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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Hu Jin Tao Fang Haoyao Chen Tanju Yildirim Weihua Li Shiwu Zhang University of Science and Technology of China Hefei China School of Mechanical Engineering and Automation in Harbin Institute of Technology Shenzhen and the State Key Laboratory of Robotics and System China University of Wollongong Wollongong NSW Australia

ISBN: (数字)9781728137261

ISBN: (纸本)9781728137278

Soft arms of service robots for safe manipulation, or soft legs of mobile robots for efficient locomotion have been intensively developed. The deflection of complaint beams for the soft arms or soft legs is a key criterion for design and control of robotic motions. Pseud-rigid-body (PRB) model are commonly used to predict deflection of the compliant beams with a uniform stiffness. However, soft robotic arms and legs often possess a non-uniform stiffness distribution for improving manipulation effectiveness and locomotion efficiency. In this work, a PRB-3R model is used to predict large deflections of a compliant beam with a non-uniform distribution of stiffness. By using the Euler-Bernoulli beam theory, the large deflection of a cantilever beam with a non-uniform stiffness distribution under an applied load was also derived. Results show that the PRB-3R model can precisely predict mechanical behavior of compliant beams that are not too sharp. It is not proper to apply this model to beams with very large slope. This work provides an effective design method for the soft appendages of a biomimetic robot.

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PlantBot: A new ROS-based robot platform for fast building and developing 15

PlantBot: A new ROS-based robot platform for fast building a...

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15th IEEE International Conference on mechatronics and Automation, ICMA 2018

作者： Ma, Liulong Liu, Yanjie Gao, Yibo Zhu, Chuanming State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang15000 China School of Mechanical Engineering Tongji University 4800 Cao'an Highway Shanghai201804 China

ISBN: (纸本)9781538660720

In recent years, the Robot Operating system (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and easy-to-expand advantages. In scientific research, the corresponding hardware platform is indispensable for the experiment. In the field of mobile robots, PR2, Turtlebot2, and Fetch are commonly used as research platforms. Although these platforms are fully functional and widely used, they are expensive and bulky. What's more, these robots are not easily redesigned and expanded according to requirements. To overcome these limitations, we propose Plantbot, an easy-building, low-cost robot platform that can be redesigned and expanded according to requirements. It can be applied to not only fast algorithm verification, but also simple factory inspection and ROS teaching. This article describes this robot platform from several aspects such as hardware design, kinematics, and control methods. At last two experiments, SLAM and Navigation, on the robot platform are performed. The source code of this platform is available: https://***/marooncn/plantbot. © 2018 IEEE.

关键词： Robot Operating system

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Walking of Biped Robot with Variable Stiffness at the Ankle Joint*

Walking of Biped Robot with Variable Stiffness at the Ankle ...

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IEEE International Conference on robotics and Biomimetics

作者： Qing Bi Yixiang Liu Xizhe Zang Rui Song Haibin Wang Weimin Li Shandong Institute of Advanced Technology Chinese Academy of Sciences Jinan China School of Control Science and Engineering Shandong University Jinan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Achieving versatile and efficient walking on biped robots is an important research objective. The impact between the foot and the ground has significant effects on the walking stability of biped robots. Research on human walking indicates that the joints in human lower limbs show different stiffness values in different phases of walking. Inspired by humans, this paper presents the realization of biped robot walking with variable stiffness at the ankle joint. A walking control scheme which combines PD control and variable impedance control is designed for the biped robot. Results of dynamic walking simulation verified that variable stiffness at the ankle joint could contribute to the improvement of walking stability and energy efficiency.

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Collision detection based on octree for virtual surgery system

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IOP Conference Series: Materials Science and engineering 2020年第7期768卷

作者： Yanrong Hu Zhiyuan Yan Zhenlun Yin Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Naval Architecture and Ocean Engineering Harbin Institute of Technology Harbin China

In the virtual surgery system, the organ is always non-convex and deforms over time which makes the collision detection problem more difficult to handle. In this case, we put forward an innovative collision detection algorithm based on octree. This algorithm can perfectly apply to deal with non-convex organs and organ deformation scenario. In addition, it can achieve high run-time efficiency.

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256 MHz, 1 W 780 nm femtosecond fiber laser for two-photon microscopy

256 MHz, 1 W 780 nm femtosecond fiber laser for two-photon m...

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Conference on Lasers and Electro-Optics/Pacific Rim, CLEOPR 2018

作者： Yang, Wan Wu, Danlei Liu, Guanyu Chen, Bingying Feng, Lishuang Zhang, Zhigang Wang, Aimin State Key Laboratory of Advanced Optical Communication System and Networks School of Electronics Engineering and Computer Science Peking University Beijing100871 China Key Lab Precision Opto-mechatronics Technology Ministry of Education School of Instrumentation Science and Optoelectronics Engineering Beihang University Beijing100191 China

A robust 780 nm femtosecond fiber laser was demonstrated with 191 fs pulse width, 256 MHz repetition rate and 1 W average power. It is ideal for two-photon microscopic imaging. © OSA 2018

ISBN: (纸本)9781943580453

A robust 780 nm femtosecond fiber laser was demonstrated with 191 fs pulse width, 256 MHz repetition rate and 1 W average power. It is ideal for two-photon microscopic imaging. © OSA 2018

关键词： Pulse repetition rate

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A Closed-Loop Controller for Cable-Driven Hyper-Redundant Manipulator with Joint Angle Sensors *

A Closed-Loop Controller for Cable-Driven Hyper-Redundant Ma...

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IEEE International Conference on robotics and Biomimetics

作者： Baibo Wu Lingyun Zeng Yang Zheng Shu’an Zhang Xiangyang Zhu Kai Xu State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China RII Lab (Lab of Robotics Innovation and Intervention) UM-SJTU Joint Institute Shanghai Jiao Tong University Shanghai China

A cable-driven hyper-redundant manipulator is especially suited for manipulations in confined spaces. In most of the existing approaches, a controller is often designed to actuate the joints by pulling the corresponding cables without the feedback from remote sensors at the joints. The un-modeled elongations of these cables due to unknown tensions often cause a decrease in control precision. To improve the performance of such a manipulator, this paper presents an investigation where miniature potentiometers are integrated into the joints for angle feedback. Furthermore, a puller-follower controller is developed to control the three cables of a universal joint for not only closed- loop joint angle control but also cable tension preservation. Applying the Hooke's Law, the cable tension is represented by its deformation. In this way, the controller is designed to realize both the desired angles and the cable deformations, without force sensing on the cables. Finally, experiments on a single joint and multiple joints were conducted to verify the effectiveness of this proposed controller.

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Corrigendum to “A critical review on mechanical micro-drilling of glass and carbon fibre reinforced polymer (GFRP and CFRP) composites” [Compos B: Eng 254 (2023) 110589]

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Composites Part B: engineering 2023年 262卷

作者： Norbert Geier Karali Patra Ravi Shankar Anand Sam Ashworth Barnabás Zoltán Balázs Tamás Lukács Gergely Magyar Péter Tamás-Bényei Jinyang Xu J Paulo Davim Budapest University of Technology and Economics Faculty of Mechanical Engineering Department of Manufacturing Science and Engineering Budapest 1111 Hungary Indian Institute of Technology Patna Department of Mechanical Engineering Patna 801103 India Birla Institute of Technology Department of Mechanical Engineering Patna Campus Patna 800014 India North of England Robotics Innovation Centre The University of Salford Salford Greater Manchester UK Budapest University of Technology and Economics Faculty of Mechanical Engineering Department of Polymer Engineering Műegyetem rkp. 3 Budapest 1111 Hungary ELKH–BME Research Group for Composite Science and Technology Műegyetem rkp. 3 Budapest 1111 Hungary Shanghai Jiao Tong University School of Mechanical Engineering State Key Laboratory of Mechanical System and Vibration Shanghai 200240 PR China University of Aveiro Department of Mechanical Engineering Centre for Mechanical Engineering and Automation (TEMA) Campus Santiago Aveiro 3810-193 Portugal

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Design of a Cable Driven Floating Robotic Arm with Continuum Joints

Design of a Cable Driven Floating Robotic Arm with Continuum...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Zhonghao Wu Marco Cederle Elisa Rosalinda Giani Kai Xu RII Lab (Lab of Robotics Innovation and Intervention) UM-SJTU Joint Institute Shanghai Jiao Tong University Shanghai China Politecnico di Milano Milano Italy State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9781728137261

ISBN: (纸本)9781728137278

Long-reach manipulator shows potentials in inspection, search and rescue. However, the reach of such a manipulator is often limited, due to fact that the distal structures become payloads of the proximal joints. This research hence focuses on a proof-of-concept study of a slim long-reach robotic arm designed with continuum joints and floating links. A float link and a continuum joint constitute a module that is weightless due to buoyancy. The reach hence becomes unlimited in theory. The actuation of each joint is decoupled via a transmission arrangement, providing a simple kinematic model no matter how many robotic modules are used. Each floating link is composed of a from-the-shelf helium-filled Mylar balloon that is caged by acrylic rings. Each of the two-degree-of-freedom continuum joints is made from a super-elastic nitinol (nickel-titanium alloy) rod and actuated by three cables pulled by three stepper motors. Preliminary experimental results on this constructed 3-meter prototype show that the floating robotic arm can move with acceptable accuracy in still air, validating the proposed concept.

关键词： Handheld computers Kinematics Conferences Real-time systems Robots Bending Calibration

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Online Calibration for Monocular Vision and Odometry Fusion

Online Calibration for Monocular Vision and Odometry Fusion

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2017 IEEE International Conference on Unmanned systems (ICUS)

作者： Xuefeng Wang Haoyao Chen Yanjie Li the School of Mechanical Engineering and Automation in Harbin Institute of Technology Shenzhen and the State Key Laboratory of Robotics and System

ISBN: (纸本)9781538631089;9781538631072

A novel calibration approach for mobile robot equipped with encoder and monocular camera has been proposed in this *** this work,we divide the calibration into four steps:1) a coarse calibration step is employed to estimate the transform between odometry and visual system and the scale of visual system;2) a nonlinear-optimization step is employed to optimize the transform between odometry and visual system;3) during the process of SLAM of mobile robot,the transform between odometry and visual system is optimized with the poses of mobile robot and positions of mappoints in a local map;4) the scale of visual system is optimized after a loop *** method uses only nature features in visual system without any artificial landmark or any prior *** experiment and compare have been performed to illustrate the effectiveness.

关键词： Sensor Fusion Calibration

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Data-Driven Design Space Exploration and Exploitation for Design for Additive Manufacturing (vol 141, 101101, 2019)

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JOURNAL OF MECHANICAL DESIGN 2019年第11期141卷 1-12页

作者： Xiong, Yi Pham Luu Trung Duong Wang, Dong Park, Sang-In Ge, Qi Raghavan, Nagarajan Rosen, David W. Digital Manufacturing and Design Centre Singapore University of Technology and Design Digital Manufacturing and Design Centre Singapore University of Technology and Design Robotics Institute School of Mechanical EngineeringState Key Laboratory of Mechanical System and VibrationShanghai Jiao Tong University Department of Mechanical Engineering and Robotics Incheon National University Science and Math Cluster and Digital Manufacturing and Design Centre Singapore University of Technology and Design Engineering Product Development Pillar and Digital Manufacturing and Design Centre Singapore University of Technology and Design Digital Manufacturing and Design Centre Singapore University of Technology and Design The G. W. Woodruff School of Mechanical Engineering Georgia Institute of Technology

Recently, design for additive manufacturing has been proposed to maximize product performance through the rational and integrated design of the product, its materials, and their manufacturing processes. Searching design solutions in such a multidimensional design space is a challenging task. Notably, no existing design support method is both rapid and tailored to the design process. In this study, we propose a holistic approach that applies data-driven methods in design search and optimization at successive stages of a design process. More specifically, a two-step surrogate model-based design method is proposed for the embodiment and detailed design stages. The Bayesian network classifier is used as the reasoning framework to explore the design space in the embodiment design stage, while the Gaussian process regression model is used as the evaluation function for an optimization method to exploit the design space in detailed design. These models are constructed based on one dataset that is created by the Latin hypercube sampling method and then refined by the Markov Chain Monte Carlo sampling method. This cost-effective data-driven approach is demonstrated in the design of a customized ankle brace that has a tunable mechanical performance by using a highly stretchable design concept with tailored stiffnesses.

关键词： Design

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