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2025 IEEE International Conference on mechatronics, ICM 2025

作者： Hu, Chuanqi Wang, Jin Chen, Yikai Chen, Yonghang Zheng, Zhi Meng, Jun Lu, Guodong Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou310058 China Zhejiang University Zhejiang Key Laboratory of Industrial Big Data and Robot Intelligent Systems Hangzhou310058 China Robotics Research Center of Yuyao City Ningbo315400 China National Elite Institute of Engineering Chongqing University Chongqing401135 China School of Mechanical Engineering Zhejiang University Hangzhou310058 China College of Electrical Engineering Zhejiang University Hangzhou310027 China Center for Data Mining and Systems Biology College of Electrical Engineering Zhejiang University Hangzhou310027 China

ISBN: (纸本)9798331533892

This paper presents a trajectory tracking algorithm designed for autonomous quadrotors to navigate complex dy-namic environments that is resilient to collision disturbances. Since it combines Model Predictive Contouring Control (MPCC) with the capabilities of neural networks, our method is named MPCC Integrated with Neural Augmentation (MINA). By equip-ping the quadrotor with PVDF piezoelectric sensors, we achieve real-time perception of collision forces and utilize S4D-Conv Adaptive Net Architecture (SANA) for state computation, a network that integrates the advantages of S4D and convolutional kernels to enhance the accuracy of state predictions. We incorporate the predicted results into the MPCC framework to optimize the thrust output of the quadrotor for the next time step, ensuring precise trajectory tracking. Experimental validation demonstrates the reliability and effectiveness of our algorithm, providing an innovative solution for autonomous flight and trajectory tracking of quadrotors in complex dynamic environments. © 2025 IEEE.

关键词： Flight paths

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Buckling-Inspired Triboelectric Sensor for Multifunctional Sensing of Soft robotics and Wearable Devices

SSRN

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SSRN 2024年

作者： Xu, Jinsui Pan, Xueting Xu, Boyi Yue, Honghao Lu, Yifan Ying, Kai Wang, Zheping Yang, Fei State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China Wu Xianming School of Intelligent Engineering South China University of Technology Guangzhou510641 China

Amidst the rapid development of intelligent robotics and wearable health monitoring devices, there is an urgent demand for flexible sensor systems with high sensitivity and precise feedback. In this paper, a multifunctional triboelectric sensor inspired by the phenomenon of buckling is introduced, which integrates kirigami structures with triboelectric nanogenerator principles to accurately detect one-dimensional (1D) and two-dimensional (2D) deformations. The sensor employs a contact-separating structure, with its friction layers consisting of 2D laser-cut kirigami electrodes, which deform into three-dimensional (3D) structures through tensile or compressive buckling. The tensile buckling sensor (BS) developed is capable of sensing the bending angle of soft grippers, allowing the detection of the size of grasped objects with a high recognition rate of 93.75%. Additionally, in its 1D compressive buckling form, the sensor can be used to recognize various human motion patterns effectively, while the 2D compressive version can be used to measure the expansion of curved surfaces with a sensitivity of 1.3307 V/mm. By combining the unique properties of buckling structures, the innovative triboelectric multifunctional sensor proposed offers a new solution for high-precision motion feedback control with potential application in soft robotics and health monitoring. © 2024, The Authors. All rights reserved.

关键词： Buckling

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A distributed variable density path search and simplification method for industrial manipulators with end-effector's attitude constraints

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Frontiers of Information Technology & Electronic engineering 2023年第4期24卷 536-552页

作者： Jin WANG Shengjie LI Haiyun ZHANG Guodong LU Yichang FENG Peng WANG Jituo LI State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering.Zhejiang UniversityHangzhou 310027China Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China School of Robotics Ningbo University of TechnologyNingbo 31521lChina

In many robot operation scenarios, the end-effector's attitude constraints of movement are indispensable for the task process, such as robotic welding, spraying, handling, and stacking. Meanwhile, the inverse kinematics, collision detection, and space search are involved in the path planning procedure under attitude constraints, making it difficult to achieve satisfactory efficiency and effectiveness in practice. To address these problems, we propose a distributed variable density path planning method with attitude constraints(DVDP-AC) for industrial robots. First, a position – attitude constraints reconstruction(PACR) approach is proposed in the inverse kinematic solution. Then, the distributed signed-distance-field(DSDF) model with single-step safety sphere(SSS) is designed to improve the efficiency of collision detection. Based on this, the variable density path search method is adopted in the Cartesian space. Furthermore, a novel forward sequential path simplification(FSPS) approach is proposed to adaptively eliminate redundant path points considering path accessibility. Finally, experimental results verify the performance and effectiveness of the proposed DVDP-AC method under end-effector's attitude constraints, and its characteristics and advantages are demonstrated by comparison with current mainstream path planning methods.

关键词： Path planning Industrial robots Distributed signed-distance-field Attitude constraints Path simplification

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Design of a High Speed 360-degree Panoramic Video Acquisition System Based on FPGA and USB 3.0

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IEEE Sensors Journal 2023年 1-1页

作者： Lyu, Congyi Peng, Jianqing Zhou, Weiguo Yang, Shanshan Liu, Yunhui 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 Beijing China

This paper presents a FPGA-based hardware architecture for capturing real-time panoramic images and the parallel implementation of an image stitching algorithm based on the scale-invariant feature transform (SIFT) features. First, the system transfers the images captured by five CMOS sensors to the designed FPGA board through the FMC adapter plate. Then, the system employs the FPGA-based parallel computing to extract the SIFT features and detect the best matching region and points for image registration. Finally, in order to obtain the panoramic image with smooth changes at the junctions, images of the adjacent images are fused. Using the designed FPGA platform makes it possible to extract the SIFT and stitch the images in real-time, which is not realized in most panoramic imaging systems. The panoramic system, developed using the Xilinx Zynq®-7000 all programmable SOC, can capture video of 5*640*480 images at the speed of 60 fps. To enable high-speed image transfer from the imaging system to the host computer, the USB3.0 interface with the transmission speed of 359MB/s has been developed. The real-time efficiency of the parallel system will be demonstrated by the simulations and experiments. IEEE

关键词： Real time systems

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Obstacle Identification Based on Deep Learning for Inspection Robot of FAST Wire Rope

Obstacle Identification Based on Deep Learning for Inspectio...

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Automation, robotics and Computer engineering (ICARCE), International Conference on

作者： Chengxu Yang Xiangyu Sun Gangfeng Liu School of Mechatronics Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, for the requirements of image recognition and localization of the obstacles existing on the moving path in the inspection task of FAST cable inspection robot, the deep learning method is used to realize the recognition of multi-kind and multi-scale obstacles. The obstacles on FAST wire rope have not been identified before. By enhancing the data set and improving the network model, the recognition accuracy and speed are both improved, which meets the efficiency and accuracy requirements of obstacle detection on the wire rope, and provides help for the subsequent robot pace planning and overhaul tasks.

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A Manta Ray-Inspired Biosyncretic Robot with Stable Controllability by Dynamic Electric Stimulation

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Cyborg and Bionic systems 2022年第1期2022卷 314-326页

作者： Chuang Zhang Yiwei Zhang Wenxue Wang Ning Xi Lianqing Liu State Key Laboratory of Robotics Shenyang Inst itute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang 110159China Emerging Technologies Institute Department of Industrial Manufacturing Systems Engineering University of Hong KongPokfulamChina

Biosyncretic robots,which are new nature-based robots in addition to bionic robots,that utilize biological materials to realize their core function,have been supposed to further promote the progress in *** as the main operation mechanism relates to the robotic overall ***,biosyncretic robots actuated by living biological actuators have attracted increasing ***,innovative propelling modes and control methods are still necessary for the further development of controllable motion performance of biosyncretic *** this work,a muscle tissue-based biosyncretic swimmer with a manta *** propelling mode has been *** is more,to improve the stable controllability of the biosyncretic swimmer,a dynamic control method based on circularly distributed multiple electrodes(CDME)has been *** this method,the direction of the electric field generated by the CDME could be real-time controlled to be parallel with the adtuation tissue of the dynamic ***,the instability of the tissue actuation induced by the dynamic included angle between the tissue axis and electric field direction could be ***,the biosyncretic robot has demonstrated stable,controllable,and efective swimming,by adjusting the electric stimulation pulse direction,amplitude,and *** work may be beneficial for not only the development of biosyncretic robots but also other related studies including bionic design of soft robots and muscle tissue engineering.

关键词： Robot robot Dynamic

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A Humanoid Robot to Assess the Affective Imitative Expression Abilities of Children with Autism Spectrum Disorder

A Humanoid Robot to Assess the Affective Imitative Expressio...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Hao-Yu Ji Bo-Wen Chen Zhi-Yong Wang Han-Wei Ma Rui-Han Lin Yi-Xuan Sheng Hong-Hai Liu State Key Laboratory of Robotics and Systems School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China

Autism Spectrum Disorder (ASD) is a neurodevelopmental disorder characterized by impairments in social interaction and communication, repetitive behaviors and restricted interests. Assessments and interventions targeting affective expression are crucial for supporting the development of children with ASD. However, existing approaches face challenges related to complex interventions, lack of unified metrics, and inadequate immersion and guidance in providing effective affective assessment. In this paper, an innovative humanoid robot is designed and evaluated to address specific challenges and assess the ability of children with ASD in affective imitative expression. The robot, with its meticulously designed mechanical and hardware structure, incorporates an assessment protocol for affective imitative expression and algorithms for assessing affective expression abilities. It utilizes several specially designed assessment metrics to generate a uniquely tailored assessment scale for affective imitative expression. A preliminary experiment involving ten neurotypical adults has been conducted to validate the feasibility and accuracy of the proposed system. The results demonstrate potential in supporting rehabilitation planning and research for ASD assessments.

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High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System

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Journal of Bionic engineering 2022年第2期19卷 299-313页

作者： Yinlong Zhang Wei Liang Sichao Zhang Xudong Yuan Xiaofang Xia Jindong Tan Zhibo Pang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China The School of Computer Science and Technology Xidian UniversityXi’an 710071China Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKonxville 37996USA Department of Automation Technology ABB Corporate Research Sweden72178 VästerasSweden

Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured *** robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical *** paper introduces a novel calibration ***,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint ***,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent *** calibration has been evaluated on our collected visual inertial-manipulator *** systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.

关键词： Bio-inspired robotic system Monocular camera IMU Manipulator Calibration

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A Look-Up Table Based Inverter Nonlinearity Compensation Method Considering Parameter Inconsistency of Upper and Lower Bridge Arms

A Look-Up Table Based Inverter Nonlinearity Compensation Met...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Yonghe Huang Dianguo Xu Yan Xu Yong Yu Junyu Zhao Xubo Gong School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China The State key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

In motor drive systems, voltage source inverter (VSI) nonlinearity will produce voltage error, cause current harmonics, and affect the control performance. Among the VSI nonlinearity factors, the parasitic capacitance is the fundamental cause of the nonlinear relationship between voltage error and phase current. If the parameter inconsistency of the upper and lower bridge arm is not considered, the voltage error is an odd function. However, in practical applications, the parameters of the upper and lower bridge arms are usually slightly different, and the voltage error will no longer be an odd function. Considering the influence of parameter inconsistency, this article proposes an accurate look-up table (LUT) based method for VSI nonlinearity compensation. By injecting positive staircase current and negative staircase current separately in self-commissioning process, an accurate voltage error LUT is obtained through numerical fitting methods. The proposed method does not require any parameter of power devices. Experimental results verify the effectiveness of the proposed method.

关键词： Industrial electronics Motor drives Accuracy Voltage source inverters Fitting Bridge circuits Table lookup

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Combined Locomotion and Direction Control of Ferrofluidic Robots*

Combined Locomotion and Direction Control of Ferrofluidic Ro...

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International Conference on Advanced robotics and mechatronics (ICARM)

作者： Qinkai Chen Haozhe Feng Xinjian Fan Lining Sun Zhan Yang Hui Xie School of Mechanical and Electrical Engineering Soochow University Suzhou China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Yikuang Harbin China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

As the characteristics of low invasiveness, good controllability and deformability, ferrofluid robots have enormous potential for technological applications in the medical field. With the volume of ferromagnetic fluid robots increases, a motion control strategy coupled with magnetic moment and gradient force is usually adopted which makes it impossible for the robot to perform complex movements and limits the application of the ferrofluid robot. By designing a control system that decouples magnetic torque and magnetic gradient force, joint control of the locomotion and direction of a ferrofluid robot has been achieved. The results indicate that the miniature ferrofluid robot (MFR) has achieved directional controllable trajectory motion and ultimately achieved autonomous path selection. These extended functions can further promote the medical application of micro robots in closed and complex environments such as human blood vessels.

关键词： Ferrofluid Targeted drug delivery Torque Three-dimensional displays Force Blood vessels Trajectory Motion control Robots Tumors

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