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Force-controlled Compensation Scheme for P-Q Valve-controlled Asymmetric Cylinder used on Hydraulic Quadruped Robots

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Journal of Bionic Engineering 2020年第6期17卷 1139-1151页

作者： Yapeng Shi Mantian Li Fusheng Zha Lining Sun Wei Guo Cong Ma Zhibin Li State Key Laboratory of Robotics and System Harbin Institue of TechnologyHarbin 150001China Shenzhen Academy of Aerospace Technology China Aerospace ScienceShenzhen 518057China School of Informatics The University of EdinburghEdinburgh EH89ABUnited Kingdom

Under the requirement of the force controller of hydraulic quadruped robots,the goal of this work is to accurately track the force commands at the level of the hydraulic drive *** main contribution focuses on the development of a force-controlled compensation scheme,which is specifically aimed at the key issues affecting the hydraulic quadrupedal *** this idea,based on a P-Q valve-controlled asymmetric cylinder,we first establish a mathematical model for the hydraulic drive unit force control *** the desired force commands,a force feed-forward algorithm is presented to improve the dynamic performance of the ***,we propose a disturbance compensation algorithm to reduce the influence induced by external disturbances due to foot-ground ***,combining with a variable gain PI controller,a series of experiments are implemented on a force control performance test platform to verify the proposed *** results demonstrate that the force-controlled compensation scheme has the ability to notably improve the force tracking accuracy,reduce the response time and redundant force.

关键词： hydraulic drive unit force tracking P-Q valve-controlled asymmetric cylinder hydraulic quadruped robot

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Design of Six-Wheeled Planetary Rover with a Novel Hybrid Suspension

Design of Six-Wheeled Planetary Rover with a Novel Hybrid Su...

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IEEE International Conference on robotics and Biomimetics

作者： Sanfeng Hu Guoxing Wang Jianguo Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Beijing Spacecraft Beijing China

ISBN: (纸本)9781665405362

A novel hybrid suspension of six-wheeled planetary rover based on serial multi-articulated suspension is proposed. The differential balance support mechanism that is important component of the hybrid suspension and solves the problem of weak carrying capacity of serial suspension, is synthesized by using the constraint synthesis method based on screw theory and mechanism combination method. Taking the envelope volume and the maximum height of obstacles that can be overcome of the hybrid suspension rover as objective functions, the geometric parameters of the hybrid suspension structure are optimized through the elitist nondominated sorting genetic algorithm. The proposed hybrid suspension not only can conform passively to very rugged terrain, but also provides active mobility to cross obstacles and ditches, as well as passes soft terrain and steep slopes in wheel-legged locomotion. The established 3D and simulation models are used to simulate and verily the mobile performance of the hybrid suspension rover. The novel hybrid suspension has important reference significance for the design of the future lunar south pole rover.

关键词： Space vehicles Solid modeling Three-dimensional displays Simulation Moon Prototypes Fasteners

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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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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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An RRT-Based Motion Planning Method for Hyper-Redundant Manipulators in Confined Spaces

An RRT-Based Motion Planning Method for Hyper-Redundant Mani...

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IEEE International Conference on robotics and Biomimetics

作者： Jiangqin Deng Ziqing Li Yang Zheng Guoying Gu State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Meta Robotics Institute Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781665481106

Hyper-redundant manipulators have redundant degrees of freedom, bringing additional difficulties to the motion planning. Generally, existing motion planning methods generate paths without considering joint angle limitation of hyper-redundant manipulators. And the generated paths are discretized, leading to discrete errors. In this paper, we present an autonomous motion planner to generate paths, which can be followed by hyper-redundant manipulators with analytical solutions. Starting from the ending pose in the workspace, the rapidly exploring random tree can expand to multiple entrances with limited curvature of arc segments, which ensures that the joint angle limitation is satisfied. Meanwhile, the generated path consists of arc segments, which makes the generated paths can be followed with analytical solutions. Several simulations are conducted to demonstrate the aforementioned advantages. For further validation of the planner's effectiveness, a hyper-redundant manipulator system is used to follow the generated path with follow-the-leader motion.

关键词： Motion segmentation Biomimetics Biological system modeling Soft robotics Aerospace electronics Manipulators Planning

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Study on Mechanical Properties of Dual-Channel Cryogenic 3d Printing Scaffold for Mandibular Defect Repair

SSRN

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SSRN 2023年

作者： Gao, Lilan Sun, Mengchao Liu, Jie Meng, Lulu Liu, Han Zheng, Xiongfei Liu, Hao Li, Ruixin Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300382 China Tianjin300382 China Beijing Friendship Hospital Capital Medical University 100050 China State Key Laboratory of Robotics Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110017 China Tianjin Key Laboratory of Oral and Maxillofacial Function Reconstruction Tianjin Stomatological Hospital The Affiliated Stomatological Hospital of Nankai University Tianjin300041 China

Mandibular defect repair has always been a clinical challenge, facing technical bottleneck. The new materials directly affect technological breakthroughs in mandibular defect repair field. Our aim is to fabricate a scaffold for mandibular defect repairing with advanced biomaterials. Therefore, a novel dual-channel printed scaffold consisting of silk fibroin/collagen type I /hydroxyapatite (SCH) and polycaprolactone/hydroxyapatite (PCL/HA) was fabricated by 3D printing technology with double nozzles. The mechanical properties and behaviors of dual-channel printed scaffold were investigated by performing uniaxial compression, creep, stress relaxation and ratcheting experiments respectively. The experiments indicated the Young modulus of dual-channel printed scaffold was 60.1 kPa and dual-channel printed scaffold was typical nolinear viscoelastic consistent with bone tissue. Finite Element Analysis (FEA) was employed performing a numerical simulation to evaluate the implantation effect in mandible. The stress distribution of the contact area between scaffold and defect was uniform, the maximum Mises stress of cortical bone and cancellous bone in defect area were 54.52MPa and 3.196MPa, and the maximum displacement of cortical bone and cancellous bone in defect area were 0.1575mm and 0.1555mm, which were distributed in the incisor region. The peak value of the maximum Mises stress for the scaffold implanted was 3.128× MPa and the maximum displacement was 6.453×mm distributed near incisor area. The displacement distribution of the scaffold was consistent with that of cortical and cancellous bone. The scaffold recovered well when the force applied on it disappeared. Above all, dual-channel printed scaffold had excellent bio-mechanical properties in implanting mandible, which provides a new idea for the reconstruction of irregular bone defects in the mandible and has good clinical development prospects. © 2023, The Authors. All rights reserved.

关键词： 3D printing

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A Novel Fast Combine-and-Conquer Object Detector Based on Only One-Level Feature Map

SSRN

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SSRN 2022年

作者： Yang, Jianhua Wang, Ke Li, Ruifeng Perner, Petra State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China FutureLab Artificial Intelligence IBaI II Kurt-Eisner-Str.81 Leipzig04275 Germany

We present a conceptually simple, flexible, and efficient "Combine-and-Conquer" framework, CC-Det for object detection task. Our approach efficiently detects objects in an image by generating a keypoint heatmap based on a single one-level combined feature map. The proposed method is composed of a very simple single-level detection pipeline. First CC-Det encodes input image by using existing backbone network, then uses neck network to combine multi-scale information into one feature map. Finally, CC-Det uses only one detection head with a heatmap branch and a regression branch to perform detection on this one-level feature map. Both two branches are composed of only two convolutional layers to predict a heatmap and bounding boxes, respectively. Compared with "Divide-and-Conquer" detectors like YOLOv4, RetinaNet and FCOS and other single-level detectors like CornerNet, CenterNet and YOLOF, CC-Det uses these existing components to achieve an excellent trade-off among speed, accuracy and model size without any elaborate special design. Moreover, CC-Det is easy to generalize to other tasks with minor modifications and achieves state-of-the-art performance. Excellent results are presented on COCO, PASCAL VOC, WiderFace and CrowdHuman datasets. © 2022, The Authors. All rights reserved.

关键词： Object detection

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A Triboelectric Multifunctional Sensor Based on the Controlled Buckling Structure for Motion Monitoring and Bionic Tactile of Soft Robots

SSRN

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SSRN 2022年

作者： Xu, Jinsui Xie, Zhijie Yue, Honghao Lu, Yifan Yang, Fei State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China College of mechanical and electrical engineering Northeast Forestry University Harbin150042 China

Soft robots have unlimited degrees of freedom, which limits the application of traditional sensors in the field of soft robots. Therefore, continuous motion monitoring and tactile feedback for soft robots have been challenging. To address this challenge, this paper proposes a multifunctional sensor by combining controlled buckling structure with triboelectric nanogenerator for the first time to detect and control grasping, realize two-dimensional (2D) planar motion, and achieve adaptive obstacle avoidance in soft robots. A 2D kirigami electrode is compressed and buckled into a stretchable three-dimensional (3D) structure by pre-stretching the substrate. The proposed soft grasping system sensor can detect the bending angle of a soft gripper to identify the size of a grasped object, achieving a detection accuracy of 91.67%. By alternately arranging the buckling electrodes to form a 2D spatial decoupling structure, the 2D motion sensor (2DMS) can detect the movement direction and real-time position of a robot with an accuracy rate of 83.33%. Using the compressible properties of the buckling 3D structure, the inchworm-like soft robot (I-LSR) tactile sensor can sense the surrounding environment, thereby realizing dynamic obstacle avoidance. The proposed novel multifunctional triboelectric sensor by combining the properties of controlled buckling structure provides a theoretical and experimental basis for high-precision motion detection and intelligent obstacle avoidance for soft robots. © 2022, The Authors. All rights reserved.

关键词： Buckling

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Muscle-fiber array inspired, multiple-mode, pneumatic artificial muscles through planar design and one-step rolling fabrication

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National Science Review 2021年第10期8卷 68-78页

作者： Jiang Zou Miao Feng Ningyuan Ding Peinan Yan Haipeng Xu Dezhi Yang Nicholas X.Fang Guoying Gu Xiangyang Zhu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Department of Mechanical Engineering Massachusetts Institute of Technology

Advances in development of artificial muscles have enabled creation of soft robots with biological dexterity and self-adaption in unstructured environments; however, production of scalable artificial muscles with multiple-mode actuations remains elusive. Inspired by muscle-fiber arrays in muscular hydrostats, we present a class of versatile artificial muscles called MAIPAMs(muscle-fiber array inspired pneumatic artificial muscles), capable of multiple-mode actuations(such as parallel elongation-bending-spiraling actuations, 10 parallel bending actuations and cascaded elongation-bending-spiraling actuations). Our MAIPAMs consist of active 3 D elastomer-balloon arrays reinforced by a passive elastomer membrane,achieved through a planar design and one-step rolling fabrication approach. We introduce prototypical designs for the MAIPAMs and demonstrate their muscle-mimic structures and versatility, as well as their scalable ability to integrate flexible but non-stretchable layers for contraction and twisting actuation modes and compliant electrodes for self-sensing. We further demonstrate that this class of artificial muscles shows potential for versatile robotic applications, such as carrying a camera for recording videos, gripping or manipulating objects, and climbing a pipe-line.

关键词： soft robotics pneumatic artificial muscles multiple-mode actuations bio-inspired design

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High-density Baropodometry Platform Based on Vision Based Tactile Sensing

High-density Baropodometry Platform Based on Vision Based Ta...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Yueshi Dong Jieji Ren Ningbin Zhang Weijing Zhao Jian Zhou Guoying Gu School of Mechanical Engineering The State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Shanghai Sixth People’s Hospital Affiliated to Shanghai Jiao Tong University University School of Medicine Shanghai China Department of Endocrinology and Metabolism Sixth People’s Hospital Shanghai Jiao Tong University School of Medicine Shanghai China

ISBN: (数字)9798350371499

ISBN: (纸本)9798350371505

Plantar pressure distribution measurement is significant for healthy monitoring and disease diagnosis. However, existing equipment lack of high-density resolution and may lead under-diagnosed of small abnormal regions. To address problem, we propose a special high resolution and low cost Baropodometry based on vision based tactile sensing (VBTS). Specially, we design a measurement platform with larger-scale sensing range (280 mm x 150 mm) and high-density resolution (440 ppi). To achieve the homogeneous illumination for the measure area, we also propose normally distributed light sources around the platform, and delicately adjust the incident angle to optimize the reconstruction performance. Besides, we design a example-based method to calibrate the platform and build a look-up table to reconstruct the plantar geometry from observed image. Experiments show the high lateral resolution that can discriminate the details (<2 mm), and the depth measurement accuracy is 68.5%. The experiments of reconstruction of plantar pressure depth map and identification of tumours show its’ advantage for providing adaptive high-resolution plantar topography and pressure measurement.

关键词： Performance evaluation Sensors Pressure measurement Surface topography Table lookup Object recognition Surface cracks Monitoring Image reconstruction Tumors

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