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作者： Hua, Chunsheng Qi, Juntong Han, Jianda Wu, Haiyuan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning 110179 China Faculty of System Engineering Wakayama University Wakayama-shi 640-8510 Japan

In this paper, we introduced a novel Kernel-Reliabilitybased K-Means (KRKM) clustering algorithm for categorizing an unknown dataset under noisy condition. Compared with the conventional clustering algorithms, the proposed KRKM algorithm will measure both the reliability and the similarity for classifying data into its neighbor clusters by the dynamic kernel functions, where the noisy data will be rejected by being given low reliability. The reliability for classifying data is measured by a dynamic kernel function whose window size will be determined by the triangular relationship from this data to its two nearest clusters. The similarity from a data item to its neighbor clusters is measured by another adaptive kernel function which takes into account not only the similarity from data to clusters but also that between its two nearest clusters. The main contribution of this work lies in introducing the dynamic kernel functions to evaluate both the reliability and similarity for clustering, which makes the proposed algorithm more efficient in dealing with very strong noisy data. Through various experiments, the efficiency and effectiveness of proposed algorithm have been confirmed. Copyright © 2014 The Institute of Electronics, Information and Communication Engineers.

关键词： Reliability

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Fuzzy based velocity constraints of virtual fixtures in tele-robotic surgery

Fuzzy based velocity constraints of virtual fixtures in tele...

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IEEE International Conference on robotics and Biomimetics

作者： Yili Fu Huasong Yin Bo Pan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

Velocity control is one of important manipulate methods in terms of tele-operation applications, especially in minimally invasive robotic surgery. The input of the user (doctor) is always with the highest hierarchy in the control loop, however the poor force feedback and limited visual cues may cause inappropriate decision-making. In this paper, a virtual constraint of velocity based on fuzzy logic is presented, by which more proper factors are taken into concern. Firstly, a basic model is generated to demonstrate a general scene of robotic surgery. Then, several factors that may influence the quality and safety of a surgery are identified. After that, a new fuzzy logic rule is created and the outputs of the system provide a virtual constraint to the user in order to prevent penetrations and misoperations. Experimental results show that the proposed virtual velocity constraint is able to accurately limit dangerous operations of the user and protect organs of patients.

关键词： Pragmatics Fixtures Robots Fuzzy logic Force Surgery Input variables

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Effects of PD control parameter on walking characteristics of a passive dynamic walker with torso

Effects of PD control parameter on walking characteristics o...

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IEEE International Conference on robotics and Biomimetics

作者： Xinyu Liu Xizhe Zang Jie Zhao The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

Specific walking velocity, stability and energy consumption (i.e. walking characteristics) can be obtained by adjusting control parameters of complaint actuation which is essential for a passive walking robot to make full use of its own parameters to walk. In this paper, the series elastic actuator is used as the complaint actuator to adjust the walking characteristics. A passive dynamic walking model and a physical prototype with only one hip actuation were built to investigate how the control parameter can affect the walking characteristics. We studied the effects of control parameter on walking characteristics of a passive dynamic walker with torso by both numerical simulations and physical prototype experiments. The results showed that the control parameter k p has marginal effect on walking speed but can affect the walking stability and energy consumption greatly.

关键词： Legged locomotion Joints Prototypes Torso Foot Hip

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Kinematics modeling for a kinematic-mechanics coupling continuum manipulator

Kinematics modeling for a kinematic-mechanics coupling conti...

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

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

ISBN: (纸本)9781479979240

In this paper, the kinematics modeling of a notched continuum manipulator is presented, which includes the mechanics-based forward kinematics and the curve-fitting-based inverse kinematics. In order to establish the forward kinematics model by using D-H procedure, the compliant continuum manipulator featuring the hyper-redundant degrees of freedom (DoFs) is simplified into finite discrete joints. To reduce the effect of the hyper-redundancy for the continuum manipulator's inverse kinematic model, the “curve-fitting” approach is utilized to map the end position to the deformation angle of the continuum manipulator. By the proposed strategy, the inverse kinematics of the hyper-redundant continuum manipulator can be solved by using the traditional geometric method. The proposed methodology is validated experimentally on a piece of triangle notches continuum manipulator, which illustrates the ability of our proposed model to solve the inverse kinematics of the hyper-redundant continuum manipulator, and also can be used as a generic method for such notched continuum manipulators.

关键词： Kinematics Manipulators Joints Fitting Position measurement Curve fitting

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一种两自由度的压电-电磁复合能量收集器(英文)

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2014年第9期15卷 711-722页

作者： Hong-yan WANG Li-hua TANG Yuan GUO Xiao-biao SHAN Tao XIE College of Computer and Control Engineering Qiqihar University State Key Laboratory of Robotics and System Harbin Institute of Technology Department of Mechanical Engineering University of AucklandAuckland 1010 New Zealand

研究目的:对一种两自由度的压电-电磁复合能量收集器进行发电性能研究。创新要点:建立了一种两自由度压电-电磁复合能量收集器发电性能的数学模型,该数学模型可以评估两自由度压电-电磁复合能量收集器中压电元件、电磁元件以及系统总输... 详细信息

研究目的:对一种两自由度的压电-电磁复合能量收集器进行发电性能研究。创新要点:建立了一种两自由度压电-电磁复合能量收集器发电性能的数学模型,该数学模型可以评估两自由度压电-电磁复合能量收集器中压电元件、电磁元件以及系统总输出功率。研究方法:对一种两自由度的压电-电磁复合能量收集器进行数学建模,并实验验证数学模型的正确性。基于实验测试得到的系统参数值,理论研究压电元件和电磁元件的机电耦合系数对不同能量收集器发电性能的影响关系,并对几种能量收集器的发电能力进行对比分析。重要结论:对于非强耦合(弱或中间耦合)的两自由度机电转换器,复合能量收集器(压电+电磁)具有比单一能量收集器(压电或电磁)更高的发电能力。

关键词：振动复合能量收集两自由度模型压电电磁

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Stability analysis of quasi-periodic hopping of a passive one-legged robot with compliant hip joint

Stability analysis of quasi-periodic hopping of a passive on...

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IEEE International Conference on Mechatronics and Automation

作者： Bao Lei Pengfei Wang Fusheng Zha Mantian Li Wei Guo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Aimed at improving energy efficiency of legged robots, flexible elements like springs are introduced to realize temporary energy storage. To achieve the excellent locomotion performance of animals, it is necessary to introduce the torsional spring at the revolute joint into the robot. This paper focuses on a simplified one-legged robot with compliant hip joint, and studies the influence of the torsional spring on the stability of robot quasi-periodic hopping. Firstly, the dynamics differential equations of stance phase and flight phase are established and solved by numerical and analytical methods respectively. Then Poincare map of one whole hopping cycle is built through the unity of four sub-maps. In condition of completely passive hopping of the robot, fixed points are searched through cell mapping and orthogonal table methods. Finally, quasi-periodic solution is obtained, and its stability is analyzed. The analysis results show that the introduced flexible element in revolute joint deteriorates the stability of robot hopping.

关键词： Springs Joints Legged locomotion Hip Trajectory Vectors

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Noise cancellation for electrotactile sensory feedback of myoelectric forearm prostheses

Noise cancellation for electrotactile sensory feedback of my...

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International Conference on Information and Automation (ICIA)

作者： Li Jiang Qi Huang Jingdong Zhao Dapeng Yang Shaowei Fan Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479940998

For achieving a closed-loop, bidirectional control over myoelectric prosthetic hands, adopting the electrical stimulation in the sensory feedback channel for providing electrotactile substitution is currently a big trend. However, the electrical pulses used for stimulation may spread to the EMG collection sites which significantly interferes the controlling stability. In this paper, a novel noise cancellation method is proposed to suppress the interference between the electrotactile feedback subsystem and the electromyographic collection subsystem. Based on the propagation model of the stimulation noise, this method integrates the optimization of the stimulation waveform, the special design of the stimulation electrode and the advanced technique of digital signal processing. Experiments on healthy subjects are conducted to verify the feasibility of the proposed method. Primary results show that, through the method, the signal to noise rate (SNR) of the EMG signals reaches to 43dB, without frequency or time multiplexing.

关键词： Electrodes Noise Electromyography Frequency modulation Silicon Robot sensing systems Finite impulse response filters

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Design and analysis of a force reflection master manipulator for minimally invasive surgical robot

Design and analysis of a force reflection master manipulator...

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IEEE International Conference on robotics and Biomimetics

作者： Tao Wang Bo Pan Zhaokun Tang Yili Fu Xiaoxia Niu Shuguo Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

In this paper, the design of a 8 degrees-of-freedom (DOF) force reflection master manipulator for applications in minimally invasive surgery is presented. The manipulator includes three parts: arm mechanism, wrist mechanism and clamping mechanism. Arm mechanism is capable of position and force reflection in three translational motion. The wrist mechanism has a redundant DOF and can provide 3 DOF orientation. Based on the structure of the manipulator, forward and inverse kinematics and Jacobian matrix are presented. The kinematics simulation in Adams verifies its correctness. Using Jacobian matrix condition number the manipulability of the manipulator in its workspace is analyzed, which demonstrate that the manipulator is not only meet the workspace requirement of minimally invasive surgery well but also has great flexibility.

关键词： Manipulators Force Joints Reflection Minimally invasive surgery Wrist

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Development of a multi-linked tracked jack robot

Development of a multi-linked tracked jack robot

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IEEE International Conference on robotics and Biomimetics

作者： Xizhe Zang Yixiang Liu Jibin Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

This paper reports the development of a new jack robot. The jack robot consists of two crawler vehicles connected by 3-DOF joint mechanism which is capable of posture change, constructing a thin structure to enable it to enter narrow space, as well as high mobility in disaster sites and adaptability to irregular terrain. An electric jack mechanism and a multi-DOF manipulator are equipped in the front segment of the jack robot to accomplish jack-up operations. Adopted multiple layers screw sleeves structure, the jack mechanism can spread to the place which is almost six times the height of its own, making it possible to lift a gap up from 70 mm to 400 mm under 300 kg load driven by DC motor. With the help of the multi-DOF manipulator, precise operations to the jack mechanism can be realized. Experimental results of driving test and jack-up test validate the capability of the multi-linked tracked jack robot.

关键词： Lifting equipment Grippers Manipulators Gears Synchronous motors Pulleys

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A modular manipulator system using rotary joints toward helping the elderly and the handicapped

A modular manipulator system using rotary joints toward help...

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IEEE International Conference on robotics and Biomimetics

作者： Jihong Yan Gangfeng Liu Xin Guo Hongbing Dong Yubin Liu Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

At present, the manipulator for the elderly and disabled has the shortcomings of long production cycle, poor versatility and cannot meet the requirements of individual differences. The modular idea is presented to the design of manipulator system. A rotary joint module is developed with the advantages of small size, light weight and large torque. It integrates mechanical structure, drive, control and communication modules and can be combined into various manipulators with different configurations on demand. A distributed control system based on industrial Ethernet and CAN bus is built using a hierarchical modular structure. It can adapt to a variety of modular manipulators characterized by low stiffness and difficulty of control. Toward assisting the elderly and disabled, a 6-DOF manipulator is assembled by utilizing 6 modular rotary joints. An impedance controller is designed based on the position force control strategies. A drawer-pulled experiment is carried out with the compliance control. Experimental results verify that the modular manipulator presented is qualified to assist the elderly and the handicapped with daily operations safely.

关键词： Manipulators Joints Force Impedance Trajectory

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