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International Conference on Pattern Recognition

作者： Junzhe Xu Jianhua Zhang Shengyong Chen Honghai Liu College of Computer Science and Technology Zhejiang University of Technology Hangzhou China College of Computer Science and Technology Tianjin University of Technology Tianjin China State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China

Environment exploration by autonomous robots through deep reinforcement learning (DRL) based methods has attracted more and more attention. However, existing methods usually focus on robot navigation to single or multiple fixed goals, while ignoring the perception and construction of external environments. In this paper, we propose a novel environment exploration task based on DRL, which requires a robot fast and completely perceives all objects of interest, and reconstructs their poses in a global environment map, as much as the robot can do. To this end, we design an auxiliary task aided DRL model, which is integrated with the auxiliary object detection and 6-DoF pose estimation components. The outcome of auxiliary tasks can improve the learning speed and robustness of DRL, as well as the accuracy of object pose estimation. Comprehensive experimental results on the indoor simulation platform AI2-THOR have shown the effectiveness and robustness of our method.

关键词： Navigation Object oriented modeling Pose estimation Semantics Object detection Reinforcement learning Robustness

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Power Consumption Characteristics Research on Mobile system of Electrically Driven Large-Load-Ratio Six-Legged Robot

Research Square

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Research Square 2021年

作者： Zhuang, Hong-Chao Wang, Ning Gao, Hai-Bo Deng, Zong-Quan School of Mechanical Engineering Tianjin University of Technology and Education Tianjin300222 China School of Information Technology Engineering Tianjin University of Technology and Education Tianjin300222 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

To research the power consumption characteristics of mobile system of an electrically driven large-load-ratio six-legged robot with engineering capability is beneficial to speed up it toward practicability. Based on the configuration and walking modes of robot, the mathematical model of the power consumption of mobile system is set up. In view of the tripod gait is often selected for the six-legged robots, the simplified power consumption model of mobile system under the tripod gait is established by means of reducing the dimension of the robot's statically indeterminate problem and constructing the equal force distribution. Then, the power consumption of robot mobile system is solved under different working conditions. The variable tendencies of the power consumption of robot mobile system are respectively obtained with changes in the rotational angles of hip joint and knee joint, body height, and span. The articulated rotational zones and the ranges of body height and span are determined under the lowest power consumption. According to the walking experiments of prototype, the variable tendencies of the average power consumption of robot mobile system are respectively acquired with changes in the duty ratio, body height, and span. Then, the feasibility and correctness of theory analysis are verified in the power consumption of robot mobile system. The proposed analysis method in this paper can provide a reference on the lower power research of the large-load-ratio multi-legged robots. © 2021, CC BY.

关键词： Electric power utilization

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Optimal Energy Shaping Control for a Backdrivable Hip Exoskeleton

Optimal Energy Shaping Control for a Backdrivable Hip Exoske...

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American Control Conference (ACC)

作者： Jiefu Zhang Jianping Lin Vamsi Peddinti Robert D. Gregg Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Robotics University of Michigan Ann Arbor MI USA

Task-dependent controllers widely used in exoskeletons track predefined trajectories, which overly constrain the volitional motion of individuals with remnant voluntary mobility. Energy shaping, on the other hand, provides task-invariant assistance by altering the human body’s dynamic characteristics in the closed loop. While human-exoskeleton systems are often modeled using Euler-Lagrange equations, in our previous work we modeled the system as a port-controlled-Hamiltonian system, and a task-invariant controller was designed for a knee-ankle exoskeleton using interconnection-damping assignment passivity-based control. In this paper, we extend this framework to design a controller for a backdrivable hip exoskeleton to assist multiple tasks. A set of basis functions that contains information of kinematics is selected and corresponding coefficients are optimized, which allows the controller to provide torque that fits normative human torque for different activities of daily life. Human-subject experiments with two able-bodied subjects demonstrated the controller’s capability to reduce muscle effort across different tasks.

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C-Balls: A Modular Soft Robot Connected and Driven via Magnet Forced

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Journal of Physics: Conference Series 2019年第1期1207卷

作者： Zhuxiang Chen Chuanwu Zhao Yu Zhang Yanhe Zhu Jizhuang Fan Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper describes a cellular robot(C-Balls) consisting of soft spherical modules with on-board actuation, power, computation and wireless control system. The robot modules maintain connection and realize relative movement by utilizing magnetic force and friction force between driving units inside the soft modules. Preliminary tests of locomotion and deformation of the robot are proposed. The rolling experiment displays the mobility of the robot of two spherical modules. The deforming experiments indicate that the robot with five spherical modules deforms from linear to circular configuration successfully. Further more, a climbing experiment is conducted, which shows the robot can climb on various surfaces including soft materials.

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From the Editors: A Witty Lesson

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IEEE Security & Privacy 2004年第4期2卷 5-5页

作者： M. Donner State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Associate Editor in Chief Marc Donner examines the Witty Worm and what its existence might mean for the future of the software development infrastructure.

关键词： Witty Worm Software Development Witty Worm Software Development

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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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Humanoid Robot Torso Motion Planning Based on Manipulator Pose Dexterity Index

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IOP Conference Series: Materials Science and Engineering 2020年第1期853卷

作者： Baoshi Cao Kui Sun Yikun Gu Minghe Jin Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Humanoid robot operation task is mainly executed with arm-torso system. The torso system can effectively increase humanoid robot arm operation range and vision range of the humanoid robot, but it also increases the difficulty of the humanoid robot motion planning. Humanoid robot torso increases humanoid robot arm operation range by changing the pose of the robot arm base and it also reconstruct humanoid robot arm workspace pose dexterity. Humanoid robot torso position is optimized with manipulator pose dexterity in different humanoid robot arm sub-workspace. For different operation tasks, the indicators to be considered for the position of the torso joint include: whether the robot arm can grasp the target position, whether the specified motion trajectory can be reached, and whether it has higher dexterity in specified motion trajectory. In this paper, we consider higher manipulator pose dexterity sub-workspace is better operation position, and we introduce a scheme to optimize torso joint position.

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Trajectory planning for robot-assisted laminectomy decompression based on CT images

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IOP Conference Series: Materials Science and Engineering 2020年第4期768卷

作者： Qian Li Zhijiang Du Hongjian Yu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Laminectomy decompression is one of the most complex spinal operations, with a high surgical risk and surgeon fatigue. The introduction of robots into surgery is expected to effectively solve these problems, but the complex and time-consuming grinding planning hinders the research and application of robot-assisted laminectomy. This paper proposes a robot grinding path automatic generation method for this operation to simplify the planning process. First, a neural network is designed to obtain the central positions of laminae in a CT image. Around the laminar center, a series of sparse robotic motion control points are obtained and adjusted based on bone surface. Simulation experiments based on some spine CT datasets indicate that the proposed method can effectively generate a reasonable planned path from spine CT images.

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A Sample Repetitive Manipulation Mechanism (SRMM) for Lunar Regolith In-Situ Analysis: Design and Validation

A Sample Repetitive Manipulation Mechanism (SRMM) for Lunar ...

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IEEE International Conference on robotics and Biomimetics

作者： Yi Liu Junyue Tang Yafang Liu Gongbo Ma Feng Sun Ye Li Shengyuan Jiang Shenyang University of Technology Shenyang P. R. China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China Beijing Institute of Spacecraft System Engineering Beijing P. R. China Beijing P. R. China

To exactly detect the water ice of the South Pole of the moon, a lunar regolith in-situ analysis payload deploying a mass spectrometer is proposed for China future lunar exploration missions. In order to receive the lunar regolith sample from a robotic arm with a soil sampler and transfer it into a furnace for further analysis, a sample manipulation mechanism is required during the above work flow. To solve the problems of adapting the sampler’s docking accuracy, receiving and transferring two different types of lunar soil sample under times of in-situ analysis, etc., a sample repetitive manipulation mechanism (SRMM) is proposed in this paper. By using a floating adjustable docking components and a flexible hopper, two types of encapsulated regolith sample and bulk material sample can be received with minimal sample loss, respectively. In order to receive and transfer two types of samples multiple times, two sample receiving methods have been designed that can be repeatedly transferred. A worm and worm wheel combined with a ball screw is designed in SRMM. To verify the above mechanism design, validation experiments were conducted. It indicates that this novel SRMM can be deployed in the future mission after further environmental tests.

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Motion control for a single-legged robot

Motion control for a single-legged robot

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Ming Liu Xingneng Zhong Xin Wang Fei Chen Fusheng Zha Wei Guo State Key laboratory of Robotics and System Harbin Institute of Technology Harbin Province China College of Mechanic and Electronic Engineering Northeast Forestry University Harbin Heilongjiang Province China China Aerospace Science Shenzhen academy of aerospace technology Shenzhen Guangdong Province China Department of Advanced Robotics Istituto Italiano di Tecnologia Genoa Italy

New control methods are presented in this paper for a hopping single-legged robot in the 2D plane. It is aimed to keep the robot's movement stably, namely kinematic parameters oscillating in a small range. Body angle, hopping height and horizontal velocity respectively represent the control parameters of three degrees of freedom. Finally, a series of simulation experiments show that all the kinematic parameters are within the specified range.

关键词： Legged locomotion Springs Actuators Motion control Gravity

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