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IEEE International Conference on robotics and Biomimetics

作者： Jie Zhao Jie Chen Yubin Liu He Zhang Aixiang Cheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479927456

Legged systems theoretically offer the potential to better traverse rugged terrains than traditional wheeled and tracked designs due to no need for paths of continuous contact with the ground, and therefore have been given great concern. In this paper, a geometric feature-based footholds identification system for a small six-legged robot HITCR-II was presented. For this algorithm, a novel local terrain feature extraction method was introduced, taking account of the shape and size of the robot foot. A ranking function used to quantify the risk of a candidate location for foothold by the robot was designed and trained using support vector machine (SVM). Experimental results showed that the proposed footholds identification system was able to successfully rank the usefulness of the ground points.

关键词： Legged locomotion Feature extraction Support vector machines Robot sensing systems Vectors Foot

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Table tennis robot with stereo vision and humanoid manipulator II: Visual measurement of motion-blurred ball

Table tennis robot with stereo vision and humanoid manipulat...

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IEEE International Conference on robotics and Biomimetics

作者： Hong Liu Zhiqi Li Bin Wang Yang Zhou Qi Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479927456

In this paper a stereo-vision based framework is presented to track the motion of a table-tennis ball in motion-blurred images. In the proposed approach, first the motion direction is identified by minimizing L2 norm of directional derivatives of the blurred image and the motion width is estimated using the bounding rectangle of the foreground object. Then more accurate motion parameters of the ball are obtained based on circle fitting. Finally 3D location and velocity of the ball are reconstructed from a single image pair and weighted least-square method is utilized to estimate the flying trajectory of the ball. The proposed method is implemented in an actual robot table tennis system. GPU-based image processing and multi-thread technique are used to reduce the latency of the vision system. The obtained results verifies the effectiveness of the proposed method.

关键词： Cameras Robots Three-dimensional displays Machine vision Trajectory Visualization Image edge detection

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Experiment research of human lower extremity exoskeleton robot

Experiment research of human lower extremity exoskeleton rob...

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Chinese Control Conference (CCC)

作者： Jianwen Luo Bo Pan Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China

Exoskeleton robot has become a research hotspot recently, and human lower extremity exoskeleton can be worn on human body, providing protection, assistance or help the recovery of people with lower limbs paralysis. The human lower extremity exoskeleton designed in this paper includes mechanic structure, gait characteristics parameters acquisition system. This paper does some experiment research on exoskeleton robot, designs a wearable mechanic structure that appears similar to and compatible with human. Pressure sensors are set on feet and encoders are set on hip and knee joints, which can detect feet pressure and joint angle translation. The mechanic structure is proven feasible and gait characteristic parameters are collected, which provides a foundation for further research of exoskeleton.

关键词： Exoskeletons Electronic mail Robot sensing systems Hip Joints

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Path planning using 3D grid representation in complex environment

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Journal of Computational Information systems 2013年第18期9卷 7157-7164页

作者： Zhang, Biao Adachi, Masaru Cao, Qixin Research Institute of Robotics Shanghai Jiao Tong University Shanghai 200240 China Yaskawa Electric Corporation 12-1 Ohtemachi Kokurakita-ku Kitakyushu Fukuoka 803-8530 Japan State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 China

To tackle with mobile robot path planning problem, we developed a novel path planning method utilized 3D grid map. Firstly we construct point cloud map using mobile robot equipped with 3D-LRF, then we transform point cloud into octree data structure, getting 3D grid map. We take mobile robots size and motion into consideration, develop a D* lite algorithm based path planning method which can generate 3D trajectory of mobile robot in 3D maps directly. We constructed the 3D grid maps of different environments with many obstacles and generalized passable paths, we tested this method with both simulations and experiments, the results validated the reliability and practicality of this method. © 2013 Binary Information Press.

关键词： Motion planning

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A dynamic simulation and virtual evolution platform for modular self-reconfigurable robots

A dynamic simulation and virtual evolution platform for modu...

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International Conference on Information and Automation (ICIA)

作者： Xiaolu Wang Yanhe Zhu Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479913329

Simulation platform can be used to significantly reduce research price, develop and validate algorithms. In case of locomotion evolution, we must refer to simulation platform to quickly find solutions. Modular self-reconfigurable robots comprise of modules with identical functions and have various configurations. It is hard to plan an arbitrary configuration for its redundant freedom setup. Thus execute locomotion evolution in a dynamic simulator is preferred. Some researchers have developed their own dynamic simulator with certain purpose. To realize UBot self-reconfigurable robot's dynamic simulation and virtual evolution, we developed an efficient dynamic simulator with the ability of creating arbitrary configuration and fully exerting computer's computing power. This paper presents the simulator and lists some methods to enhance dynamic simulation efficiency which can be used in other simulator research.

关键词： Robots Computational modeling Graphical models Physics Load modeling Joints Evolutionary computation

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Object shape recognition approach for sparse point clouds from tactile exploration

Object shape recognition approach for sparse point clouds fr...

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IEEE International Conference on robotics and Biomimetics

作者： Minghe Jin Haiwei Gu Shaowei Fan Yuanfei Zhang Hong Liu The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

In this paper a novel approach is proposed for tactile shape recognition, which uses tactile point location and normal information. Superquadric functions are applied to construct several shape primitives and k-means unsupervised clustering method is used to partition the objects as several patches. By extracting geometrical features from each patch and rearranging features, object feature vectors are constructed for Gaussian process (GP) classifier to identify object shapes. Simulations results prove that our approach can achieve a high recognition rate in object shape classification task from sparse and noisy tactile point clouds.

关键词： Shape Feature extraction Tactile sensors Accuracy Vectors

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Flexible virtual fixture enhanced by vision and haptics for unstructured environment teleoperation

Flexible virtual fixture enhanced by vision and haptics for ...

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IEEE International Conference on robotics and Biomimetics

作者： Zainan Jiang Yu Liu Hong Liu Jibin Zou State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479927456

Both manipulative accuracy and system safety are important for teleoperation. Traditional virtual fixture has good accuracy in fully known environment, however it is unable to handle suddenness (avoiding obstacles and etc.) in unstructured environment teleoperation which is crucial to system safety. In this paper we present the flexible virtual fixture enhanced by vision and haptics for unstructured environment teleoperation. Firstly, the flexible virtual fixture is proposed to deal with suddenness of unstructured environment, but the manipulation accuracy decreases. Secondly, vision is utilized for flexible virtual fixture to recognize unknown obstacles to improve the accuracy by selecting the proper flexible factor. Thirdly, haptics with virtual guidance force is used to assist human operator manipulation to further enhance the accuracy. Experimental results of sinusoid curve tracking with obstacles demonstrate that the proposed method has good performance in both manipulative accuracy and system safety for unstructured environment teleoperation.

关键词： Force Robot kinematics Accuracy Tracking Fixtures Haptic interfaces

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Virutual guides for force feedback teleoperation

Virutual guides for force feedback teleoperation

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International Conference on Information and Automation (ICIA)

作者： Jihong Yan Chen Yang Qingchao Lu Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479913329

In this paper, several kinds of virtual guides have been developed which aims at mitigating trajectory errors between real mobile manipulator and its virtual model, hence improving both the accuracy and the safety of teleoperation. By utilizing proposed virtual guide sphere, corresponding virtual guides have been constructed. Then geometric analysis is conducted since the position relation of manipulator and virtual guide determines their particular interactive states. The experiment is based on human-machine shared control platform, in which force feedback is provided to operators. The final results demonstrate that operators are able to track both force and position of end-effector, meanwhile stable force feedback is available.

关键词： Manipulators Robot kinematics Force feedback Trajectory Force Virtual environments

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A structural changing projectile of anchoring system for landing on small bodies

A structural changing projectile of anchoring system for lan...

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IEEE International Conference on robotics and Biomimetics

作者： Jingdong Zhao Zhijun Zhao Hong Liu Yukai Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province PRC

ISBN: (纸本)9781479927456

Projectile is an important part of the anchoring system for landing on small bodies. It penetrates into the small bodies and supplies anchoring force to avoid flowing away of the lander. In order to advance the anchoring force of the projectile, a structural changing projectile is designed. Structural changing modes are discussed, and then a projectile is designed. The anchoring performances of the projectile with and without structural changing are tested in soil medium.

关键词： Projectiles Force Soil Springs Powders Resistance Pistons

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Pose determination of non-cooperative spacecraft based on multi-feature information fusion

Pose determination of non-cooperative spacecraft based on mu...

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IEEE International Conference on robotics and Biomimetics

作者： Hong Liu Zhichao Wang Bin Wang Zhiqi Li State Key Laboratory Of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479927456

Vision-based non-cooperative spacecraft capturing for on-orbit servicing, space-debris collections, space attack and defense, has been a research focus in the field of space robot technique, recently. However, it remains a challenge to determine the relative pose of non-cooperative spacecraft rapidly and accurately in the capturing task. This article proposes a novel method based on multi-feature information fusion to estimate the pose of non-cooperative spacecraft. In the proposed approach, the common apparatuses on the spacecraft are chosen as the identified features which are recognized by combining the region detection with the line detection. Then, the information which comes from the different object features is fused to calculate the pose of non-cooperative spacecraft. Three Experiments are carried out and the results verify the proposed approach.

关键词： Space vehicles Satellites Engines Shape Robot kinematics Cameras

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