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IEEE International Conference on robotics and Biomimetics

作者： Yi Long Zhijiang Du Weidong Wang State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China

ISBN: (纸本)9781479973989

This paper presents that support vector machine (SVM) is used to classify three gait patterns: level walking, stair ascent and stair descent based on ground reaction force (GRF). The recognition process consists of three stages: i) a three layers wavelet packet analysis is used for feature extraction, with which squared and standard deviation of decomposition coefficients compose features; ii) with attributes distribution analysis of features (similar to principal component analysis), the feature set is cut down to contain six ones; and iii) the optimal feature set is input to the SVM classifier. Six healthy subjects were tested wearing the designed shoes. As a result, the accuracy is around 83.3%. Improved performance of the classifier was evident in ideal situation i.e. a constant walking velocity, no tilting et al., accuracy of SVM is nearly 100%. These results suggest that SVM system can function as an efficient classifier for recognition of three gait patterns.

关键词： Legged locomotion Feature extraction Support vector machines Accuracy Wavelet analysis Approximation methods Pattern recognition

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Friction identification and control for Chinese large-scale space end-effector's dragging subsystem

Friction identification and control for Chinese large-scale ...

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IEEE International Conference on robotics and Biomimetics

作者： Fenglei Ni Qian Zhang Shipeng Xie Hong Liu Dangyang Jie State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China

ISBN: (纸本)9781479973989

In order to achieve large tolerance capture and high stiffness connection for space payload operations, a Chinese large-scale space end-effector (EER) was developed. Friction is a kind of strong nonlinear factor that severely degrades performance of EER. To predict the friction amplitude and compensate the dynamic error, the friction model based Generalized Maxwell-Slip model (GMS) is built. In order to improve the parameters identification accuracy of friction model, and overcome the error effects of the low speed velocity measurement, the full-order speed observer is designed as feedback speed information. Experiments platform has been built and some dragging experiments on the EER have been done. Results of the experiments show that the precision of the position tracking can reach ±0.02mm by GMS compensation, increased more than 30% compared with Stribeck friction model.

关键词： Friction Mathematical model Observers Torque Robots Payloads Aerospace electronics

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A simple algorithm for position and velocity estimation of mobile robots using omnidirectional vision and inertial sensors

A simple algorithm for position and velocity estimation of m...

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2014 IEEE International Conference on robotics and Biomimetics, IEEE ROBIO 2014

作者： Li, Luyang Liu, Yun-Hui Wang, Kai Fang, Mu Department of Mechanical and Automation Engineering Chinese University of Hong Kong Shatin N.T. Hong Kong State Key Laboratory of Robotics Technology and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781479973965

Despite of many efforts by researches, real-time localization of mobile robot only using onboard sensor is still an open problem in mobile robotics. To contribute this research area, in this paper, a simple and effective method is proposed based on an adaptive estimator for estimating the position and linear velocity of a mobile robot in an unknown and unstructured environment using measurements of onboard inertial sensors and visual feedback of a catadioptric vision system. This novel method is developed on the basis of a new projection model of catadioptric vision, where the highly nonlinear projection model of catadioptric vision can be represented as a similar form to that of perspective vision. It is proved that this method leads to global exponential convergence of the estimation errors of the robot's position and linear velocity to zero. Experimental results validate the performance of the proposed method. © 2014 IEEE.

关键词： Mobile robots

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Development and optimum design of a mobile manipulator for CBRN sampling

Development and optimum design of a mobile manipulator for C...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Yayun Huang Weidong Wang Dongmei Wu State key laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

Chemical, biological, radiological, nuclear, and explosive (CBRNE) defense is a very critical issue in today's world and there is a trend to apply unmanned systems in such emergencies. Mobile manipulator is one typical representative and the performance of the manipulator matters a lot for the task. In this paper, the requirement of the manipulator for a sampling task is analyzed and a lightweight 5R manipulator is presented. As to get the best performance of the manipulator during the sampling process, the planar 3R manipulator's workspace is deeply looked into and an optimization method is proposed, which combines the condition number of the normalized Jacobian matrix and the end effector's orientation capability. And the optimum design is demonstrated through the simulation of a specific sampling task using rvc toolbox.

关键词： Joints Kinematics End effectors Optimization Jacobian matrices

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A fuzzy logic system tuned with particle swarm optimization for gait segmentation using insole measured ground reaction force

A fuzzy logic system tuned with particle swarm optimization ...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Yi Long Zhijiang Du Weidong Wang State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China

To segment gait phases of human locomotion tasks, such as level walking and stairway walking, ground reaction force (GRF) data during walking are collected. This paper presents a fuzzy logic inference (FLI) technique tuned by particle swarm optimization (PSO), which is used to find optimal triangular membership functions. To discriminate flexion and extension of swing leg, ground reaction force of the other foot is supplemented. As a result, a whole gait cycle is divided into five phases: heel strike(H-S), stance(S), heel off(H-O), swing one(Sw1), swing two(Sw2). The proposed method is simple and particularly suitable for human gait phases segmentation. Six healthy human were tested while maintaining a constant average walking velocity as far as possible. Results show that swing phase period accounts for around 31%, 41% and 42% in three gait motion patterns separately, which is nearly 40% in clinical gait analysis. After comparison, the proposed method is superior to conventional FLI(C-FLI) system. These results suggest that the proposed method can function as an efficient detector for gait phases.

关键词： Legged locomotion Footwear Fuzzy logic Force Force sensors Accuracy

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Adaptive object impedance control of dual-arm cooperative humanoid manipulators

Adaptive object impedance control of dual-arm cooperative hu...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Yi Ren Yang Zhou Yechao Liu Minghe Jin Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

A novel adaptive object impedance control strategy is presented for dual-arm cooperative humanoid manipulators. A general impedance scheme comprising internal impedance control and object impedance control is adopted, which aims at conferring a compliant behavior both in end-effector level and object lever. The adaptation law for the stiffness and damping of object impedance is derived from Lyapunov stability theory. In contrast with general object impedance, the proposed controller can exhibit different impedance characteristics according to the force exerted by environment on the object and can achieve minimizing the metabolic cost of the adaptation process. Simulation results show the object impedance controller exhibits explicit compliance behavior when the interaction with environment is weak and presents accumulation property of the stiffness and damping when the interaction is strong.

关键词： Impedance Manipulators Vectors Force Trajectory Equations Joints

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Kinematics analysis of a novel 5-DOF hybrid manipulator

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International Journal of Automation Technology 2015年第6期9卷 765-774页

作者： Guo, Wanjin Li, Ruifeng Cao, Chuqing Gao, Yunfeng State Key Laboratory of Robotics and System Harbin Institute of Technology 92 West Dazhi Street Nan Gang District Harbin150001 China School of Mechanical Engineering Nanjing University of Science and Technology Xiaolingwei 200 Nanjing210094 China Wuhu HIT Robot Technology Research Institute Co. TLD E Electronic Industrial Park JiuJiang District WuHu241007 China School of Construction Machinery Chang’an University China

Application of hybrid robotics is a continuously developing field, as hybrid manipulators have demonstrated that they can combine the benefits of serial structures and parallel mechanisms. In this paper, a novel 5-degree-of-freedom hybrid manipulator is designed. The structure of this manipulator and its kinematics analysis are presented. An innovative closedform solution was proposed to address the inverse kinematics problem. Additionally, the validity of the closed-form solution was verified via co-simulation using MATLAB and ADAMS. Finally, the reachable workspace of this manipulator was obtained for further optimizing the structure and motion control. © 2015, Fuji Technology Press. All rights reserved.

关键词： Inverse kinematics

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Correction: Electrocoalescence of paired droplets encapsulated in double-emulsion drops

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Lab on a chip 2016年第22期16卷 4466页

作者： Yankai Jia Yukun Ren Weiyu Liu Likai Hou Ye Tao Qingming Hu Hongyuan Jiang School of Mechatronics Engineering Harbin Institute of Technology West Da-zhi Street 92 Harbin Heilongjiang 150001 PR China. rykhit@***. School of Mechatronics Engineering Harbin Institute of Technology West Da-zhi Street 92 Harbin Heilongjiang 150001 PR China. rykhit@*** and State Key Laboratory of Robotics and System Harbin Institute of Technology West Da-zhi Street 92 Harbin Heilongjiang 150001 PR China. jhy_hit@***.

Correction for 'Electrocoalescence of paired droplets encapsulated in double-emulsion drops' by Yankan Jia et al., Lab Chip, 2016, DOI: .

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Numerical simulation of double hypervelocity impacts on the satellite propellant tank with baffle protection

Numerical simulation of double hypervelocity impacts on the ...

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2014 International Conference on Manufacturing Technology and Electronics Applications, ICMTEA 2014

作者： Zhang, Chao Xu, Xiao Hui Zhu, Yan He Yao, Zhi Hui State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China The Eighth Academy of China Aerospace Science and Technology Corporation Shanghai China College of Mechanical Engineering of Harbin Institute of Technology Harbin China

ISBN: (纸本)9783038353287

The space debris of centimeter-size could pierce through the satellite shell and cause a first impact to the shell protection and a second impact to the internal structure. This paper focuses on the double hypervelocity impacts of the satellite propellant tank with baffle protection. The simplified 2D axisymmetric analysis model has been built and the double impact damaging effects were simulated based on the SPH algorithm. Three different speeds of the centimeter-size pill (10km/s, 7km/s and 5km/s) were selected and the simulation results turned out to be consistent with the empirical formula of the ground experiments, which proved the effectiveness of the simulation results. The average velocity changing curve showed that the residual energy of the fragment cloud decreased significantly after the second impact. As a result, the double-layer or multilayer protective structure is of great significance and should be prioritized for the satellite shell design. © (2014) Trans Tech Publications, Switzerland.

关键词： Satellites

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A method to online estimate wheel's slippage for planetary rover

A method to online estimate wheel's slippage for planetary r...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Weihua Li Haibo Gao Huaiguang Yang Nan Li Liang Ding Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

In the planetary exploration by the wheeled rover, owing to the soft terrain, the longitudinal and lateral slippage always exists while the rover is running which will influence the security of the rover and the success of missions. Therefore, this paper proposes a method to online estimate the longitudinal and lateral slippage based on the rover's state information. To solve the unknown local coordinate system, some simplifications are employed in the Cartesian coordinate system. The simulations in ROSTDyn validate the proposed method, which indicates that the estimation precision is well.

关键词： Wheels Fasteners Sensors Estimation error Kinematics Dynamics

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