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Conference on Human system Interactions, HSI

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)9781509017300

Communication between human operators and robots is important. In this paper, two problems are addressed: (1) how a robot can change its behavior sequences in manipulation tasks with human intervention; (2) how a human operator can transfer information to a robot efficiently. We tackle the first problem by proposing a framework based on finite state machine to model the robot action sequences in manipulation tasks. The framework shows the way in which a robot slides its level of autonomy by considering the result of the transition action and the input of the human operator. The framework can be easily extended to include higher level of autonomy. To tackle the second problem, we proposed a method to encode human intentions into simple mouse gestures. With a discriminative classifier, the robot can recognize the mouse gesture drawn by the human operator and carry out the corresponding action. The classifier is based on PCA and has been tested on our data set collected from four volunteers with an average precision of 96.25%.

关键词： Robot sensing systems Mice Planning Navigation Automata Manuals

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Horizontal two-dimensional nano-positioner based on shear plate piezoelectric actuators

Horizontal two-dimensional nano-positioner based on shear pl...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Haiyang Li Zhijiang Du Wei Dong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509029464

In this paper, a novel X-Y nano-positioner that is driven by the shear plate piezoelectric actuators is proposed based on inertial sliding theory. The nano-positioner can output two-dimensional motion at a speed of 0.3mm/s within an area of 5mm × 5mm on a float glass plate, whose theoretical resolution can be indefinitely high, which depends on the driving pulses of the piezoelectric actuators. Different pulses applied to the shear piezoelectric actuators can be achieved by a computer controlled amplifier system. The performance of the nano-positioner actuated by different driving pulses is also analyzed and discussed, e.g. the resolution and the speed. Generally, the motion step will be longer when the actuator provides a higher speed at the end of the sticking mode, i.e., it trades off the speed against the resolution. Finally, a prototype system of the nano-positioner has been developed by using a CCD camera as the observing device, which validates the effectiveness of the proposed methodology.

关键词： Friction Acceleration Mathematical model Analytical models Actuators Gravity

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A three-chambed soft actuator module with omnidirectional bending motion

A three-chambed soft actuator module with omnidirectional be...

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

作者： Jihong Yan Hongbing Dong Xinbin Zhang Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781467389600

Unlike traditional rigid robots, soft robots can deform in a wide range to suit environment and contact compliantly with operating objects. Therefore, soft robots have wide potential application prospects in terms of physical rehabilitation, minimally invasive surgery and other fields. This paper presents the concept design and fabrication of a three-chambed soft actuator module with omnidirectional bending capability. The effect of geometrical parameters on the module bending properties was investigated by using finite element methods (FEM). Preliminary tests as proof of concept and assessment of performances were implemented, indicating that the module has good deformation capacity and can be used to assemble soft multi fingers hand, soft manipulators and other soft robotic systems.

关键词： Actuators Robots Finite element analysis Strain Structural rings Atmospheric modeling Analytical models

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Real-time collision detection for manipulators based on fuzzy synthetic evaluation 13

Real-time collision detection for manipulators based on fuzz...

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13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016

作者： Jing, Xia Wu, Guangxin Li, Chongyang Hong, Liu School of Mechanical Engineering Xi'An University of Science and Technology Xi'an Shaanxi Province710054 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province150001 China

ISBN: (纸本)9781509023943

To overcome the shortcoming that the collision detection method based on three-dimension model only depends on the shortest distance between components to determine collision, a novel collision detection method for manipulators is proposed to indicate how dangerous the current movement of the robot are to the surrounding objects. The method more comprehensively considers the effect of the shortest distance, motion state, braking performance of joints, robot control mode and the contact state on robot collision risk, obtains a robot collision risk index by using the fuzzy synthetic evaluation. At the same time, building the collision detection model by using sphere sweeping convex hulls (SSCH) improves the real-time of the collision detection. Finally, the proposed method is validated through simulations and experiments. © 2016 IEEE.

关键词： Manipulators

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Cloud-aided state estimation of a full-car semi-active suspension system

arXiv

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arXiv 2017年

作者： Zhang, Lixian Yin, Xunyuan Shen, Junnan Yu, Haitao Research Institute of Intelligent Control and System Harbin Institute of Technology Harbin150080 China Department of Chemical and Materials Engineering University of Alberta EdmontonT6G 2V2 Canada State Key Laboratory of Robotics and Systems Harbin Institute of Technology 150001 China

In this work, we investigate a state estimation problem for a full-car semi-active suspension system. To account for the complex calculation and optimization problems, a vehicle-to-cloud-to-vehicle (V2C2V) scheme is utilized. Moving horizon estimation is introduced for the state estimation system design. All the optimization problems are solved in a remotely-embedded agent with high computational ability. Measurements and state estimates are transmitted between the vehicle and the remote agent via networked communication channels. The effectiveness of the proposed method is illustrated via a set of simulations. Copyright © 2017, The Authors. All rights reserved.

关键词： state estimation

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Variable Stiffness Control and Implementation of Hydraulic SEA Based on Virtual Spring Leg

Variable Stiffness Control and Implementation of Hydraulic S...

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IEEE International Conference on Mechatronics and Automation

作者： Zhen Chu Jianwen Luo Yili Fu The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781509023974

SLIP model with compliance describes human locomotion very well. A Legged robot's variable stiffness joint could produce an equivalent virtual spring leg, which is the foundation for SLIP model's physical implementation. This paper presents a single leg with knee joint actuated by hydraulic SEA and proposes a variable stiffness control method that is applied to the virtual spring leg. The experiment results prove the effectiveness of proposed control method and also present that the designed hydraulic SEA could realize virtual spring leg with stiffness adjustable from 5KN/m to 20KN/m, which is the stiffness needed in human's normal walking. The robot's single leg weighs about 6kg and could burden at least 60kg load, which provides a way to realize the heavy load legged robot with variable stiffness joint.

关键词： Variable stiffness control Virtual spring leg Hydraulic SEA

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A vibration suppression method for flexible joints manipulator based on trajectory optimization

A vibration suppression method for flexible joints manipulat...

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IEEE International Conference on Mechatronics and Automation

作者： Chuangqiang Guo Haibo Gao Fenglei Ni Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781509023974

How to reduce the vibration deformation of robot manipulators with flexible joint is a significant problem. A new approach based on simplified system dynamic model and genetic algorithms (GA) is developed to find an optimized trajectory in joint space for a three degrees-of-freedom plane flexible joints manipulator, to reduce the residual vibration of the robot on the occasion of fast position control. The method makes the strain energy stored in the flexible joints minimized through planning the links and joint motors arrive at the destination positions simultaneously, so the residual vibration would be suppressed accordingly. And a genetic algorithm, whose objective function is to minimizing the maximum elastic deformation of the robot joints, was used to find the global optimized desired trajectory. And the computer simulation results show that the proposed method, comparing with the traditional trajectory planning method based on inverse kinematics calculation, reduces the trajectory tracing error and the residual vibration amplitude considerably.

关键词： Manipulator dynamics Trajectory Vibrations Mathematical model Planning

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An experimental comparison of four different structures for continuum manipulators

An experimental comparison of four different structures for ...

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IEEE International Conference on Mechatronics and Automation

作者： Hairong Wang Shaowei Fan Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781509023974

Continuum manipulators can exhibit behaviors similar to snakes, elephant's trunks, and octopus tentacles, which possess incredible dexterity and intrinsic compliance for safe interaction with unstructured environments. However, the lack of enough stiffness limits their scope and application. In this paper, we introduce four different structures of continuum manipulators, including a simple structure with three elastic actuated rods, a structure with a passive rigid kinematic chain, a structure with a hyperelastic notochord and a segmental structure inspired from the spine without articular structure. This paper presents an experimental comparison of four continuum manipulators and aims to explore approaches to enhance the stiffness of a continuum manipulator and maintain the simple constant curvature kinematics as far as possible simultaneously. Results of this paper contribute to guiding the design of a continuum manipulator for achieving desired stiffness properties.

关键词： Manipulators Kinematics Shape Tendons Springs Catheters

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Software-based resolver-to-digital conversion and online fault compensation

Software-based resolver-to-digital conversion and online fau...

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IEEE International Conference on Mechatronics and Automation

作者： Chuangqiang Guo Chunya Wu Fenglei Ni Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781509023974

A simple and cost-effective software-based resolver to digital converter together with a permanent magnet synchronous motor control system were presented. The proposed method incorporates software generation of the resolver carrier and using anti-tangent calculation for synchronous demodulation of the resolver outputs signal in such a way that there is a substantial savings on hardware like the costly carrier oscillator and associated digital and analog circuits for amplitude demodulators. And the faults of amplitude imbalance and imperfect quadrature of resolver signal can also be detected and compensated by software online. Computer simulation results demonstrate the effectiveness and applicability of the proposed scheme.

关键词： Signal resolution Demodulation Rotors Space vector pulse width modulation Generators Switches Circuit faults

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Fast map segmentation method based on spectral partition for robot semantic navigation

Fast map segmentation method based on spectral partition for...

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IEEE International Conference on Mechatronics and Automation

作者： Yafu Tian Ke Wang Ruifeng Li Lijun Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781509023974

Map segmentation method similar to the way human percept the external environment can decrease the computational complexity of robot navigation algorithm and SLAM problem. This paper presents an introduction to the application of spectral cluster method in map segmentation process. Then this paper presents several kinds of similarity measurement criteria to construct the similarity matrix. With these criteria, mobile robot can encountor different kinds of environments. Furthermore, this paper presents a self-adaptive clustering method based on silhouette coefficient criteria. As a result of that clustering result, an effective online segmentation method is prepared in this paper. Finally, the results of the experiment simulated on MobileSim platform demonstrate the performance of the proposal. The map segmentation method is which the high cohesion and low coupling are achieved in information. The segmentation results can greatly reduce the response time of such NP-Hard problems as large-scale SLAM and navigation problem.

关键词： Clustering algorithms Partitioning algorithms Simultaneous localization and mapping Mobile robots Time complexity

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