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arXiv 2021年

作者： Yang, Hao Chen, Mingjun Cheng, Jian Liu, Zhichao Zhao, Linjie Liu, Qi Tan, Chao Wang, Jian State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Research Center of Laser Fusion China Academy of Engineering Physics Mianyang621900 China

To enable an exploration of the initiation mechanism of nanosecond laser damage on a potassiumdihydrogen phosphate (KDP) surface, a defect-assisted energy deposition model is developed that involves light intensity enhancement and a sub-band gap energy level structure. The simulations provide an explanation on why the laser-induced damage threshold (LIDT) of the KDP crystal is two orders of magnitude lower than the theoretical value. The model is verified by use of the transient images that appear during the laser damage. In addition, the dimensions of the "dangerous" surface defects that are the most sensitive to the laser damage are proposed. This work enables clarification on the initial energy deposition (IED) and initiation mechanism of the nanosecond laser damage caused by the KDP surface defectson micro-nano scale. It is helpful in understanding the laser-matter interactions and to improve the processing technique for high quality optical components. Copyright © 2021, The Authors. All rights reserved.

关键词： Laser damage

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Look-to-Touch: A Vision-Enhanced Proximity and Tactile Sensor for Distance and Geometry Perception in Robotic Manipulation

arXiv

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arXiv 2025年

作者： Dong, Yueshi Ren, Jieji Liu, Zhenle Peng, Zhanxuan Yuan, Zihao Zhang, Ningbin Gu, Guoying 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

Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with additional sensors, which makes the system bulky and limits its adaptability to unstructured environments. In this work, we present a vision-enhanced camera-based dual-modality sensor, which realizes full-scale distance sensing from 50 cm to -3 mm while simultaneously keeping ultra-high-resolution texture sensing and reconstruction capabilities. Unlike conventional designs with fixed opaque gel layers, our sensor features a partially transparent sliding window, enabling mechanical switching between tactile and visual modes. For each sensing mode, a dynamic distance sensing model and a contact geometry reconstruction model are proposed. Through integration with soft robotic fingers, we systematically evaluate the performance of each mode, as well as in their synergistic operation. Experimental results show robust distance tracking across various speeds, nanometer-scale roughness detection, and sub-millimeter 3D texture reconstruction. The combination of both modalities improves the robot’s efficiency in executing grasping tasks. Furthermore, the embedded mechanical transmission in sensor allows for fine-grained intra-hand adjustments and precise manipulation, unlocking new capabilities for soft robotic hands. Copyright © 2025, The Authors. All rights reserved.

关键词： Robotic arms

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Tactile-Based Object Pose Estimation Employing Extended Kalman Filter

Tactile-Based Object Pose Estimation Employing Extended Kalm...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Qiguang Lin Chaojie Yan Qiang Li Yonggen Ling Yu Zheng Wangwei Lee Zhaoliang Wan Bidan Huang Xiaofeng Liu Jiangsu Key laboratory of Special Robotic Technology College of IoT Engineering Hohai University Changzhou Jiangsu P.R. China State Key Laboratory of Industrial Control and Technology Zhejiang University Institute of Cyber-System and Control Hangzhou P.R. China Neuroinformatics Group Center for Cognitive Interaction Technology (CITEC) Bielefeld University Bielefeld Germany Tencent Robotics X Shenzhen China School of Computer Science and Engineering Sun Yat-sen University Guangzhou P.R.China

In this paper, we present a new approach to estimate the pose of an object being manipulated by a multi-fingered robotic hand. The method utilizes advanced tactile sensors with high spatial resolution to optimize the estimation of the object's pose using an Extended Kalman Filter (EKF) based approach. We defined and derived the state and measurement equations, as well as evaluated the estimation accuracy in grasping tasks. The approach is able to effectively account for the pose transition caused by tactile pushing, and the mapping from the object's pose to the contact position and normal direction as measured by the tactile sensor. The method was evaluated in multiple grasping experiments in simulation scenarios. Results show that the estimation can converge towards the ground truth in a relatively short period of time, with displacement and rotation errors remaining within acceptable levels. This new method has the potential to improve the accuracy and reliability of robotic grasping and manipulation tasks.

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Fast automatic docking control for electric tractors

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Fundamental Research 2024年

作者： Li, Pengpeng Bai, Yu Li, Weihua Chen, Bowen You, Bindi Zhuang, Hongchao Wang, Jianfeng Gao, Haibo Deng, Zongquan School of Astronautics Harbin Institute of Technology Harbin 150001 China School of Automotive Engineering Harbin Institute of Technology (Weihai) Weihai 264201 China Yangtze River Delta HIT robot technology research institute Wuhu 241060 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Tianjin University of Technology and Education Tianjin 300222 China

In this study, we investigate the automatic docking of an electric tractor with a semi-trailer in narrow and long-distance scenarios. We propose an automatic docking method based on a multi-sensor fusion high-precision positioning algorithm and a multi-strategy docking control algorithm. To solve the heading-angle error of the involved camera due to mechanical errors, a compensation value in the form of angle deviation is introduced. To alleviate the increase in the camera detection error with longitudinal distance, a piecewise coordinate compensation function is proposed. Repositioning is performed using light detection and ranging (Lidar) to improve the pose-perception accuracy to the millimeter level. To avoid the interference of point clouds on the relocation accuracy of Lidar, a search-and-location method that combines both small and large neighborhoods is proposed. To achieve the desired docking success rate, a multi-strategy-adjustment control algorithm is used to enable comprehensive adjustment, including approximate control of the maximum angle based on lateral deviation and fine proportional-integral-differential (PID) control based on lateral deviation and longitudinal distance, security check cycle and premature warning mechanism, and risk avoidance control. Finally, the reliability and stability of the design scheme are verified by conducting multiple experiments involving actual vehicles. © 2024

关键词： Automatic docking Electric tractor Fusion positioning Piecewise proportional-integral-differential

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Bio-robotics research for non-invasive myoelectric neural interfaces for upper-limb prosthetic control: a 10-year perspective review

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National Science Review 2023年第5期 38-58页

作者：江宁陈晨何家源孟建军潘立志苏世勇朱向阳 National Clinical Research Center for Geriatrics West China Hospitaland Med-X Center for ManufacturingSichuan University State Key Laboratory of Mechanical System and Vibration and Institute of RoboticsShanghai Jiao Tong University Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education School of Mechanical EngineeringTianjin University Institute of Neuroscience Université Catholique Louvain

A decade ago,a group of researchers from academia and industry identified a dichotomy between the industrial and academic state-of-the-art in upper-limb prosthesis control,a widely used bio-robotics *** proposed that four key technical challenges,if addressed,could bridge this gap and translate academic research into clinically and commercially viable *** challenges are unintuitive control schemes,lack of sensory feedback,poor robustness and single sensor ***,we provide a perspective review on the research effort that occurred in the last decade,aiming at addressing these *** addition,we discuss three research areas essential to the recent development in upper-limb prosthetic control research but were not envisioned in the review 10 years ago:deep learning methods,surface electromyogram decomposition and open-source *** conclude the review,we provide an outlook into the near future of the research and development in upper-limb prosthetic control and beyond.

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Real-time dynamic grasping force optimization of multi-fingered dextrous hand

Real-time dynamic grasping force optimization of multi-finge...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Liu, Ziqi Jiang, Li Yang, Bin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9781728163215

A technique for real-time dynamic grasping force optimization is presented in this article. The force optimization is divided into online and offline two parts. The improved linear constrained gradient flow algorithm reduces the dimension of the description matrix based on the traditional gradient flow, and the non-negative linear combination method is introduced to optimize the initial force of the algorithm. Relatively optimal initial grasping force and dimensionality reduction gradient flow algorithm improve the calculating efficiency online. The corresponding illustrative examples are made to verify that the proposed method to obtain both optimal grasping force and faster convergence rate in the dynamic grasp process is feasible. © 2019 IEEE.

关键词： Constrained optimization

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Design of soft smart shoes for joint angle estimation in human gait

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Procedia CIRP 2020年 89卷 143-147页

作者： Jiantao Yang Xianghan Lin Yuehong Yin the State Key Laboratory of Mechanical System and Vibration the Robotics Institute Shanghai Jiao Tong University Shanghai 200240

Human gait involves activities in nervous and biomechanics of the musculoskeletal system. Thus, approaching the dynamics may be challenging. This paper aims to present the design of soft smart shoes for joint angle estimation in human gait. There are three pneumatic chambers at the heel, arch, and forefoot of the soft sole. Barometers embedded in every chambers are used to measure the ground reaction forces (GRFs). The inertial sensors are installed on the outsole of shoes to detect the foot attitudes. The soft soles are made of silicone rubber to provide good compliance and ensure the comfort of human. Gaussian process regression (GPR) is established and serves as the mathematics foundation to explore the deep layer correlation between the joint angle and GRFs and foot attitudes which are regarded as the inputs of the model. The statistic nature of the proposed model offers superior flexibility and encouraging estimation results of joint angles. One potential use of the novel designed shoes and the proposed joint estimation method is the high-level control of exoskeletons and prosthetic legs. Finally, experiments were conducted to verify the superiority of the proposed algorithms.

关键词： Smart shoes Gaussian process joint angle estiamtion

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Bacteria Flagella-Mimicking Polymer Multilayer Magnetic Microrobots

SSRN

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SSRN 2024年

作者： Wu, Zhiguang Lu, Liang Bai, Shuang Shi, Jiaqi Zhang, Zhuotao Pan, Yunlu Wang, Wei Wu, Wenfeng Sun, Shoubin Li, Xu Hou, Gang Huang, Tianyun Jia, Yuxin Zuo, Kaiwen Granovsky, Alexander Wu, He Nikolai, Perov School of Medicine and Health Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China The First Affiliated Hospital of Harbin Medical University Harbin China National Center for Respiratory Medicine State Key Laboratory of Respiratory Health and Multimorbidity National Clinical Research Center for Respiratory Diseases Institute of Respiratory Medicine Chinese Academy of Medical Sciences Department of Pulmonary and Critical Care Medicine Center of Respiratory Medicine China-Japan Friendship Hospital Beijing China College of Science Sichuan Agricultural University Chengdu China The Fourth Affiliated Hospital of Harbin Medical University Harbin China Department of Ophthalmology The Second Hospital Jilin University Changchun China Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China Department of Mathematics Imperial College London United Kingdom Department of Computer Science University of Warwick Coventry United Kingdom Magnetism Department Faculty of Physics Lomonosov Moscow State University Moscow Russia Harbin Medical University China

Learning from natural bacteria flagellum, we demonstrate a magnetic polymer multilayer conical microrobot that bestow the controllable propulsion upon external rotating magnetic field with uniform intensity. The magnetic microrobots were constructed by template-assisted Layer-by-Layer technique technique and subsequent functionalization of magnetic particle onto the big opening of the microrobots. Geometric variables of the polymer microrobots, such as the diameter and wall thickness, can be controlled by selection of porous template and layers of assembly. The microrobots perform controllable propulsion through the manipulation of magnetic field. The comparative analysis of the movement behavior reveals that the deformation of microrobots may attributed to the propulsion upon rotating magnetic field, which is similar as that of natural bacteria. The influence of actuation frequencies and frequencies on the velocity of the microrobots is studied. Such use of polymer polymer multilayer tubular micro/nanoarchitectures results in significant savings in the processing costs and provides a simple and cost-effective fabrication route for the mass production of magnetic polymer microrobots. © 2024, The Authors. All rights reserved.

关键词： Bacteria

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Modeling of nonlinear dynamic characteristics and experimental study of piezoelectric energy harvesters with a panel type structure 2

Modeling of nonlinear dynamic characteristics and experiment...

引用

2nd International Conference on Modeling in Mechanics and Materials

作者： Jia, Jinda Shan, Xiaobiao Liu, Yingxiang Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 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. © Published under licence by IOP Publishing Ltd.

关键词： Energy harvesting

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An improved dynamic window approach integrated global path planning

An improved dynamic window approach integrated global path p...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Zhang, Fuhai Li, Ning Xue, Tiegang Zhu, Ying Yuan, Rupeng Fu, Yili Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781728163215

Aiming at the shortcomings of dynamic windowing algorithm (DWA) into local optimal solution. This work studys a modified DWA algorithm integrated global path planning. By introducing the result of global path planning as a reference trajectory, a novel evaluation function is designed which makes the optimal trajectory be guaranteed. In addition, the work also proposes the evaluation sub-function of direction, the evaluation sub-function of smoothing speed and the evaluation sub-function of acceleration, separately, ensures the direction, smoothness and speed of movement. The algorithm is verified in mobile robot, experimental results show that the algorithm optimizes the path of mobile robot, simultaneously, the advantages of the traditional DWA, such as the practicability and continuity of motion are retained. © 2019 IEEE.

关键词： Mobile robots

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