检索结果-内蒙古大学图书馆

Service Robot Localization Based on Global Vision and Stereo Vision

Journal of Donghua University(English Edition) 2012年第3期29卷 197-202页

作者：于清晓闫维新付庄赵言正 State Key Laboratory of Mechanical System and Vibration Shanghai Jiaotong University State Key Laboratory of Robotics and System Harbin Institute of Technology

To satisfy different positioning accuracy demand in the movement of the service robot, a hierarchical localization method based on vision was proposed considering the positioning cost and computational efficiency. The hierarchical positioning method could be divided into two parts: the localization method based on global vision and the localization method based on binocular vision. The global vision-based localization method was applied to calculate the initial coordinates of the robot and realize real-time rough positioning with the dead-reckoning method in the first stage. In the last stage, the binocular vision-based localization method was adopted to obtain higher positioning accuracy to make sure that the service robot can successfully grab the object. Experiments indicate that the proposed algorithm can accurately evaluate the positioning performance, obtain up to ±2 cm positioning accuracy, and absolutely meet the positioning requirements of the indoor service robot.

关键词： service robot hierarchical positioning binocular vision localization

来源：评论

学校读者我要写书评

暂无评论

Optimal design of dynamic and control performance for planar manipulator

引用

Journal of Central South University 2012年第1期19卷 108-116页

作者： YOU Wei KONG Min-xiu SUN Li-ning DU Zhi-jiang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

A design and optimization approach of dynamic and control performance for a two-DOF planar manipulator was *** the kinematic and dynamic analysis,several advantages of the mechanism were illustrated,which made it possible to obtain good dynamic and control performances just through mechanism *** on the idea of design for control(DFC),a novel kind of multi-objective optimization model was *** were three optimization objectives:the index of inertia,the index describing the dynamic coupling effects and the global condition *** indexes to characterize the designing requirements such as the velocity of end-effector,the workspace size,and the first mode natural frequency were regarded as the *** cross-section area and length of the linkages were chosen as the design ***-II algorithm was introduced to solve this complex multi-objective optimization *** criteria from engineering experience were incorporated into the selecting of final parameters among the obtained Pareto solution ***,experiments were performed to validate the linear dynamic structure and control performances of the optimized mechanisms.A new expression for measuring the dynamic coupling degree with clear physical meaning was *** results show that the optimized mechanism has an approximate decoupled dynamics structure,and each active joint can be regarded as a linear SISO *** control performances of the linear and nonlinear controllers were also *** can be concluded that the optimized mechanism can achieve good control performance only using a linear controller.

关键词： mechanism optimization dynamic optimization design for control multi-objective optimization

来源：评论

学校读者我要写书评

暂无评论

Differentiated Time-frequency Characteristics Based Real-time Motion Decoding for Lower Extremity Rehabilitation Exoskeleton Robot

Differentiated Time-frequency Characteristics Based Real-tim...

引用

上海交通大学第16期博士生学术论坛——机械百年·智能制造·智造中国学术论坛

作者： Yuanjie Fan The State Key Laboratory of Mechanical System and Vibration the Robotics Institute Shanghai Jiao Tong University Dongchuan Rd.800 200240 Shanghai China

Decode the human motion intension precisely in real time is the key problem in coordinated control of the lower extremity *** this research, the relationship between frequency characteristics of sEMG (surface electromyographic) and muscle contraction is established in real time according to the biomechanism of skeletal muscle;DPSE (Differentiated Power Spectrum Estimation) method is applied to extract frequency characteristics from sEMG precisely and quickly;offset compensation is added to prevent noise disturbance during feature extracting of the sEMG with lower SNR (signal-to-noise ratio).Corresponding experiments on knee joint are conducted by prototype exoskeleton *** (EMG Biofeedback therapy) based on force and haptic is applied as information *** show the human-machine interface can decode human motion intension and assist or resist movement of the wearer in real-time.

关键词： Differentiated power spectrum estimation skeletal muscle contraction rehabilitation exoskeleton Human-machine interface

来源：评论

学校读者我要写书评

暂无评论

Structure design optimization of micro/nano angular-table with S-shape compliant structure

Structure design optimization of micro/nano angular-table wi...

引用

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

作者： Mahmoud Helal Weibin Rong Lininig Sun Production and Mechanical Design Dept. Mansoura University Mansoura EGYPT State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin CHINA

Micro-electromechanical systems is a rapidly growing field that will permeate our everyday lives in the coming decades. Recently, the evolution in microelectronics of combining mechanical and electrical functions has brought about an exciting new field micro/nano-electro-mechanical system. Compliant mechanisms can play an important role in the design of micro-devices for micro-electro-mechanical systems applications. Compliant mechanism is flexible structures that generate desired motion by undergoing elastic deformations. The concept of structural optimization has been more and more widely accepted in many engineering fields. The structural optimization can result in a much more reasonable and economical structure design. In this investigation, structure optimization is applied for designing two-dimensional micro/nano angular-table compliant mechanism. The interface between Malab and Ansys were shown to obtain the optimal shape of the compliant mechanism. Structure design optimization of the two-dimension micro/nano angular-table with S-shape compliant structure was shown and all results are illustrated.

关键词： Manufacturing processes Finite element analysis Micromechanical devices Mathematical model Design optimization Shape

来源：评论

学校读者我要写书评

暂无评论

Preoperative position planning strategy for laparoscopic robot

Preoperative position planning strategy for laparoscopic rob...

引用

International Conference on Information and Automation (ICIA)

作者： Bo Pan Yili Fu Guojun Niu Dianguo Xu Harbin Institute of Technology School of Electrical Engineering and Automation Harbin China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781479913329

Laparoscopic robot is used to grasp endoscope to output image of focal area for surgeons in minimally invasive surgery (MIS), so it is necessary to set relative position between laparoscopic robot base and patient's focal area to make all focal points locate into robot workspace. For the reasons of surgeons needing to do much work in preoperative process and many surgical instruments occupying much space in operating room, it is impossible to realize position set by repeated trial and error process in operating room. Therefore, the method of off line simulation is a suitable ways to set laparoscopic robot' position in preoperative process. Through the concepts of service sphere and service region, dexterity distribution of laparoscopic robot is illustrated in workspace, then a robot's position planning method using gradient projection for distance search is recommended. By combining with dexterity distribution of laparoscopic robot and gradient projection method for distance search, a preoperative position planning strategy for laparoscopic robot is given. In the end, simulation and experiment are carried out to validate the effectiveness of planning strategy.

关键词： Laparoscopes Robot kinematics Joints Planning Surgery Cost function

来源：评论

学校读者我要写书评

暂无评论

CPG Control for Biped Hopping Robot in Unpredictable Environment

引用

Journal of Bionic Engineering 2012年第1期9卷 29-38页

作者： Tingting Wang Wei Guo Mantian Li Fusheng Zha Lining Sun State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080P.R.China

A CPG control mechanism is proposed for hopping motion control of biped robot in unpredictable environment. Based on analysis of robot motion and biological observation of animal＇s control mechanism, the motion control task is divided into two simple parts： motion sequence control and output force control. Inspired by a two-level CPG model, a two-level CPG control mechanism is constructed to coordinate the drivers of robot joint, while various feedback information are introduced into the control mechanism. Interneurons within the control mechanism are modeled to generate motion rhythm and pattern promptly for motion sequence control; motoneurons are modeled to control output forces of joint drivers in real time according to feedbacks. The control system can perceive changes caused by unknown perturbations and environment changes according to feedback information, and adapt to unpredictable environment by adjusting outputs of neurons. The control mechanism is applied to a biped hopping robot in unpredictable environment on simulation platform, and stable adaptive motions are obtained.

关键词： biped robot unpredictable environment hopping motion control bionic control CPG

来源：评论

学校读者我要写书评

暂无评论

Approximate Perturbation Stance Map of the SLIP Runner and Application to Locomotion Control

引用

Journal of Bionic Engineering 2012年第4期9卷 411-422页

作者： Haitao Yu Mantian Li Pengfei Wang Hegao Cai State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080P.R.China

This paper presents a novel method of perturbation to obtain the analytic approximate solution to the Spring-Loaded Inverted Pendulum （SLIP） dynamics in stance phase with considering the effect of gravity. This perturbation solution achieves higher accuracy in predicting the apex state variables than the typical existing analytic approximations. Particularly, our solution is validated for non-symmetric trajectory of hopping in a large angle range. Furthermore, the stance controller of the SLIP runner is developed to regulate the apex state based on the approximate apex return map. To compensate the energy variation between the current and desired apex states, a stiffness adjustment of the leg spring in stance phase is presented. The deadbeat controller of the angle of attack is designed to track the regulated apex height and velocity. The simulation demonstrates that the SLIP runner applying the proposed stance controller reveals higher tracking accuracy and more rapidly converges to the regulated apex state.

关键词： legged locomotion spring-loaded inverted pendulum perturbation apex return map stiffness adjustment

来源：评论

学校读者我要写书评

暂无评论

Combined Use of FSR Sensor Array and SVM Classifier for Finger Motion Recognition Based on Pressure Distribution Map

引用

Journal of Bionic Engineering 2012年第1期9卷 39-47页

作者： Nan Li Dapeng Yang Li Jiang Hong Liu Hegao Cai State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080P.R.China

For controlling dexterous prosthetic hand with a high number of active Degrees of Freedom （DOF）, it is necessary to reliably extract control volitions of finger motions from the human body. In this study, a large variety of finger motions are discriminated based on the diversities of the pressure distribution produced by the mechanical actions of muscles on the forearm. The pressure distribution patterns corresponding to the motions were measured by sensor array which is composed of 32 Force Sensitive Resistor （FSR） sensors. In order to map the pressure patterns with different finger motions, a multiclass classifier was designed based on the Support Vector Machine （SVM） algorithm. The multi-subject experiments show that it is possible to identify as many as seventeen different finger motions, including individual finger motions and multi-finger grasping motions, with the accuracy above 99% in the in-session validation. Further, the cross-session validation demonstrates that the performance of the proposed method is robust for use if the FSR array is not reset. The results suggest that the proposed method has great application prospects for the control of multi-DOF dexterous hand prosthesis.

关键词： finger motion recognition dexterous hand support vector machine sensor array pressure distribution map

来源：评论

学校读者我要写书评

暂无评论

Bio-Inspired Controller for a Robot Cheetah with a Neural Mechanism Controlling Leg Muscles

引用

Journal of Bionic Engineering 2012年第3期9卷 282-293页

作者： Xin Wang Mantian Li Pengfei Wang Wei Guo Lining Sun State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

The realization of a high-speed running robot is one of the most challenging problems in developing legged robots. The excellent performance of cheetahs provides inspiration for the control and mechanical design of such robots. This paper presents a three-dimensional model of a cheetah that predicts the locomotory behaviors of a running cheetah. Applying biological knowledge of the neural mechanism, we control the muscle flexion and extension during the stance phase, and control the positions of the joints in the flight phase via a PD controller to minimize complexity. The proposed control strategy is shown to achieve similar locomotion of a real cheetah. The simulation realizes good biological properties, such as the leg retraction, ground reaction force, and spring-like leg behavior. The stable bounding results show the promise of the controller in high-speed locomotion. The model can reach 2.7 m-s^-1 as the highest speed, and can accelerate from 0 to 1.5 m-s^-1 in one stride cycle. A mechanical structure based on this simulation is designed to demonstrate the control approach, and the most recently developed hindlimb controlled by the proposed controller is presented in swinging-leg experiments and jump-force experiments.

关键词： biomimetics biologically-inspired robots legged robots neural mechanism artificial pneumatic muscle

来源：评论

学校读者我要写书评

暂无评论

Optimization and experimental research on a new-type short cylindrical cup-shaped harmonic reducer

引用

Journal of Central South University 2012年第7期19卷 1869-1882页

作者：高海波庄红超李志刚邓宗全丁亮刘振 State Key Laboratory of Robotics and System(Harbin Institute of Technology)

In order to obtain a new-type short cylindrical cup-shaped flexspline that can be applied to space mechanisms,the APDL language of ANSYS software was employed to develop a parameterized equivalent contact model between a flexspline and a wave generator. The validity of the parameterized equivalent contact model was verified by comparing the results of the analytic value of the contact model and the value calculated by the theoretical formula. The curvilinear trend of stress was obtained by changing the structural parameter of the flexspline. Based on the curvilinear trend of stress,multi-objective optimizations of key structural parameters were achieved. Flexspline,wave generator,and circular spline of a new 32-type short cylindrical cup-shaped harmonic reducer were designed and manufactured. A performance test bench to carry out tests on the harmonic reducer was designed. Contrast experiments were implemented to determine the efficiency of the new 32-type short cylindrical cup-shaped harmonic reducer and the conventional 32-type harmonic reducer under different conditions. The experimental results reveal that there is approximately equality in terms of efficiency between the new 32-type short cylindrical cup-shaped harmonic reducer and the conventional 32-type harmonic reducer. The volume of the flexspline of the new 32-type short cylindrical cup-shaped harmonic reducer is reduced by approximately 30% through multi-objective optimization. When the new 32-type short cylindrical cup-shaped harmonic reducer is used on the wheel of a rover prototype,the mass of the wheel hub is decreased by 0.42 kg. Test analysis of wheel motion verifies that the new 32-type short cylindrical cup-shaped harmonic reducer can meet the requirements regarding bearing capacity and efficiency.

关键词： harmonic drive flexspline structural parameter multi-objective optimization

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：