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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Kui Sun Tian Li Yue Jin Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin 150001 Chi College of Electromechanical Engineering China University of Petroleum Dongying 266555 China Institute of Robotics and Mechatronics German Aerospace Center DLR 82230 Wessling Germany

Normally, people always believe that the more measurement poses used in a robot calibration process, the more accurate result can be obtained. However, the accuracy improvement converges to a threshold after a number of measurement poses. Moreover, robot calibration is a time consuming process, too many poses would seriously complicate the process and consumedly increase the spending time. In this paper, an optimal measurement pose number searching method was proposed to improve the calibration method in time spending aspect. Optimal robot poses were added to an initial pose set one by one to establish a new pose set for the robot calibration. The root mean squares (RMS) of the end-effector pose errors after being calibrated by using these pose sets were calculated. The optimal number of the configuration set which correspond to the least RMS of pose error can then be obtained. This algorithm can get higher end-effector accuracy, meanwhile consume less time. The simulation on a serial robot manipulator with 24 unknown kinematic parameters shows that the end-effector pose accuracy after calibrated by the using of the optimal pose set is much better than the result before calibration, and is better than the using of a random pose set.

关键词： Kinematics Robots Calibration Joints Observability Jacobian matrices Indexes

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Tremor Suppression Method via Magnetorheological Damper and Fuzzy Neural Network Control

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Journal of Donghua University(English Edition) 2010年第4期27卷 486-490页

作者：李军强臧希喆赵杰 State Key Laboratory of Robotics and System Harbin Institute of Technology

Based on the performance of magnetorheological damper we have developed,a tremor suppression method using human limb nonrigid characteristic was *** tremor suppression machine was designed,and the measure part and the tremor suppression part were ***,the mathematic models of fuzzy neural network and elbow nonrigid tremor were worked *** selected training data set,the off-line fuzzy neural network training was *** the tremor suppression method was simulated in *** the simulation results,it is found that the tremor suppression method has presented suppresses tremor effectively,and the tremor amplitude and tremor suppression torque can be controlled with angle displacement sensor.

关键词： magnetorheological damper nonrigid body fuzzy neural network tremor suppression

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The application of real-time operating system QNX in the computer modeling and simulation

The application of real-time operating system QNX in the com...

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International Conference on Artificial Intelligence, Management Science and Electronic Commerce (AIMSEC)

作者： Mingxin Hou Fenglei Ni Minghe Jin Li Jiang Hong Liu Yue Jin Mingbo Hou State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China Institute of Robotics and Mechatronics German AeroSpace Center Munich Germany College of Electromechanical Engineering China University of Petroleum China Department of Electronic Engineering University of York UK

The objective of this study is to show the applications of the simulation implementation of QNX identified model combining with Matlab/Simulink platform, QNX C/C++ compiler and QNX real-time operating system. The HIT/DLR Hand II dexterous hand QNX real-time simulation model is generated by the Simulink platform and QNX C/C++ compiler link files. Moreover, this model can be implemented in the QNX real-time system. Simulations in the QNX real-time system show that the HIT/DLR Hand II dexterous hand QNX model which based on the methods in this research, was able to offer an attractive performance during both real-time simulation and feedback operations.

关键词： Mathematical model Real time systems Computational modeling Robots Operating systems Conferences Joints

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Unknown Constrained Mechanisms Operation based on Dynamic Hybrid Compliance Control

Unknown Constrained Mechanisms Operation based on Dynamic Hy...

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IEEE International Conference on robotics and Biomimetics

作者： Dedi Ma Hesheng Wang Weidong Chen Department of Automation Shanghai JiaoTong University State Key Laboratory of Robotics and System (HIT)

ISBN: (纸本)9781457721366

In order to operate unknown constrained mechanisms with assistive robot manipulators, a dynamic hybrid compliance control algorithm was proposed in the paper. The controller using the proposed algorithm was designed to estimate constrained frame, determine driving-axis and obtain control velocity. Firstly, the constrained frame was estimated online according to the previous motion direction, and a suitable direction was selected as driving-axis by selection matrix;then hybrid position/force control was adopted to decouple the driving-axis and non-driving-axis;finally, velocity control was used at the driving-axis and impedance control was used at the non-driving-axis. The proposed dynamic hybrid compliance control algorithm made manipulators find a suitable direction as the driving-axis to operate the constrained mechanisms. And the dynamic characteristics of operation were improved. The validity of the proposed method was verified by the experiments of autonomous door opening utilizing a 6-DoF manipulator.

关键词： compliance control doorways Velocity control HYBRID Hybrid electric vehicles Surgery Robot Manipulator dynamic characteristics

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Analysis of Time Zero Reset method for Virtual Slope Walking

Analysis of Time Zero Reset method for Virtual Slope Walking

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IEEE International Conference on robotics and Biomimetics

作者： Youbin Qiu Mingguo Zhao State Key Laboratory of Robotics and System (HIT) Institute of Control Theory and Technology Department of Automation Tsinghua University Beijing China Institute of Control Theory and Technology Department of Automation Tsinghua University Beijing China

ISBN: (纸本)9781457721366

In our previous work, we proposed a novel method Virtual Slope Walking(VSW) for biped locomotion. Mechanical energy is restored by actively extending stance leg in this method. VSW has two kinds of implementations, termed self-excited mode and parametric excited mode, respectively. In self-excited mode, stance leg extension is controlled according to its angle, but the measure of leg's angle is difficult in practical implementation; while in parametric excited mode stance leg extension is controlled according to time. In this paper, we investigate a method for VSW using parametric excited mode named Time Zero Reset method, which controlling stance leg extension with relative time, time zero is reset at each heelstrike. The method generates stable period-1 and multi-period walking cycles which not seen in VSW before. The results of stability analysis show the method has strong tolerance to disturbances. Compared to previous parametric excited mode with open-loop control, it has wider speed range and is more robust to disturbances with low cost as only touchdown sensors are needed.

关键词： Legged locomotion Angular velocity Limit-cycles Eigenvalues and eigenfunctions Mathematical model Stability analysis

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Self-configuring quick bp neural network and its application to parallel robot's forward kinematics solution

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ICIC Express Letters, Part B: Applications 2011年第4期2卷 959-966页

作者： Zhang, Shihui Kong, Lingfu State Key Laboratory of Robotics and System Harbin Institute of Technology No. 92 West Da-Zhi Street Harbin 150001 China College of Information Science and Engineering Yanshan University No. 438 West Hebei Street Qinhuangdao 066004 China

The learning algorithm for self-configuring quick BP neural network is proposed in this paper. It makes the number of hidden nodes more reasonable by merging or deleting hidden nodes in the same layer of the initial quick BP network model, and consequently overcomes the limitation in determining the number of hidden nodes only depending on experiments in the past. In addition, it also attains the goal to optimize network structure and improve network performance. As examples, the self-configuring quick BP neural network is applied to forward kinematics solution of parallel robot. The experimental results show the proposed method not only can guarantee calculation precision but also has advantages of less calculation amount and quick speed, which benefits to the real time control for parallel robot. © 2011 ISSN 2185-2766.

关键词： Real time control

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A Flexible Hingeless Control Surface Inspired by Aquatic Animals

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Journal of Bionic Engineering 2010年第4期7卷 364-374页

作者： Zhenlong Wang,Jian Li,Guanrong Hang,Yangwei Wang state key laboratory of robotics and system,Harbin Institute of Technology,Harbin 150001,P.R.China [a] State Key Laboratory of Robotics System Harbin Institute of Technology Harbin 150001 P. R. China

A flexible hingeless control surface model was proposed for motion control of Underwater Vehicles (UVs),which is inspiredby the flexible bending control surfaces of underwater creatures,such as fish and *** Fluid Dynamics(CFD) simulation demonstrates that,in comparison with the hinged or rigid control surface,the proposed flexible bendingcontrol surface can suppress the flow separation so as to improve the turning performance.A prototype of the flexible controlsurface was fabricated,in which Shape Memory Alloy (SMA) wires were selected as the *** elastic energy storageand exchange mechanism was incorporated into the actuation of the control surface to improve the *** analysisof SMA wires was performed to find proper actuating ***-loop bending experiments were carried *** resultsshow that the proposed control surface can achieve the maximum bending angle of 104°.Moreover,the power and energyconsumption under different pulse conditions were compared.

关键词： bio-inspired flexible hingeless control surface CFD shape memory alloy wire underwater vehicle

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Wheel slip-sinkage and its prediction model of lunar rover

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Journal of Central South University 2010年第1期17卷 129-135页

作者：丁亮高海波邓宗全陶建国 Aerospace Mechanism and Control Key Laboratory of Fundamental Science for National Defense Harbin Institute of Technology State Key Laboratory of Robotics and System Ha rbin Institute of Technology

In order to investigate wheel slip-sinkage problem, which is important for the design, control and simulation of lunar rovers, experiments were carried out with a wheel-soil interaction test system to measure the sinkage of three types of wheels in dimension with wheel lugs of different heights and numbers under a series of slip ratios (0-0.6). The curves of wheel sinkage versus slip ratio were obtained and it was found that the sinkage with slip ratio of 0.6 is 3-7 times of the static sinkage. Based on the experimental results, the slip-sinkage principle of lunar's rover lugged wheels (including the sinkage caused by longitudinal flow and side flow of soil, and soil digging of wheel lugs) was analyzed, and corresponding calculation equations were derived. All the factors that can cause slip sinkage were considered to improve the conventional wheel-soil interaction model, and a formula of changing the sinkage exponent with the slip ratio was established. Mathematical model for calculating the sinkage of wheel according to vertical load and slip ratio was developed. Calculation results show that this model can predict the slip-sinkage of wheel with high precision, making up the deficiency of Wong-Reece model that mainly reflects longitudinal slip-sinkage.

关键词： lunar rover slip-sinkage loose lunar soil stress distribution slip ratio

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Mechanical principle and design of bionic snake mouth

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2011年第SUPPL. 1期42卷 478-482页

作者： Liu, Zi-Juan Fei, Jian Fu, Zhuang Yan, Wei-Xin Zhao, Yan-Zheng State Key Laboratory of Mechanical System and Vibration Shanghai Jiaotong University Shanghai 200240 China Ruijin Hospital Affiliated School of Medicine Shanghai Jiaotong University Shanghai 200240 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

To realize open bite and swallows movements of the snake mouth. Bionic snake mouth mechanism was designed based on the anatomy of snake mouth and the combination of bionics and engineering, and the motion of snake mouth was divided into three basic movements. Mechanism kinematic analysis was made and linkage parameters were determined for implementing the motion of snake mouth. Then the virtual model was made and the desired motion was realized.

关键词： Bionics

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Brain-Computer Interface Design Using Signal Powers Extracted During Motor Imagery Tasks

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Chinese Journal of Biomedical Engineering(English Edition) 2011年第4期20卷 139-149页

作者： HE Ke-ren WANG Xin-guang ZOU Ling MA Zheng-hua School of Information Science ＆ Engineering at the Changzhou University Changzhou 213164 China State Key Laboratory of Robotics and System （HIT） Harbin Institute of Technoigy Harbin 150001 China

Accurate classification of EEG left and right hand motor imagery is an important issue in brain-computer interface. Firstly, discrete wavelet transform method was used to decompose the average power of C3 electrode and C4 electrode in left-right hands imagery movement during some periods of time. The reconstructed signal of approximation coefficient A6 on the 6al level was selected to build up a feature signal. Secondly, the performances by Fisher Linear Discriminant Analysis with two different threshold calculation ways and Support Vector Machine methods were compared. The final classification results showed that false classification rate by Support Vector Machine was lower and gained an ideal classification results.

关键词： brain-computer interface motor imagery feature extraction pattern classification

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