtained with changes in the rotational angles of hip joint and knee joint,body height,and *** articulated rotational zones and the ranges of body height and span are determined under the lowest power *** to the walking experiments of prototype,the variable tendencies of the average power consumption of robot mobile system are respectively acquired with changes in duty ratio,body height,and ***,the feasibility and correctness of theory analysis are verified in the power consumption of robot mobile *** proposed analysis method in this paper can provide a reference on the lower power research of the large-load-ratio multi-legged robots.

关键词： Electrically driven Large-load-ratio six-legged robot Power consumption Mobile system

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A High-Speed Launching Mechanism Inspired by a Slingshot Spider’s Web

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Journal of Bionic engineering 2022年第2期19卷 440-447页

作者： Tom Bates John Gerig Manuel Avitia Gunnar Waldvogel Tesfay Legesse Justin Washington Pranav A.Bhounsule Robotics and Motion Laboratory Department of Mechanical and Industrial EngineeringUniversity of Illinois at Chicago842 W.Taylor St.ChicagoIL 60607USA

Slingshot spiders use their conical webs to launch themselves at high speeds to catch *** built a launching mechanism inspired by the slingshot *** launch mechanisms comprise a steel structure with eye bolts to hold a conical web made from latex rubber *** pull the web by a winch using a lever arm.A quick-release mechanism connects the web to the winch using a tough-grid *** we release the quick-return mechanism,the projectile material consisting of a steel ball achieved an acceleration of 5107 m s^(-2) or 521 times gravity,and a speed of 66.41 m s^(-1).The power per unit mass and energy per unit mass of our prototype was one tenth and one fifth that of the spider’s web *** particular,we found that web structure consisting multiple radial web elements reinforced with circumferential web elements provide enhanced stiffness;as a comparison our web had a stiffness of about eight times that of traditional slingshot with a single radial web *** results suggest that adapting designs from nature can lead to potentially superior performance of man-made contraptions.

关键词： Slingshot spider Launching mechanisms Catapult Bioinspiration

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A Biomimetic Stress Field Modulation Strategy Inspired by Scorpion Compound Slit Sensilla Enabled High-Accuracy and Low-Power Positioning Sensor for Identifying the Load Incident Angles

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Journal of Bionic engineering 2025年第2期22卷 727-738页

作者： Junqiu Zhang Yu Chen Haoran Li Jiqi Gao Xiangbo Gu Jiachao Wu Xiaojing Qin Kejun Wang Bin Zhu Daobing Chen Tao Sun Jianhua Fan Zhiwu Han Luquan Ren Key Laboratory of Bionic Engineering Ministry of EducationJilin UniversityChangchun130022People’s Republic of China Institute of Structured and Architected Materials Liaoning Academy of MaterialsShenyang110167China Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow UniversitySuzhou215123People’s Republic of China School of Mechanical Engineering Sciences University of SurreyGuildfordGU27XHUK The Institute of Technological Science Wuhan UniversityWuhan430072China School of Mechanical and Aerospace Engineering Jilin UniversityChangchun130025China

Numerous arthropods evolve and optimize sensory systems, enabling them to effectively adapt complex and competitive habitats. Typically, scorpions can precisely perceive the prey location with the lowest metabolic rate among invertebrates. This biological phenomenon contrasts sharply with engineered systems, which generally associates high accuracy with substantial energy consumption. Inspired by the Scorpion Compound Slit Sensilla (SCSS) with a stress field modulation strategy, a bionic positioning sensor with superior precision and minimal power consumption is developed for the first time, which utilizes the particular Minimum Positioning Units (MPUs) to efficiently locate vibration signals. The single MPU of the SCSS can recognize the direction of collinear loads by regulating the stress field distribution and further, the coupling action of three MPUs can realize all-angle vibration monitoring in plane. Experiments demonstrate that the bionic positioning sensor achieves 1.43 degrees of angle-error-free accuracy without additional energy supply. As a proof of concept, two bionic positioning sensors and machine learning algorithm are integrated to provide centimeter (cm)-accuracy target localization, ideally suited for the man-machine interaction. The novel design offers a new mechanism for the design of traditional positioning devices, improving precision and efficiency in both the meta-universe and real-world Internet-connected systems.

关键词： Scorpion Compound Slit Sensilla(SCSS) Vibration Source Stress Field Modulation Strategy High-accuracy and low-power Positioning Sensor Minimum Positioning Unit(MPU)

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Development of an Intuitive Autonomous Ground Robot for Indoor Delivery Applications 5th

Development of an Intuitive Autonomous Ground Robot for Indo...

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5th International Conference on Innovative Product Design and Intelligent Manufacturing Systems, ICIPDIMS 2023

作者： Peter, Jerin Thomas, Mervin Joe Gokulkrishna, S. Cholappally, Kiran Mohan, Santhakumar IIT Palakkad Technology IHub Foundation Palakkad India Robotics Laboratory Department of Mechanical Engineering NIT Karnataka Surathkal India Rajagiri School of Engineering and Technology Kakkanad India Department of Mechanical Engineering IIT Palakkad Palakkad India

ISBN: (纸本)9789819767311

Efficient and reliable parcel delivery services are always desired in different sectors such as hospitals, offices, industries and households. One promising solution to meet, this need is the application of Autonomous Mobile Robots (AMRs) capable of navigating complex indoor environments to deliver packages and goods. Generally, AMRs are used for the last-mile delivery of parcels. The end users of such robots have different skill sets, and the robot must have a simple user interface to ensure easy usability. This paper presents an AMR with an intuitive Graphic User Interface (GUI) and aesthetic design. It is enough for the end user to define the goal locations on the resulting map shown on the robot screen. The AMR will autonomously navigate to the given goal location. Besides, the effectiveness of sensor fusion and a comparative study of various combinations of sensor fusion are also described in this paper. In addition, the application of LiDAR odometry and its performance is also analyzed in this paper. The primary objective of this study is to identify an approach that improves the AMR’s tracking accuracy and makes it suitable for dynamic work environments. This paper describes the development of an AMR for last-mile delivery purposes, and its proof of concept is evaluated on the fabricated prototype. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Motion planning

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Adaptive Robust Control Integrated With Gaussian Processes for Quadrotors: Enhanced Accuracy, Fault Tolerance and Anti-Disturbance

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3235-3248页

作者： Liang, Weisheng Amer, Abdelhakim Mehndiratta, Mohit Chen, Zheng Yao, Bin Kayacan, Erdal Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou310027 China Aarhus University Artificial Intelligence in Robotics Laboratory Department of Electrical and Computer Engineering Aarhus8000 Denmark GIM Robotics Espoo02650 Finland Zhejiang University Ocean College Ocean Research Center of Zhoushan Zhoushan316021 China Purdue University School of Mechanical Engineering West Lafayette47907 United States Department of Electrical Engineering and Information Technology Paderborn33098 Germany

With increasingly challenging applications for quadrotors, higher requirements are emerging for tracking accuracy and safety. While high accuracy is a prerequisite for complex tasks, safety is ensured through tolerance to actuator faults and resistance to external disturbances. In this article, adaptive robust control (ARC) integrated with Gaussian processes (GPs), i.e., ARC-GP, is proposed to achieve enhanced accuracy, fault tolerance, and anti-disturbance. These three requirements are interrelated and affected by uncertainties. The primary idea of this article is to categorize uncertainties into parametric and nonparametric types, which are then addressed through parameter adaptation and GP, respectively. First, a detailed dynamic model is established, including actuator models that reflect different types of faults corresponding to changes in different physical parameters. Then, parameter adaptation is designed, with direct and indirect methods adopted for different parameters. In particular, the actuator parameters are effectively estimated to achieve targeted fault compensation. Regarding GP for nonparametric uncertainties, its model parameters are also updated via parameter adaptation. The GP thereby also learns parameter estimation errors along with external disturbances. Accordingly, ARC controllers are designed, for which robust feedback terms are constructed to further mitigate uncertainties on the basis of the covariances predicted by GP. The experiments demonstrate that the proposed ARC-GP can actively tolerate various types of actuator faults and better resist wind disturbances. © 2013 IEEE.

关键词： Robust control

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Synergistic control of soft robotic hands for human-like grasp postures

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Science China(Technological Sciences) 2022年第3期65卷 553-568页

作者： ZHANG NingBin ZHAO Yi GU GuoYing ZHU XiangYang Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

Although significant advances in the design of soft robotic hands have been made to mimic the structure of the human hands,there are great challenges to control them for coordinated and human-like *** on the principle of postural synergies in the human hand,we present a synergistic approach for coordinated control of a soft robotic hand to replicate the human-like grasp *** this end,we firstly develop a kinematic model to describe the control variables and the various postures of the soft robotic *** on the postural synergies,we use the developed model and Principal Component Analysis(PCA)method to describe the various postures of the soft robotic hand in a low-dimensional space formed by the synergies of actuator ***,the coordinates of these synergies can be used as low-dimensional control inputs for the soft robotic hand with a higher-dimensional postural ***,we establish an experimental platform on a customized soft robotic hand with6 pneumatical actuators to verify the effectiveness of the *** results demonstrate that with only a 2-dimensional control input,the soft robotic hand can reliably replicate 30 grasp postures in the Feix taxonomy of the human hand.

关键词： soft robotic hand synergistic control human-like grasp postures principal component analysis pneumatic actuation

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An Edge-Cloud Collaboration Framework Based on Federated Feature Separation Autoencoding for Milling Cutter Remaining Useful Life Prediction 15

An Edge-Cloud Collaboration Framework Based on Federated Fea...

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15th IEEE Global Reliability and Prognostics and Health Management Conference, PHM-Beijing 2024

作者： Chen, Liang Guo, Liang Gao, Hongli School of Mechanical Engineering Southwest Jiaotong University Chengdu China Robotics Engineering Laboratory for Sichuan Equipment Manufacturing Industry Sichuan Polytechnic University Deyang China

ISBN: (纸本)9798350354010

Substantial progress has been made in remaining useful life prediction methods for mechanical equipment and milling tools. Nevertheless, the large-scale practical application of these methods still confronts two major challenges. Firstly, high-performance prediction models require high-compute devices to operate, resulting in a significant increase in costs. Secondly, there are issues related to data silos and privacy protection. We propose an edge-cloud collaboration framework based on federated feature separation autoencoding to address these challenges. The training process of the proposed framework is divided into two stages. In the first stage, multiple low-compute clients collaboratively train a feature separation autoencoder through Federated training. This FSAE is designed to extract public features with similar distributions from the data on different clients. In the second stage, the clients upload public features and corresponding labels to a trusted server, where a global prediction model is trained. The trained prediction model can be deployed locally or in the cloud based on the requirement. Finally, the effectiveness and superiority of the proposed framework are verified through the full-life experimental data of milling cutters. © 2024 IEEE.

关键词： Milling (machining)

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