检索结果-内蒙古大学图书馆

Development of two rescue robots for disaster relief operations in narrow debris

High Technology Letters 2015年第4期21卷 399-406页

作者：臧希喆 Wang Jibin Liu Yixiang State Key Laboratory of Robotics and System Harbin Institute of Technology

This paper proposes two novel rescue robots,including a cutter robot and a jack robot,which are aimed to contribute to rescue activities such as to cut through obstacles and to jack up debris in dangerous sites and narrow spaces,where a rescue team can not work or ***,a multilinked tracked rescue robot platform composed of connected crawler vehicles is developed,which has high mobility on irregular terrain and ability to move into narrow collapsed ***,the cutter robot and jack robot are designed on the basis of rescue robot platform equipped with a cutter or a jack mechanism and corresponding manipulators in the front *** cutter refitted by an angle grinder is able to cut through 10 mm diameter steel *** electric jack mechanism designed based on multiple layers screw sleeves structure can lift up 300 kg load from 70 mm to 400 *** results validate the capability of the two rescue robots.

关键词： rescue robot connected crawler vehicles cutter robot jack robot

来源：评论

学校读者我要写书评

暂无评论

Traveling property of wheel-type pipeline robot with different configurations

引用

Journal of Beijing Institute of Technology 2012年第1期21卷 58-63页

作者：唐德威李庆凯姜生元邓宗全 State Key Laboratory of Robotics and System Harbin Institute of Technology

In order to improve the travelling ability of the wheel-type pipeline robot in elbow section of pipeline, the model of drive ratios is proposed aiming at the pipeline robots with different configurations. Through the movement analysis of the robot with different configurations in elbow section, the pose model of the robot is established, and the coordinates of the wheel centers and the contact points can be got through the calculation of the pose model. Based on the pose model established, the corresponding drive ratios are obtained combining with the relations of the velocities of wheel centers and rotative velocities of wheels under the movement condition with no interference. The virtual simulations and prototype experiments are carried out, and the drive ratios accuracy of the model when the robot moved in elbow without interference is validated.

关键词： pipeline robot movement in elbow pose model ratios of driving speed experiment validation

来源：评论

学校读者我要写书评

暂无评论

Target Tracking Algorithm Using Finite-time Convergence Smooth Second-order Sliding Mode Controller for Mobile Robots

引用

Chinese Journal of Mechanical Engineering 2011年第3期24卷 414-419页

作者： GE Lianzheng ZHAO Lijun GAO Tong State Key Laboratory of Robotics Technique and System Harbin Institute of Technology Harbin 150001 China

Target tracking control for wheeled mobile robot （WMR） need resolve the problems of kinematics model and tracking ***-order sliding mode control is a valid method used in the nonlinear tracking control system,which can eliminate the chattering of sliding mode *** there lacks the research of robustness and uncertain factors for high-order sliding mode *** address the fast convergence and robustness problems of tracking target,the tracking mathematical model of WMR and the target is *** on the finite-time convergence theory and second order sliding mode method,a nonlinear tracking algorithm is designed which guarantees that WMR can catch the target in finite *** the same time an observer is applied to substitute the uncertain acceleration of the target,then a smooth nonlinear tracking algorithm is *** on Lyapunov stability theory and finite-time convergence,a finite time convergent smooth second order sliding mode controller and a target tracking algorithm are designed by using second order sliding mode *** simulation results verified that WMR can catch up the target quickly and reduce the control discontinuity of the velocity of WMR.

关键词： mobile robots second order sliding mode finite-time convergence observer

来源：评论

学校读者我要写书评

暂无评论

Task-oriented Hierarchical Control of Modular Soft Robots with External Vision Guidance

引用

Journal of Bionic Engineering 2022年第3期19卷 657-667页

作者： Xin Sui Tianjiao Zheng Jian Qi Zhiyuan Yang Ning Zhao Jie Zhao Hegao Cai Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China

General,high-precision theoretical modeling method is not well developed in the field of soft robotics,which holds back motion control and practical application of soft *** concept of modularization brings novel structure,novel locomotion patterns as well as novel control method for soft *** paper presents the concept of hierarchical control method for modular soft robot system and a H-configuration pneumatic modular soft robot is designed as the control *** H-configuration modular soft robot is composed of two basic motion units that take worm-like locomotion *** locomotion principle of the basic motion unit is analyzed and the actuation sequence is optimized by evolution strategy in VOXCAD simulation *** differential drive method is applied to the H-configuration modular soft robot with multi motion modes and vision sensor is used to control the motion mode of the *** H-configuration modular soft robot and the basic motion unit are assembled by a cubic soft module made of silicone ***,connection mechanism is designed to ensure that the soft modules can be assembled in any direction and *** are conducted to verify the effect of the hierarchical control method of the modular soft robots.

关键词： Soft robot Modular robot Locomotion pattern optimization VOXCAD simulation software Vision feedback control

来源：评论

学校读者我要写书评

暂无评论

A versatile humanoid robot platform for dexterous manipulation and human-robot collaboration

引用

CAAI Transactions on Intelligence Technology 2024年第2期9卷 526-540页

作者： Xin Shu Fenglei Ni Xinyang Fan Shuai Yang Changyuan Liu Baoxu Tu Yiwei Liu Hong Liu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinChina

Humanoid robots have attracted much attention by virtue of their compatibility with human ***,biped humanoids with immense promise still cannot function steadily and reliably in real-world settings in the current ***,rationally combining a humanoid robot with different stable mobile platforms is a favoured solution for diverse ***,a new versatile humanoid robot platform,aiming to provide a generic solution that can be flexibly deployed in diverse scenarios,for example,indoors and fields is *** humanoid robot platform incorporates multimodal perception,and extensible interfaces on hardware and software,allowing it to be rapidly integrated with different mobile platforms and end-effectors,only through easyto-assemble ***,the platform has achieved impressive integration,lightness,dexterity,and strength in its class,with human-like size and rich perception,targeted to have human-intelligent manipulation skills for human-engineered ***,this article elaborates on the reasoning behind the design choices,and outlines each ***,the essential performance of the platform is successfully demonstrated in a set of experiments with precise and dexterous manipulation,and human–robot collaboration requirements.

关键词： intelligent robots robotics

来源：评论

学校读者我要写书评

暂无评论

The HITCR-I:Evaluation on a free gait generation method for the hexapod robot on irregular terrain

引用

High Technology Letters 2013年第4期19卷 406-412页

作者：张赫 Zhao Jie Liu Yubin Chen Fu State Key Laboratory of Robotics and System Harbin Institute of Technology

The purpose of this paper is to present and evaluate a method of free gait generation for HITCRI,a hexapod walking *** HITCR-I is designed as a modularized structure of legs that is based upon a four-bar linkage mechanism and with force sensors in the tip of legs,distributed hardware structure and a modular software structure of the control *** on a set of local rules between adjacent legs,finite state machine(FSM) model is built to control the coordination of *** automatic smooth transition of gait pattern is achieved through deriving the mathematical relation between gait pattern and locomotion *** disordered inter-leg phase sequence is adjusted to a regular state smoothly and quickly by the local rules based FSM,and the gait pattern can transform automatically adapting to irregular *** experiment on HITCR-I has demonstrated that it can walk through irregular terrain reliably and expeditiously with the free gait controller designed in this paper.

关键词： robotics hexapod robot irregular terrain walking tree gait gait pattern transition

来源：评论

学校读者我要写书评

暂无评论

Self-motion Manifolds of an 8-DOF Non-holonomic Mobile Manipulator

引用

Journal of Donghua University(English Edition) 2010年第3期27卷 400-406页

作者：姚玉峰赵建文孙立宁 State Key Laboratory of Robotics and System Harbin Institute of Technology

For the non-holonomic constraint robot,determining the pose of its end-effector will rely on its joints' displacement and the velocity of its non-holonomic constraint joints as ***,it becomes increasingly difficult to obtain the analytic solution of its self-motion manifold in the traditional way for solving matrix *** this paper,we take the pose of end manipulator as the result of the joint sequential motion based on the mentality of motion equivalence,the structure and the reference velocity which correspond precisely to the points in self-motion manifold as self-motion *** an analytical solution for the self-motion manifold of the 8 degree of freedom wheeled mobile manipulator is presented by taking vector algebra as a tool,which facilitates deriving the closed solution of its self-motion *** the closing part of this paper,calculating examples of self-motion manifold and mechanism self-motion simulation are proposed,which proves the validity of solution algorithm for self-motion manifold.

关键词： wheeled mobile manipulator self-motion non-holonomic constraint redundancy

来源：评论

学校读者我要写书评

暂无评论

Design and implementation of a modular self-reconfigurable robot

引用

High Technology Letters 2009年第3期15卷 227-232页

作者：赵杰 State Key Laboratory of Robotics and System Harbin Institute of Technology

A novel modular self-reconfigurable robot called UBot is *** robot consists of severalstandard *** module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can connect to adjacent modules.A hook-type mechanism is designed,which can quick-ly and reliably connect to or disconnect from adjacent *** mechanism is self-locking after con-nected,and *** achieve small overall size and mass,compact mechanical structures andelectrical systems are adopted in modular *** modules have embedded power supply and adoptwireless communication,which can avoid cable-winding and improve flexibility of locomotion and self-re-configuration.A group of UBot modules can adapt their configuration and function to the changing envi-ronment without external help by changing their connections and positions .The basic motion and self-re-configuration are proposed,and the experiments of worm-like locomotion are implemented.

关键词： self-reconfigurable robot modular twin-rotation connecting mechanism

来源：评论

学校读者我要写书评

暂无评论

Research on bionic quadruped robot based on hydraulic driver

引用

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

来源：评论

学校读者我要写书评

暂无评论

Fuzzy steering control to serpentine tracked robots in unknown environment

引用

High Technology Letters 2013年第1期19卷 1-6页

作者：赵杰 Han Zhenfeng Liu Gangfeng Liu Gang Zhu Lei State Key Laboratory of Robotics and System Harbin Institute of Technology

To solve the problem of multi-turning attitudes,unknown ground parameters and complex skidsteering control for serpentine tracked robots(STR),a fuzzy control method based on the estimation of track curvature and side slip angles is *** on the track-ground interaction,mathematical models are established for stable turning in the way of recursive homogeneous *** navigation parameters such as rack curvature and side slip angles have approximately linear relationship with the yaw angles of articulate *** attitude models in turning control are studied and *** strategies of attitude models are *** on the strategies,an adjustable fuzzy controller is *** the controller,an estimator is set to solve the problem of unknown and variable *** estimator predicts the track curvature by metabolic linear least squares *** have verified the feasibility and validity of the controller.

关键词： serpentine tracked robot （STR） steering control track curvature side slip angles stable turning modes

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：