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Development of a Bionic Hexapod Robot for Walking on Unstructured Terrain

Journal of Bionic Engineering 2014年第2期11卷 176-187页

作者： He Zhang Yubin Liu Jie Zhao Jie Chen Jihong Yan State Key Lab of Robotics and System Harbin Institute of Technology Harbin 150080 P. R. China

This paper reports the design methodology and control strategy in the development of a novel hexapod robot HITCR-II that is suitable for walking on unstructured terrain. First, the entire sensor system is designed to equip the robot with the perception of external environment and its internal states. The structure parameters are optimized for improving the dexterity of the robot. Second, a foot-force distribution model and a compensation model are built to achieve posture control. The two models are capable of effectively improving the stability of hexapod walking on unstructured terrain. Finally, the Posture Control strategy based on Force Distribution and Compensation （PCFDC） is applied to the HITCR-II hexapod robot. The experimental results show that the robot can effectively restrain the vibration of trunk and keep stable while walking and crossing over the un- structured terrains.

关键词： hexapod robot structure optimization posture control force distribution force compensation

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A novel control strategy for quadruped robot walking over irregular terrain

A novel control strategy for quadruped robot walking over ir...

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2011 IEEE 5th International Conference on robotics, Automation and Mechatronics, RAM 2011

作者： Yin, Peng Wang, Pengfei Li, Mantian Sun, Lining State Key Lab. of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781612842509

Quadruped robot has great potential in traversing irregular terrains. Normally its performance relies greatly on the accuracy of local terrain data that the onboard sensor system acquired. In order to reduce its reliance on terrain information for locomotion control to the minimum, in this paper we intend to provide a method to intensify its walking adaptability by endowing the robot with blind walking ability. Based on the transfer strategies provided in the paper, the rough terrain walking problem could be simplified as common slope walking condition, and motion planning could be achieved via some basic criteria. Impedance control is implemented to reduce impact when foot stride to ground. On purpose of coping with foot slippage which would cause robot to fall, reflex control strategy is applied and tested. Via simulation we tested the control strategy and the feasibility was verified. © 2011 IEEE.

关键词： Motion planning

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Kinematic analysis of a dual-arm humanoid cooking robot

Kinematic analysis of a dual-arm humanoid cooking robot

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Zhai, Jiaxin Yan, Weixin Fu, Zhuang Zhao, Yanzheng State Key Lab. of Mechanical System and Vibration Shanghai 200240 China State Key Lab. of Robotics and System Harbin 150080 China

ISBN: (纸本)9781467312776

The dual-arm humanoid cooking robot is able to cook dishes like a master chef in ordinary home kitchens. The kinematic analysis is carried out for the arm of the robot. Coordinate frames are assigned to each link of the arm using the Denavit-Hartenberg convention. The working space of the arm is calculated. The kinematic equations are obtained by calculating the homogeneous transformation matrix. The inverse kinematic solution is obtained and verified by simulation. The Jacobian of the arm is obtained by the vector product method. © 2012 IEEE.

关键词： Inverse problems

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A robotic laparoscopic tool with enhanced capabilities and modularactuation

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Science China(Technological Sciences) 2019年第1期62卷 47-59页

作者： DAI ZhengChen WU ZhongHao ZHAO JiangRan XU Kai The RII Lab(Lab of Robotics Innovation and Intervention) UM-SJTU Joint Institute Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University

Due to the improved treatment outcomes, research on robotic MIS(Minimally Invasive Surgery) thrived in the past decades. A benchmark example is the da Vinci system that dominates robotic laparoscopy via its technology excellence and strong holding of intellectual properties. This study provides an alternative approach to realize robotic laparoscopic surgeries, by presenting the development and experimentation of the SMARLT(Strengthened Modularly Actuated Robotic Laparoscopic Tool) for MIS. A dual continuum mechanism is used in the design to achieve enhanced distal dexterity, improved reliability, increased payload capability, and actuation modularity. With kinematics modelling and actuation compensation, the SMARLT can be manipulated by a generic manipulator to carry out typical laparoscopic MIS tasks, such as tissue peeling, suturing, and knot tying. Payload capability was also experimentally characterized. The SMARLT-manipulator system essentially formed a continuum-rigid hybrid structure that makes full use of the advantages from each component: the continuum mechanism as a wrist for distal dexterity and other rigid parts for position accuracy and payload capability. With the experimental demonstration of the desired functionalities, the SMARLT design can lead to promising opportunities for commercialization.

关键词： dexterous wrist dual continuum mechanism medical robotics modular laparoscopic tools surgical instruments

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Research of a Multi-DOF pathological sampling flexible robot

Research of a Multi-DOF pathological sampling flexible robot

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5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Zhou, Hangfei Fei, Jian Pan, Gen Yan, Weixin Fu, Zhuang Zhao, Yanzheng State Key Lab of Mechanical System and Vibration Shanghai 200240 China Ruijin Hospital Affiliated to Shanghai Jiao Tong University Shanghai 200240 China State Key Lab of Robotics and System Harbin 150080 China

ISBN: (纸本)9783642335143

Robot assisted medical system has become one of the most important directions among robot studying field. This paper records a research on Multi- DOF pathological sampling flexible robot system which can be used in minimally invasive surgery. The main work includes: Overall structure design based on some special requirements, mathematical modeling and analysis, system hardware and software building, movement experiment and simulation capture experiment. Result of the experiments shows that the Multi-DOF pathological sampling flexible robot can fulfill the prospective design requirements and be capable for sampling and detecting. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Sampling

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Preoperative planning for the multi-arm surgical robot using PSO-GP-based performance optimization

Preoperative planning for the multi-arm surgical robot using...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Zhang, Fan Yan, Zhiyuan Du, Zhijiang Personal Robotics Lab Department of Electrical and Electronic Engineering Imperial College London United Kingdom State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781509046331

For the robotically-assisted minimally invasive surgery, preoperative planning is essential towards assisting surgeons to prepare the intervention and to decide the best access to the surgical site. Many recent studies in preoperative planning have focused on the pose selection of the robot and the port placement. However, as such techniques cannot evaluate the performance of the multi-arm cooperation, their applications are constrained in real practise with multi-arm surgical robots. In this paper, the surgical workspace is divided and the subspaces are assigned with different weights to reflect the internal differences within the surgical workspace. We propose three metrics to evaluate the performance of the multi-arm surgical robot: Global Isotropy Index (GII) to measure the dexterity of one single robot arm;Cooperation Capability Index (CCI) to reflect the performance of the multi-arm cooperation;Minimum Distance Index (MDI) to describe the collision avoidance of the robotic arms. We also propose a combination of Particle Swarm Optimization (PSO) and Gaussian Process (GP) to locate the port placement and robot positioning. The proposed integrated PSO-GP-based optimization strategy is implemented on a three-arm surgical robot. Two sets of experiments are carried out to validate our method. The results demonstrate that the performance optimization strategy based on PSO-GP is capable of guiding surgeons to plan an intervention with the multi-arm surgical robot. © 2017 IEEE.

关键词： Robotic surgery

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A novel ant-based clustering algorithm with an attractive force field

A novel ant-based clustering algorithm with an attractive fo...

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International Conference on Artificial Intelligence and Computational Intelligence

作者： Zhang, Lei Cao, Qixin State Key Lab of Mechanical System and Vibration Research Institute of Robotics Shanghai Jiao Tong University Shanghai 200240 China

ISBN: (纸本)9780769542256

This paper presents a novel ant-based clustering algorithm. Different from conventional ant-based clustering algorithms in which the objects are picked up or dropped down by virtual ants, our propose algorithm looks each object as an ant. The objects are first projected to a plane randomly. Then an attractive force field is created. The object (ant) is attracted by the similar ones in its local surrounding and moves to a certain place. The moving direction and moving range are determined by the composite of all attractive forces. The clusters are created by this attractiveness after many iterative cycles. The paper gives the detailed process of the algorithm. The performance of the algorithm is compared with other classic algorithms on several simulated and real datasets. The results are very encouraging in terms of the computation efficiency and clustering quality. © 2010 IEEE.

关键词： Swarm intelligence

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A Novel Multi-Fingered Hand for Robotic Grasp 7

A Novel Multi-Fingered Hand for Robotic Grasp

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7th Annual International Conference on Network and Information systems for Computers, ICNISC 2021

作者： Zang, Xizhe Wang, Chao Zhang, Pu Heng, Shuai Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Zhejiang Lab Hangzhou311121 China

ISBN: (纸本)9781665402323

As robots are gradually used in more and more scenarios, the requirements for robots to complete a variety of complex tasks are becoming higher and higher. Robotic hands, as the important tool for robot to complete the task, has attracted more and more attention. However, the robotic grasping tool usually has a single function and few degrees of freedom, which makes it difficult to adapt to more complex application scenarios. This paper presented a novel robotic hand with four fingers, which is designed based on the characteristics of human hands. We introduced the design process of the finger structure, analyzed the kinematics and statics of the designed hand, and further manufactured the prototype. To verify the function of the designed multi-fingered hand, we designed a serial of grasping experiments for different objects. The experimental results show that the designed multi-fingered hand can successfully grasp different experimental objects and meet the grasping requirements of the robot. © 2021 IEEE.

关键词： Degrees of freedom (mechanics)

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HH-Net: Image driven microscope fast auto-focus with deep neural network 19

HH-Net: Image driven microscope fast auto-focus with deep ne...

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9th International Conference on Biomedical Engineering and Technology, ICBET 2019

作者： Ge, Yunhao Li, Bin Zhao, Yanzheng Yan, Weixin Robotics Institute Shanghai Jiao Tong University Shanghai China State Key Lab of Mechanical System and Vibration Shanghai China

ISBN: (纸本)9781450361309

Computer aid auto-focus system is necessary for accurate microscope diagnosis, especially for the high precision microscope, which leaves little physical distance for focus adjusting manually. We proposed an image-driven microscope fast auto-focus system with a deep neural network. There are two main contributions. First, combining the high-level feature learning ability advantages of convolution neural network (CNN) and the handcraft feature selection ability of statistical learning, we proposed a High-level-Handcraft Neural Network (HH-Net) to accurately determine the distance index between microscope lens and cell smear by evaluating the image focus quality. It deployed 13 layers CNN for the high-level feature extraction from image patches. While the handcraft features which provide global information from the raw image were extracted by statistical algorithms and merged into CNN features. Finally, the combined features are utilized by the fully connected layers in the network to obtain the final distance index by classifying the biomedical image focus quality. Second, cooperated with the HH-Net, we propose an end to end image driven microscope fast auto-focus system, which can learn auto-focus policies from visual input and finish at a clear spot automatically. The accuracy of our patch level focus quality prediction is 92.4% with HH-Net, while the real-time image level focus quality predication can be 99.99% with 0.025s cost time by certainty voting strategy. Our auto-focus system can also cooperate with the X-Y Micro platform to automatically scan the whole cell smear and get the real-time best-in-focus image of a microscope with fast response, accuracy, and robustness. © 2019 Association for Computing Machinery.

关键词： Deep neural networks

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Development of navigable hexapod biomimetic robot Spider

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Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) 2011年第3期41卷 765-770页

作者： Chen, Fu Zang, Xi-Zhe Yan, Ji-Hong Zhao, Jie State Key Lab of Robotics and System Harbin Institute of Technology Harbin 150001 China

A novel hexapod biomimetic robot named Spider is fabricated for autonomous navigation under complicated terrain conditions. The mechanical configuration of the robot with capability of omnidirectional locomotion was designed, and the structure parameters were optimized according to the estimation function of mobility;the hardware control system of the robot was constructed in which a ARM chip was used as central controller and a FPGA chip was employed as coprocessor;a walking controller was realized based on function-behavior-integration, which was employed to generate statically stable free gait. In the simulations and experiments, the ability of adaptive omnidirection-walking on irregular terrain of the hexapod robot were testified.

关键词： Controllers

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