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arXiv 2025年

作者： Luo, Hang Zhou, Nanlin Zhang, Haoxiang Han, Kai Zhao, Ning Yang, Zhiyuan Qi, Jian Zhao, Sikai Zhao, Jie Zhu, Yanhe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This study describes the development and validation of a novel microgravity experimental platform that is mainly applied to small robots such as modular self-reconfigurable robots. This platform mainly consists of an air supply system, a microporous platform and glass. By supplying air to the microporous platform to form an air film, the influence of the weight of the air foot and the ventilation hose of traditional air-float platforms on microgravity experiments is solved. The contribution of this work is to provide a platform with less external interference for microgravity simulation experiments on small robots. Copyright © 2025, The Authors. All rights reserved.

关键词： Microgravity processing

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Multisensory Measurement Synchronization and Industrial Robot Trajectory Error Compensation Based on Laser Tracker and Photoelectric Switch

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： Chengzhi Wang Sikai Zhao Tian Xu Tianjiao Zheng Shize Zhao Ziyuan Yang Hegao Cai Jie Zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This article presents a multisensory measurement synchronization approach that combines a laser tracker and multiple photoelectric switches, which easily embed laser tracker into robotic machining systems to achieve high-accuracy error compensation and trajectory tracking. Previous composite error compensation systems rely on limited interfaces provided by equipment producers and require careful temporal logic arrangement, making the whole system complicated and task-specific. The proposed method utilizes portable photoelectric switches that work as an intermediary between the robot system and the laser tracker system to match the corresponding data from both sides. The switches could be mounted anywhere along the robot task trajectories, and a critic trigger adjustment is designed to effectively determine the trigger position. Various types of trajectory are executed and measured to validate the effectiveness and robustness of the proposed method, and subsequent error compensation experiments demonstrate a significant improvement in robot accuracy.

关键词： Robots Trajectory Robot kinematics Measurement by laser beam Measurement uncertainty Service robots Error compensation Synchronization Accuracy Switches

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Imitation of Manipulation Skills Using Multiple Geometries

arXiv

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arXiv 2022年

作者： Ti, Boyang Gao, Yongsheng Zhao, Jie Calinon, Sylvain State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Idiap Research Institute MartignyCH-1920 Switzerland

Daily manipulation tasks are characterized by geometric primitives related to actions and object shapes. Such geometric descriptors are poorly represented by only using Cartesian coordinate systems. In this paper, we propose a learning approach to extract the optimal representation from a dictionary of coordinate systems to encode an observed movement/behavior. This is achieved by using an extension of Gaussian distributions on Riemannian manifolds, which is used to analyse a set of user demonstrations statistically, by considering multiple geometries as candidate representations of the task. We formulate the reproduction problem as a general optimal control problem based on an iterative linear quadratic regulator (iLQR), where the Gaussian distribution in the extracted coordinate systems are used to define the cost function. We apply our approach to object grasping and box opening tasks in simulation and on a 7-axis Franka Emika robot. The results show that the robot can exploit several geometries to execute the manipulation task and generalize it to new situations, by maintaining the invariant characteristics of the task in the coordinate system(s) of interest. Copyright © 2022, The Authors. All rights reserved.

关键词： Geometry

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PillarNet: Real-Time and High-Performance Pillar-based 3D Object Detection

arXiv

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arXiv 2022年

作者： Shi, Guangsheng Li, Ruifeng Ma, Chao State Key Laboratory of Robotics and System Harbin Institute of Technology China MoE Key Lab of Artificial Intelligence AI Institute Shanghai Jiao Tong University China

Real-time and high-performance 3D object detection is of critical importance for autonomous driving. Recent top-performing 3D object detectors mainly rely on point-based or 3D voxel-based convolutions, which are both computationally inefficient for onboard deployment. In contrast, pillar-based methods use solely 2D convolutions, which consume less computation resources, but they lag far behind their voxel-based counterparts in detection accuracy. In this paper, by examining the primary performance gap between pillar- and voxel-based detectors, we develop a real-time and high-performance pillar-based detector, dubbed PillarNet. The proposed PillarNet consists of a powerful encoder network for effective pillar feature learning, a neck network for spatial-semantic feature fusion and the commonly used detect head. Using only 2D convolutions, PillarNet is flexible to an optional pillar size and compatible with classical 2D CNN backbones, such as VGGNet and ResNet. Additionally, PillarNet benefits from our designed orientation-decoupled IoU regression loss along with the IoU-aware prediction branch. Extensive experimental results on the large-scale nuScenes Dataset and Waymo Open Dataset demonstrate that the proposed PillarNet performs well over state-of-the-art 3D detectors in terms of effectiveness and efficiency. Code is available at https://***/agent-sgs/PillarNet. © 2022, CC BY-SA.

关键词： Object detection

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PI2-CMA Based Trajectory Planning Method for the Tractor-Trailer Vehicle

PI2-CMA Based Trajectory Planning Method for the Tractor-Tra...

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Pattern Recognition and Artificial Intelligence (PRAI), International Conference on

作者： You Wang Zehao Wang Jingchuan Wang Rui Guo Peng Xiao Institute of Medical Robotics and Department of Automation Ministry of Education Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Shanghai China State Grid Intelligence Technology CO. LTD

The motion primitive-based state lattice trajectory planning method has been widely used in the field of trajectory planning. However, due to the limitations of the search space and resolution of motion primitives, and the lack of consideration of scenario information during offline generation of motion primitives, the tractor-trailer vehicles can easily fall into "jackknife phenomenon" when making large pose adjustments in narrow scenarios, which brings dilemma for trajectory planning. In this paper, a trajectory planning algorithm is proposed based on a general model of tractor-trailer vehicle, which combines global planning and local optimization. The method first generates a series of motion primitives, including forward and backward driving conditions, and then an A ∗ based global state lattice planner is used to obtain a planning result, which is imported as the initial solution into the local trajectory optimizer based on PI 2 − CMA (Path Integral Policy Improvement with Covariance Matrix Adaptation) algorithm and dynamic potential method. Experiments show that this method significantly improves the performance in the obstacle avoidance, "jackknife phenomenon" avoidance and curvature compared to traditional motion primitive-based state lattice planning methods.

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Flexible Catch Claw-type Space Debris Capture Mechanism Based on Constant Torque Spring Deployment 17

Flexible Catch Claw-type Space Debris Capture Mechanism Base...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Sun, Kui Chen, Kailun Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province China

ISBN: (纸本)9781728164151

Space debris cleaning technology can not only save scarce orbit resources, but also protect satellites and space stations in orbit, which has important research significance. Combination of reliability and adaptability is the key for space debris cleaning devices to capture debris. A design scheme of flexible catch claw-type space debris capture mechanism based on constant torque spring deployment is proposed, which has the advantages of light weight, high capture reliability and high adaptability. The new flexible catching mechanism is mainly composed of a multi-finger flexible catching claw, a transmission device, and a locking device. In the multi-finger flexible catching claw, a constant torque spring is used as a passive drive deployment mechanism, and a carbon fiber rod is used as an actuator. The transmission device uses a ball screw to drive the link mechanism to move. The locking device provides a controllable deployment function at a predetermined position. This paper introduces the structure design of the capture mechanism and the research on synchronized deployment of the catch claws. Finally, the kinetic simulation results for evaluating the capture performance are given. © 2020 IEEE.

关键词： Space debris

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Design and Control of a Hydraulic Driven Robotic Gripper

Design and Control of a Hydraulic Driven Robotic Gripper

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IEEE International Conference on robotics and Biomimetics

作者： Jiahui Qi Xu Li Zhenguo Tao Haibo Feng Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665405362

The robots with robotic grippers can take the place of human to carry objects and use tools efficiently in different situations. This paper presents a novel hydraulic driven robotic gripper named the WLRG-I (the first generation of Wheel-legged robot gripper) which bears large load and has strong robustness. The WLRG-I is installed on the wheel-legged humanoid robot arm to make the WLR-III (the third generation of Wheel-legged robot) have the capability of grasping daily tools and fulfilling special operation tasks in harsh environments. This paper focuses on the design of gripper transmission structure, kinematics and statics. Firstly, the linkage mechanism is proposed according to the design goal. Then, the kinematics and statics of the gripper are studied, and a structural model is established. In addition, PID controller is used to control the position of the gripper with angle feedback. Finally, position tracking and load experiments are completed to verified the accuracy of the control. The gripper can grasp objects of 20kg with 2.15kg dead weight. To the authors’ best knowledge, robot grippers with such a high load-to-weight ratio are very rare.

关键词： Humanoid robots Kinematics Hydraulic systems Manipulators Robustness Mobile robots Grippers

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A Model-Free Synchronous Control of Humanoid Robot Finger

A Model-Free Synchronous Control of Humanoid Robot Finger

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ziqi Liu Li Jiang Bin Yang Chongyang Li Ming Cheng Shaowei Fan Dapeng Yang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

For a multi-fingered robot hand, the individual control over single joints cannot guarantee their fine collaboration. For achieving a high-precision synchronization, a theory of synchronous control is introduced to multi-fingered robot hands. This paper introduced a new model-free and cross-coupling control strategy. It had been tested on the humanoid robot fingers and showed high positioning performance. For realizing the mutual influence between the control of all joints, we establish the synchronization error by the differential disposal of adjacent actuator errors, then position errors and synchronization errors are incorporated into a unified control frame. Meanwhile, considering the complex dynamic formulations of the dexterous hand and the characteristics of the control system, a model-free, cross-coupled trajectory tracking method is introduced and the explicit dynamic modeling parameters is not necessary. Finally, we tested our method on a multi-fingered hand platform HIT/DLR-II. The results prove that the new method has superior performance over traditional non-synchronous approaches.

关键词： Automation Trajectory tracking Conferences Force Humanoid robots Collaboration Kinematics

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Design and Analysis of a Variable-sweep Morphing Wing for UAV Based on a Parallelogram Mechanism

Design and Analysis of a Variable-sweep Morphing Wing for UA...

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IEEE International Conference on robotics and Biomimetics

作者： Guang Yang Hongwei Guo Hong Xiao Yue Bai Rongqiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665405362

The variable-sweep wing for unmanned aerial vehicle (UAV) can greatly improve the aerodynamic performance at high-speed and low-speed by changing the sweep angle. In this paper, a shear variable-sweep wing is proposed and studied based on a parallelogram mechanism. The skeleton of morphing wing is a single-degree-of-freedom mechanism composed of parallelogram mechanism unit topology. The skin of morphing wing is applied an innovative Kevlar/carbon fiber hybrid composite skin. The composite skins are stitched to the skeleton and sheared as the sweep-angle changes. The kinematics model of the morphing wing is established, and the wing area, aspect ratio, root-to-tip ratio and relative thickness are analyzed. Moreover, establish the composite skin buckling model and obtain the skin parameters that can be smoothly and continuously deformed within the range of sweep-angle changes. Finally, the variable-sweep morphing wing prototype is developed and scanned to verify the smoothness of the designed morphing skins and the deformation performance of morphing wing.

关键词： Deformable models Prototypes Kinematics Autonomous aerial vehicles Aerodynamics Skin Skeleton

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The Application of Acceleration-Level Quaternion Interpolation in the Visual-Servoing Process

The Application of Acceleration-Level Quaternion Interpolati...

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International Conference on Computer and Automation Engineering, ICCAE

作者： Xiaoyu Zhao Yang Liu Zongwu Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Visual servoing process is widely applied in robot control. In the visual servoing process, an interpolation of the robot end pose is necessary. In the interpolation, quaternion suffers a lot for the discontinuity in trajectory velocity and acceleration. In this paper, we propose an acceleration-level continuous interpolation method and apply it to visual servoing process. In the method, we make up use of the conversion between different rotation descriptors and achieve a smooth enough trajectory. Simulations and experiments are carried out to validate the method and the results show considerable performance.

关键词： Interpolation Visualization Automation Quaternions Computational modeling Robot control Process control

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