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IEEE International Conference on Mechatronics and Automation

作者： Jiajun Li Xu Xu Jianguo Tao Liang Ding Haibo Gao Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509023974

It is important for a robot to be able to open a door in indoor environment. There are occasions when the robot has to open a locked door with a key. Problem arises when the robot tries to insert the key into the keyhole;it has to know the location and direction of the keyhole. In this paper, a procedure is developed to deal with this problem. First we detect the keyhole with the HOG features and a SVM classifier. The detection process has an average precision of 89%. Then the detected target image is processed by the opening operator in order to filter out the disturbance caused by the error in assembling. The resulting image is a binary image which contains only the pixels corresponding to the keyhole. Finally, we calculate the location of the keyhole with the image moment. The direction of the keyhole is computed with two different methods. We compared and analyzed these two method and the result shows that the calculated dominant direct has a constant error about one degree.

关键词： keyhole detection image opening dominant direction spectrum method

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Multi-level speed planning based capturing strategy of simultaneous three-fingered end-effectors

Multi-level speed planning based capturing strategy of simul...

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IEEE International Conference on Mechatronics and Automation

作者： Jun Wu Shaowei Fan Zhiqi Li Minghe Jin Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509023974

This paper presents a multi-level speed planning based capturing strategy. A kind of widely used simultaneous three-fingered end-effectors is selected to conduct the capturing strategy research. The mechanical characteristics of the end-effector and the grapple process are analyzed first, followed by the dynamic model of the system. The capturing speed is planned with the information from the positional and angular misalignments, compensated by the contact information. Minimum Pre-Contact Distance (MPCD), included angle of axes (IAA) and contact force are chosen as strategy parameters and identified from the capturing status. At last, simulations verify that the proposed capturing strategy has many advantages in implementing soft capture.

关键词： Fingers Satellites Force Planning Grippers Dynamics Manipulators

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Research on bionic quadruped robot based on hydraulic driver

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High Technology Letters 2015年第1期21卷 8-14页

作者：李满天 Jiang Zhenyu Guo Wei Sun Lining State Key Laboratory of Robotics and System Harbin Institute of Technology

A prototype of hydraulically powered quadruped robot is presented. The aim of the research is to develop a versatile robot platform which could travel fleetly in outdoor terrain with long time of en- durance and high load carrying ability. The current version is 1. lm long and 0.48m wide, and weights about 150kg. Each leg has four rotational joints driven by hydraulic cylinders and one pas- sive translational joint with spring. The torso carries the control system and the power system. A no- vel control algorithm is developed based on a Spring-Loaded Inverted Pendulum model and the prin- ciple of joint function separation. The robot can not only cross a 150mm high obstacle in static gait and trot at 2.5km/h and l km/h on the level-ground and 10°sloped-terrain respectively, but also au- tomatically keep balanced under lateral disturbance. In this paper, the mechanical structure and control systems are also discussed. Simulations and experiments are carried out to validate the design and algorithms.

关键词： legged robots locomotion control quadruped robot trotting gait hydraulic actuation

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Research of positioning method for automatic spraying on large ship block surfaces

Research of positioning method for automatic spraying on lar...

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

作者： Zihang Meng Changle Li Ge Li Jie Zhao Jihong Yan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781467389600

Now, there is no automatic spraying technology which is used to spray ships with the help of spraying robots, because the outside surface of ships is large and complex. The huge outside surface of ships makes it impossible to determine the absolute position and attitude of the surface in the space, which impedes the application of mobile spraying robots in the ship block spraying. This paper puts forward a positioning technology which can be used for the ship block automatic spraying of the complex surface of large ships: the position and coordinate of ships is the research object, and with the use of the total-station device, the position and attitude of large ship blocks in the space can be determined accurately through the change of spatial points. Meanwhile, according to the calculation principle of the total-station device, the influence of the position of the total station on the positioning accuracy is analyzed, and when it comes to the measuring errors of length and angle, the best angle and distance used to build the total station is obtained through the combination of simulation and theories and the existing conclusion is modified. Finally, this conclusion is verified through the calibration in the experiment and the feasibility of this scheme applied to the positioning of large curved surfaces is also demonstrated.

关键词： Marine vehicles Spraying Coordinate measuring machines Position measurement Robot kinematics

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Brain-inspired strategy for the motion planning of hyper-redundant manipulators

Brain-inspired strategy for the motion planning of hyper-red...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Liangliang Zhao Jingdong Zhao Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509027347

The main challenge of motion planning for a hyper-redundant manipulator is to implement a modular structure ensure real time and high performance of the control system. In this research, we present a strategy to deal with the motion planning problem of a hyper-redundant manipulator, include uncertain time delay to the control system and obstacle avoidance. Similarly to the principles of motor control in human brain, we extract primitive motions from a batch of motion data of a hyper-redundant manipulator, and reprogram the complex motions by the sequence of combinations of primitive motions. Based on the neural network algorithm, we present the simulation results of training experiment and testing experiment. All the simulations have confirmed that the proposed control strategy provides remarkable efficiency in motion planning of hyper-redundant manipulators.

关键词： Manipulators Planning Kinematics Control systems Real-time systems Simulation

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Dynamic analysis of a cable underwater robot in a nuclear reaction pool

Dynamic analysis of a cable underwater robot in a nuclear re...

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IEEE International Conference on Mechatronics and Automation

作者： Zhandong Li Jianguo Tao Yang Luo Liang Ding Zongquan Deng State Key Laboratory of Robotics and System Harbin institute of technology Harbin China

ISBN: (纸本)9781509023974

It's considered as a task that a robot welds under the state of emergency and patrols daily in the nuclear reaction pool. A design scheme of underwater welding robot with cables is proposed, which move in all direction, has a function of pitching and absorb on the wall surface by thrust of propellers. In this paper in order to achieve for the precise control of the underwater robot, a dynamic equation is established. The unknown hydrodynamic coefficients involved the dynamics equation are solved by CFD software. Finally, in the Matlab/Simulink software environment, the simulation platform is built, and then the validity of the dynamic model of the robot is illustrated by the calculation.

关键词： Force Hydrodynamics Robot kinematics Mathematical model Vehicle dynamics

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Investigation of near-field heat transfer of multilayered structures in heat-assisted magnetic recording (HAMR)

Investigation of near-field heat transfer of multilayered st...

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Asia-Pacific Magnetic Recording Conference (APMRC)

作者： Yu Zhao Longqiu Li Hongtao Zhang Guanbin Shao Qingkang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509021253

Heat-assisted magnetic recording (HAMR) is a promising method to increase the area density to 1 Tb/in2 in hard disk drives. In HAMR, a pulsed laser is used to heat the magnetic medium above its Curie temperature. High temperatures can cause lubricant depletion, degradation, and carbon overcoat damage at the head disk interface. Near-field radiation effects in HAMR are important to contribute the heat transfer and hence the flying ability at the head disk interface. Therefore investigation of the near-field heat transfer is essential to optimize the head disk interface. An equivalent simulation model of the head disk interface for studying the radiative heat transfer is provided in this paper. The head can be simplified as a nanosphere, while the disk can be simplified to a semi-infinite multilayer structure, the thickness of every layer in the multilayer structure is nano-scale. And the distance between head and disk is smaller than 10nm. The near field heat transfer problem can be solved by combining the dyadic Green's functions with the fluctuations electrodynamics, and the scattering matrix approach is used in the multilayer structure. Considering both the nonmagnetic media and the magnetic media, several numerical computations are conducted.

关键词： Heat transfer Heat-assisted magnetic recording Magnetic heads Magnetic multilayers Heating Nonhomogeneous media

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Optimization-based compliance control strategy of redundant robot for ORU replacements

Optimization-based compliance control strategy of redundant ...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Li Jiang Xijian Huo Yiwei Liu Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781467384155

This paper proposes the MHIC (Modified Hybrid Impedance Control) strategy of the redundant robot for ORU replacements based on the ground testbed. First, the operation process is analyzed and the corresponding strategies of ORU replacements are proposed. Then, based on the traditional hybrid impedance control method, MHIC of redundant robots is proposed achieving compliance or force tracking in different subspace of the task space and multi-objective optimizations. And singularity, stability and the steady-state error of contact force are further analyzed. Finally, ORU replacements are performed using different control strategies based on the ground-testing robot system. Experimental results demonstrate that MHIC can improve stability and motion optimization, and reduce the contact force with uncertainties of constrained environments.

关键词： Robots Force Impedance Space vehicles Aerospace electronics Optimization Steady-state

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Analysis on the joint independence of hand and wrist

Analysis on the joint independence of hand and wrist

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Yuan Liu Li Jiang Dapeng Yang Yu Liu Jingdong Zhao Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509020669

Due to the hand biomechanical constrains and coordinate manner of motor control, single one joint is difficult to move independently. The aim of this paper is to have an analysis on the joint independence of hand and wrist. At first, a grasp experiment under the tolerance grasping was completed, and the hand and wrist joint angles in different grasping postures were recorded for representing the functionality of human hand. Moreover, based on the recorded postures, the characteristics of each joint were analyzed from correlation and adaptability, for representing the joint inter-joint characteristic and self-characteristic, respectively. In this case, the joint independence was quantified through the joint independence-correlation and independence-adaptability. The quantified joint independence results show that the thumb, index finger and pinky had the highest independence from the view of finger, while from the joint view, the joint independence from high to low were: wrist, metacarpo-phalangeal (MCP), proximal interphalangeal (PIP) and abduction/adduction (ABD). Finally, based on the quantified joint independence, a preliminary actuation configuration was proposed.

关键词： Wrist Joints Grasping Thumb Correlation Motor drives

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Pose measurement of a non-cooperative spacecraft based on circular features

Pose measurement of a non-cooperative spacecraft based on ci...

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

作者： Yang Liu Zongwu Xie Bin Wang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781467389600

As some of the valuable satellites can maintain working after on-orbit servicing, it's meaningful to do research on the autonomous rendezvous. Most of these satellites have no target location markers or rendezvous sensors, the so-called non-cooperative satellites. Thus, the pose measurement is the key to the on-orbit servicing. In this paper, a closed-form solution for circle pose measurement is proposed. It is used to obtain the position of the adapter ring on the target satellite and effectively solves the problem for circular feature, requiring neither camera motion nor the radius of the circle. It can get the unique solution exactly without using a correspondence criterion. The method is experimented on both synthetic images and real images. And the results illustrate the good performance of the method compared with other existing algorithms.

关键词： Satellites Cameras Image edge detection Space vehicles Three-dimensional displays Extraterrestrial measurements Closed-form solutions

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