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检索条件"机构=School of Mechatronics Engineering and State Key Laboratory of Robotics and System"

共 550 条记录，以下是431-440 订阅

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Tracking for humanoid robot based on Kinect

Tracking for humanoid robot based on Kinect

引用

International Conference on mechatronics and Control (ICMC)

作者： Qiubo Zhong Jie Zhao Chunya Tong School of Electronic and Information Engineering Ningbo University of Technology Ningbo China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479925391

According to the high requirement in environment of tracking for humanoid robot based on vision, a recognition algorithm and control method is present using depth information extraction. The depth information is gathered by a Kinect camera from Microsoft, and an accelerated algorithm is proposed to improve the real-time requirements of image recognition. The obstacles information and robot status are gathered and an artificial potential field method based on safe region is planned to control the tracking. Finally, experiments are achieved on a real humanoid robot Nao.

关键词： Humanoid robots Target tracking Real-time systems Histograms Acceleration

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Optimization and design of remote center motion mechanism of Minimally Invasive Surgical robotics

Optimization and design of remote center motion mechanism of...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Bo Pan Yili Fu Guojun Niu Dianguo Xu School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479953349

Minimally Invasive Surgery (MIS) has many advantages and is achieved mainly by Remote Center Motion. In this paper, a new RCM mechanism which is triangle is proposed, this mechanism is simple and high stiffness. Optimization incorporating the requirements for MIS are performed to find the optimal link lengths of the manipulator. The results show that for the serial triangle2-link manipulator used to guide the surgical tool, the optimization link angles are (74°, 51°). Three-dimensional model design is achieved.

关键词： Minimally invasive surgery Optimization Jacobian matrices Medical robotics Service robots

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Modeling and LQR control of a multi-DOF two-wheeled robot

Modeling and LQR control of a multi-DOF two-wheeled robot

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IEEE International Conference on robotics and Biomimetics

作者： Shigong Jiang Fuquan Dai Ling Li Xueshan Gao State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin China School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479973989

A multi-DOF two-wheeled robot is considered, the research is aimed to develop the dynamic model and balance control scheme of the robot. A balance weight is involved to compose a new DOF, the dynamic model of the robot is established with Lagrange equations. To facilitate the modelling and design control scheme, the dynamic model is simplified and the displacement of balance weight is chosen as control input instead of state variable. With the dynamic model, a LQR controller is designed for achieving the desired velocity of the robot while stabilizing the central body. Simulation and physical prototypes are established to prove the veracity of the model and confirm the validity of the designed controller.

关键词： Mathematical model Mobile robots Wheels Robot kinematics Vehicle dynamics Aerospace electronics

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Dynamic model and balance control of two-wheeled robot with non-holonomic constraints

Dynamic model and balance control of two-wheeled robot with ...

引用

World Congress on Intelligent Control and Automation (WCICA)

作者： Ling Li Shigong Jiang Fuquan Dai Xueshan Gao School of Mechatronical Engineering Beijing Institute of Technology Beijing China State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin China

Two-wheeled mobile robot is known for advantages on performing better manuever in a confined space. It is a typical mobile robot with some features such as complexity, highly nonlinear, instability, multi-variable and strongly coupling. This research is aimed to design and develop the dynamic model and balance control strategy of the robot. A Gibbs-Appell equation is applied to build the dynamic model of two-wheeled robot in this paper. The virtual prototype model of the robot and the state space model with feedback are obtained. The experiments based on the simulation model and actual model are implemented. They show that the state feedback controller carried on the robot model in the posture and the speed is effective and the dynamical balance process is stable. The nonlinear dynamics model based on non-holonomic constraints and pole placement algorithm on the basis of the dynamic model are effective.

关键词： Mathematical model Mobile robots Equations Wheels Robot kinematics Nonlinear dynamical systems

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Design of passive joint in minimally invasive surgical robot

Design of passive joint in minimally invasive surgical robot

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IEEE International Conference on robotics and Biomimetics

作者： Jiawen Yan Bo Pan Guojun Niu Yili Fu Dianguo Xu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

Several passive joints are usually needed in surgical robots to decrease the difficulty in doctors' operating, which can be manually rotated without motor pushing. When stopped at a specified position, passive joints should be locked until operation ends, and keep bearing torques. This paper is aimed to design a locking method used in minimally invasive surgical robot. Firstly choose the locking type based on the technical requirements, and then the dimension can be determined using friction theory. Before finishing this design, the structure is verified by simulation. Not only the traditional method is used in the paper, but also new method combined with simulation is applied. As a result, the structure is much more reasonable, and will be the foundation for the following study.

关键词： Friction Force Joints Stress Torque Robots Load modeling

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Numerical study of the hydrodynamics of robotic fish jumping out-of-water in vertical manner

Numerical study of the hydrodynamics of robotic fish jumping...

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IEEE International Conference on mechatronics and Automation

作者： Dan Xia Yuhua Cao Weishan Chen Junkao Liu School of Mechanical Engineering Southeast University Nanjing Jiangsu Province China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

This paper studies the hydrodynamics of robotic fish jumping out-of-water motion in a vertical manner numerically. By solving the kinetic course of three-dimensional (3D) robotic fish from gradually accelerating from the static state under the water to the final out-of-water state, time history variations of the kinematics and the energetics parameters in the vertical jumping out-of-water motion are discussed. The swimming performance of the robotic fish jumping out-of-water motion is studied by changing its motion frequency. The results show that the pressure contours of fish in different time reflects its stress condition in the vertical jumping out-of-water motion clearly; increasing motion frequency can improve its swimming speed, and then increasing its jumping height. The findings can lay a good foundation for the understood of the actual course of fish jumping out-of-water motion and broaden the motion space of the future robotic fish.

关键词： Marine animals Mathematical model Force Robot kinematics Fluids Time-frequency analysis

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Research on turning motion for biped robot based on consumption

Research on turning motion for biped robot based on consumpt...

引用

IEEE Workshop on Advanced Research and Technology in Industry Applications (WARTIA)

作者： Yingying Zhong Qiubo Zhong Jie Zhao School of Electronic and Information Engineering Ningbo University of Technology Ningbo Zhejiang CN State Key Laboratory Of Robotics and System Harbin Institute of Technology Harbin Heilongjiang CN

A turning movement model structures for biped robot is present in this paper. An inverted pendulum model is introduced into robot's movement to achieve at the consumption problem when it turns. The relation between robots' Movement pattern and consumption is replied by the derived formula. Finally, simulation and experiment are achieved to prove the validity of the pattern proposed in this paper.

关键词： Legged locomotion Humanoid robots Turning Service robots Conferences

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Model predictive control of Microgrid based on Mixed Logic Dynamic

Model predictive control of Microgrid based on Mixed Logic D...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Shigong Jiang Hongpeng Liu Wei Wang State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin China School of Mechatronical Engineering Beijing Institute of Technology Beijing China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

By analyzing the hybrid property of Microgrid in detail, a mixed logical dynamical model is set up with Hybrid theory. The energy in DC bus capacitor is chosen as state variable, the system functions and constraints with continuous state variables, input control variables, logical variables and auxiliary variables are presented. Based on the MLD model, model predictive control theory is applied for the purpose of reducing the batteries switching times between charge and discharge, the DC bus voltage fluctuation is compressed simultaneously. The quadric form objective function is designed and optimal input control variable sequence is achieved by mixed integer quadratic programming method. A simulation prototype is established, simulation results testify the proposed method can both suppress DC bus voltage fluctuation and decrease switching times of battery energy storage system.

关键词： Microgrids Batteries Predictive control Switches Discharges (electric) Voltage control

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U-Pendant: A universal teach pendant for serial robots based on ROS

U-Pendant: A universal teach pendant for serial robots based...

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IEEE International Conference on robotics and Biomimetics

作者： Yongzhuo Gao Yanyu Su Wei Dong Weidong Wang Zhijiang Du Xueshan Gao Yu Mu Harbin Institute of Technology Harbin Heilongjiang CN State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479973989

Many corporations have produced various teach pendants. However, most of these products are exclusive in terms of communication protocols and robot programming languages. Therefore, programs and teach pendant are usually not exchangeable between robots. To tackle this problem, we present U-Pendant, an open source universal teach pendant for serial robots based on Robot Operating system (ROS), a meta-operating system with a number of robotic applications shared online, and Yet Another Robot Controller (YARC), a universal kinematic controller for serial robots. We design and implement essential functionality and interactivity of teach pendants on U-Pendant. Several demonstrations are made to show the universality and functional superiority of U-Pendant. The source code and hardware design have been made publicly accessible for the community.

关键词： Robot kinematics Service robots Education Robot sensing systems Joints Kinematics

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Force feedback time prediction based on neural network of MIS Robot with time delay

Force feedback time prediction based on neural network of MI...

引用

IEEE International Conference on robotics and Biomimetics

作者： Y. Ning L. L. Han Z. R. Xiao B. G. Liu Department of Electrical Engineering State Key Laboratory of Robotics and System (HIT) Henan University of Technology Zhengzhou China Department of Mechanical & Electrical Engineering Henan University of Technology Zhengzhou China School of Cicil Engineering & Architecture Henan University of Technology Zhengzhou China

ISBN: (纸本)9781479973989

Robotic technology is enhancing surgery through improved precision, stability, and dexterity. In manual MIS, the surgeon is separated from the operation area, which is reached by long instruments. In image-guided procedures, image prediction technique based on visual reality technology has solved time-delay problem of image information between master and slave manipulator of teleoperation system effectively in many application fields. However, time-delay of force feedback information which is transmitted from communication link is also inconvenient to the operator's working and makes a bad influences on the system's stability and transparency. In this paper, the start and stop time of feedback force torque can be predicted by using RBF neural network technology when the slave manipulator is interacting with the environment, such that the force feedback information can synchronize with the predictive image. Simulation results show excellence of the proposed scheme.

关键词： Manipulators Force feedback Force Biological neural networks Delay effects

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