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第32届中国控制与决策会议

作者： Naijun Liu Tao Lu Yinghao Cai Rui Wang Shuo Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences Center for Excellence in Brain Science and Intelligence Technology of the Chinese Academy of Sciences

Traditional programming method can achieve certain manipulation tasks with the assumption that robot environment is known and ***,with robots gradually applied in more domains,robots often encounter working scenes which are complicated,unpredictable,and *** overcome the limitation of traditional programming method,in this paper,we apply deep reinforcement learning(DRL) method to train robot agent to obtain skill *** policy trained with DRL on real-world robot is time-consuming and costly,we propose a novel and simple learning paradigm with the aim of training physical robot ***,our method train a virtual agent in an simulated environment to reach random target position from random initial ***,virtual agent trajectory sequence obtained with the trained policy,is transformed to real-world robot command with coordinate transformation to control robot performing reaching *** show that the proposed method can obtain self-adaptive reaching policy with low training cost,which is of great benefits for developing intelligent and robust robot manipulation skill system.

关键词： Robot reaching skill learning deep reinforcement learning

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Soft Actuators and Robots Enabled by Additive Manufacturing

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Control, robotics, and Autonomous systems 1000年第1期6卷 31-63页

作者： Dong Wang Jinqiang Wang Zequn Shen Chengru Jiang Jiang Zou Le Dong Nicholas X. Fang Guoying Gu 1Robotics Institute School of Mechanical Engineering State Key Laboratory of Mechanical System and Vibration and Meta Robotics Institute Shanghai Jiao Tong University Shanghai China email: guguoying@*** 3Current affiliation: Department of Mechanical Engineering The University of Hong Kong Hong Kong Special Administrative Region email: nicxfang@hku.hk 2Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge Massachusetts USA

Soft robotic systems are human friendly and can mimic the complex motions of animals, which introduces promising potential in various applications, ranging from novel actuation and wearable electronics to bioinspired robots operating in unstructured environments. Due to the use of soft materials, the traditional fabrication and manufacturing methods for rigid materials are unavailable for soft robots. 3D printing is a promising fabrication method for the multifunctional and multimaterial demands of soft robots, as it enables the personalization and customization of the materials and structures. This review provides perspectives on the manufacturing methods for various types of soft robotic systems and discusses the challenges and prospects of future research, including in-depth discussion of pneumatic, electrically activated, magnetically driven, and 4D-printed soft actuators and integrated soft actuators and sensors. Finally, the challenges of realizing multimaterial, multiscale, and multifunctional 3D-printed soft robots are discussed.

关键词： soft robots additive manufacturing 4D printing integrated soft actuators and sensors

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A simulator for swarm AUVs acoustic communication networking 11

A simulator for swarm AUVs acoustic communication networking

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11th ACM International Conference on Underwater Networks and systems, WUWNet 2016

作者： Li, Guannan Liu, Jun Wang, Xue Xu, Hongli Cui, Jun-Hong Shenyang Institute of Automation CAS University of Chinese Academy of Sciences No. 114 Nanta Street Shenhe District Shenyang China College of Computer Science and Technology Jilin University State Key Laboratory of Robotics Key Laboratory of System Control and Information Processing Ministry of Education of China Changchun China Shenyang Institute of Automation CAS Northeast University No. 114 Nanta Street Shenhe District Shenyang China Shenyang Institute of Automation CAS No. 114 Nanta Street Shenhe District Shenyang China College of Computer Science and Technology Jilin University Changchun China Underwater Sensor Network Lab. University of Connecticut StorrsCT06269 United States

ISBN: (纸本)9781450346375

This paper presents a simulator for swarm operations designed to verify algorithms for a swarm of autonomous underwater robots (AUVs), specifically for constructing an underwater communication network with AUVs carrying acoustic communication devices. This simulator consists of three nodes: a virtual vehicle node (VV), a virtual environment node (VE), and a visual showing node (VS). The modular design treats AUV models as a combination of virtual equipment. An expert acoustic communication simulator is embedded in this simulator, to simulate scenarios with dynamic acoustic communication nodes. The several simulations we have performed demonstrate that this simulator is easy to use and can be further improved.

关键词： Simulators

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Linear-hall sensor based force detecting unit for lower limb exoskeleton

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AIP Conference Proceedings 2018年第1期1955卷

作者： Hongwu Li Yanhe Zhu Jie Zhao Tianshuo Wang Zongwei Zhang Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang China

This paper describes a knee-joint human-machine interaction force sensor for lower-limb force-assistance exoskeleton. The structure is designed based on hall sensor and series elastic actuator (SEA) structure. The work we have done includes the structure design, the parameter determination and dynamic simulation. By converting the force signal into macro displacement and output voltage, we completed the measurement of man-machine interaction force. And it is proved by experiments that the design is simple, stable and low-cost.

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Kinematics Modelling of Tendon-Driven Continuum Manipulator with Crossed Notches

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IOP Conference Series: Materials Science and Engineering 2018年第1期320卷

作者： Z X Yang W L Yang Z J Du State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China

Single port surgical robot (SPSR) is a giant leap in the development of minimally invasive surgical robot. An innovative manipulator with high control accuracy and good kinematic dexterity can reduce wound, expedite recovery, and improve the success rate. This paper presents a tendon-driven continuum manipulator with crossed notches. This manipulator has two degrees of freedom (DOF), which possesses good flexibility and high capacity. Then based on cantilever beam theory, a mechanics model is proposed, which connects external force and deformation of a single flexible ring (SFR). By calculating the deformation of each SFR, the manipulator is considered as a series robot whose joint numbers is equal to SFR numbers, and the kinematics model is established through Denavit-Hartenberg (D-H) procedure. In this paper, the total manipulator is described as a curve tube whose curvature is increased from tip to base. Experiments were conducted and the comparison between theoretical and actual results proved the rationality of the models.

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Modeling and simulation of the structural and electrical characteristics for a polarized piezoelectric sensor actuator

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IOP Conference Series: Materials Science and Engineering 2019年第1期531卷

作者： Chong Zhang Xiaobiao Shan Gaoliang Peng Tao Xie Xin Dong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The present work aims to design a new polarized piezoelectric sensor actuator. This sensor actuator not only can achieve sensing and execution at the same time, but also has the advantages of small size and high integration. A mathematical model of stack displacement with input voltage and number of layers was established. The relationship between the charge generated by quartz crystal and external force was numerically analysed. The static and modal analysis of the structure were carried out to obtain the measured force range and the maximum working frequency. The transient simulation is used to verify the follow-up law of the actuator to the alternating signal. The Electric field interference analysis of the piezoelectric sensor actuator was performed to eliminate the interference from the electric field generated by the actuator. The results show that the measured force range of the actuator is up to 1 kN, with the maximum working frequency is 1000 Hz, and the actuator can follow the drive voltage signal well, with an almost negligible electric field interference in the sensor part. This paper provides a new method and theory for the study of self-sensing actuators.

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Semantic Segmentation based Dense RGB-D SLAM in Dynamic Environments

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Journal of Physics: Conference Series 2019年第1期1267卷

作者： Jianbo Zhang Yanjie Liu Junguo Chen Liulong Ma Dong Jin Jiao Chen State Key Laboratory of Robotics and System (HIT) China Petroleum Materials Company Limited

Visual Simultaneous Location and Mapping (SLAM) based on RGB-D has developed as a fundamental capability for intelligent mobile robot. However, most of existing SLAM algorithms assume that the environment is static and not suitable for dynamic environments. This is because moving objects in dynamic environments can interfere with camera pose tracking, cause undesired objects to be integrated into the map. In this paper, we modify the existing framework for RGB-D SLAM in dynamic environments, which reduces the influence of moving objects and reconstructs the background. The method starts by semantic segmentation and motion points detection, then removing feature points on moving objects. Meanwhile, a clean and accurate semantic map is produced, which contains semantic information maintenance part. Quantitative experiments using TUM RGB-D dataset are conducted. The results show that the absolute trajectory accuracy and real-time performance in dynamic scenes can be improved.

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Experimental study on underwater fin-shaped piezoelectric energy harvester based on wake galloping

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IOP Conference Series: Materials Science and Engineering 2019年第1期531卷

作者： Yicong Wang Xiaobiao Shan Ju Feng Tao Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

This paper presents a novel piezoelectric energy harvester based on wake galloping in water. This harvester consists of a bluff cylinder and a fin connected with a macro fiber composite (MFC) piezoelectric plate. The fluid flows through the upstream bluff cylinder and produces alternating shedding vortices behind it. Vortex shedding produces periodic crosswise vortex-induced force to drive the fin and piezoelectric plate vibrating to generate electricity. An experimental platform was established and several prototypes of energy harvesters were fabricated. The experimental results show that, under different flow velocity domains, the harvesting effect of the bluff cylinder with a diameter of 30 mm is the most ideal for the energy harvester with a fin length of 20, 30 and 40 mm. When the fin length is 20 mm, the output voltage changes most smoothly. To obtain stable open circuit output voltage, the spacing distance between the bluff cylinder with a diameter of 25 mm and the fin should be controlled within 3D, while, the spacing distance between the bluff cylinder with a diameter of 30 mm and the fin should be controlled within 2D. When the bluff cylinder with a diameter of 30 mm, a spacing distance of 100 mm, and a flow velocity of 0.427 m/s, the maximum open circuit output voltage of 7.289 V can be obtained. The present work provides an effective experimental foundation for the research of underwater fin-shaped vehicle's dynamic endurance.

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Modeling of nonlinear dynamic characteristics and experimental study of piezoelectric energy harvesters with a panel type structure

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IOP Conference Series: Materials Science and Engineering 2019年第1期531卷

作者： Jinda Jia Xiaobiao Shan Yingxiang Liu Tao Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

Panel flutter vibration is a typical aeroelastic phenomenon taking place in flying aircrafts as they move at high speed. The vibration has been a hot academic research aspect. The present paper focuses on converting this aerodynamic mechanical vibration into useful electricity by using piezoelectric patches. A mathematical Euler-Bernoulli distributed model of the piezoelectric energy harvesting system is established to investigate nonlinear dynamical behaviour of a piezoelectric cantilever plate. The dynamical responding ability of energy harvesting is numerically calculated. Influences of the length and the thickness of piezoelectric layer, the external resistance and wind velocity on the output performance are emphatically explored. A series of prototypes of piezoelectric energy harvesters with different physical dimensions were designed and manufactured. Wind tunnel experiments were setup and carried out at different wind velocities. The experimental results show that the harvesting power gets enhanced as increasing the wind velocity. The maximum power could be obtained at condition of a reasonable piezoelectric length and width. Maximum power is 2.0 mW at wind speed of 11.0 m/s. This work provides a strong theoretical and experimental basis for the study of aerodynamic energy harvesting from panel aircrafts.

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Dual adaptive control of bimanual manipulation with online fuzzy parameter tuning

Dual adaptive control of bimanual manipulation with online f...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： Alex Smith Chenguang Yang Hongbin Ma Phil Culverhouse Angelo Cangelosi Etienne Burdet Center for Robotics and Neural Systems Plymouth University Devon UK Key Laboratory of Autonomous System and Network Control South China University of Technology Guangzhou P. R. China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China Department of Bioengineering Imperial College London UK

A biomimetic controller with online adaptation of impedance and force is applied to a full kinematic and dynamic model of the Baxter bimanual robot. A set of fuzzy logic engines are proposed to infer the values of tuning gains which affect the control performance and control effort of the controller, which would conventionally be set to a static value based on expert knowledge of the controller; the aim of this being to avoid the use of arbitary values to set these values. A simulated experiment is carried out, where the Baxter robot is required to move an object through a trajectory while subjected to two different disturbance forces in four phases. The controller with fuzzy inferred control gains is compared against the same controller with fixed gains to gauge the effectiveness of the new method. Results show that fuzzy inference of control gains impart an improvement in both tracking error and control effort.

关键词： Trajectory Fuzzy logic Force Dynamics Mathematical model Manipulators

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