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arXiv 2025年

作者： Zhang, Kecheng Liu, Ya-Feng Wang, Zhongbin Yuan, Weijie Keskin, Musa Furkan Wymeersch, Henk Xia, Shuqiang School of System Design and Intelligent Manufacturing The Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen518055 China State Key Laboratory of Scientific and Engineering Computing Institute of Computational Mathematics and Scientific/Engineering Computing Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Department of Electrical Engineering Chalmers University of Technology Gothenburg41296 Sweden ZTE Corporation The State Key Laboratory of Mobile Network and Mobile Multimedia Technology Shenzhen518055 China

Integrated sensing and communication (ISAC) has been considered a key feature of next-generation wireless networks. This paper investigates the joint design of the radar receive filter and dual-functional transmit waveform for the multiple-input multiple-output (MIMO) ISAC system. While optimizing the mean square error (MSE) of the radar receive spatial response and maximizing the achievable rate at the communication receiver, besides the constraints of full-power radar receiving filter and unimodular transmit sequence, we control the maximum range sidelobe level, which is often overlooked in existing ISAC waveform design literature, for better radar imaging performance. To solve the formulated optimization problem with convex and nonconvex constraints, we propose an inexact augmented Lagrangian method (ALM) algorithm. For each subproblem in the proposed inexact ALM algorithm, we custom-design a block successive upper-bound minimization (BSUM) scheme with closed-form solutions for all blocks of variable to enhance the computational efficiency. Convergence analysis shows that the proposed algorithm is guaranteed to provide a stationary and feasible solution. Extensive simulations are performed to investigate the impact of different system parameters on communication and radar imaging performance. Comparison with the existing works shows the superiority of the proposed algorithm. © 2025, CC BY-NC-SA.

关键词： Mean square error

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Development of space end-effector with capabilities of misalignment tolerance and soft capture based on tendon-sheath transmission system

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Journal of Central South University 2013年第11期20卷 3015-3030页

作者：丰飞刘伊威刘宏蔡鹤皋 State Key Laboratory of Robotics and System Harbin Institute of Technology

The essential requirements of the end-effector of large space manipulator are capabilities of misalignment tolerance and soft *** to these requirements,an end-effector prototype combining the tendon-sheath transmission system with steel cable snaring mechanism was *** analysis method based on the coordinate transformation and the projection of key points of the mechanical interface was proposed,and it was a guideline of the end-effector ***,the tendon-sheath transmission system was employed in the capture subassembly to reduce the inertia of the capture mechanism and enlarge the capture *** capabilities of misalignment tolerance and soft capture were validated through the dynamic simulation in ADAMS *** results of the capture simulation and experiment show that the end-effector has outstanding capabilities of misalignment tolerance and soft *** translation misalignments in radial directions are±100 mm,and angular misalignments about pitch and yaw are±15°.

关键词： space station on-orbit-servicing large space manipulator end-effector soft capture large misalignment tolerance

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Robot learning from demonstration for path planning: A review

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Science China(Technological Sciences) 2020年第8期63卷 1325-1334页

作者： XIE ZongWu ZHANG Qi JIANG ZaiNan LIU Hong State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Learning from demonstration(LfD)is an appealing method of helping robots learn new *** papers have presented methods of LfD with good performance in ***,complicated robot tasks that need to carefully regulate path planning strategies remain *** or non-contact constraints in specific robot tasks make the path planning problem more difficult,as the interaction between the robot and the environment is *** this paper,we focus on the path planning of complex robot tasks in the domain of LfD and give a novel perspective for classifying imitation learning and inverse reinforcement *** classification is based on constraints and obstacle ***,we summarize these methods and present promising directions for robot application and LfD theory.

关键词： learning from demonstration path planning imitation learning inverse reinforcement learning obstacle avoidance

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Forward kinematics analysis of parallel manipulator using modified global Newton-Raphson method

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Journal of Central South University 2010年第6期17卷 1264-1270页

作者：杨炽夫郑淑涛靳军朱思斌韩俊伟 State Key Laboratory of Robotics and System Har bin Institute of Technology

In order to obtain direct solutions of parallel manipulator without divergence in real time,a modified global Newton-Raphson(MGNR) algorithm was proposed for forward kinematics analysis of six-degree-of-freedom(DOF) parallel *** on geometrical frame of parallel manipulator,the highly nonlinear equations of kinematics were derived using analytical *** MGNR algorithm was developed for the nonlinear equations based on Tailor expansion and Newton-Raphson *** procedure of MGNR algorithm was programmed in Matlab/Simulink and compiled to a real-time computer with Microsoft visual *** for *** performance of the MGNR algorithms for 6-DOF parallel manipulator was analyzed and *** the MGNR algorithm,the real generalized pose of moving platform is solved by using the set of given positions of *** theoretical analysis and numerical results indicate that the presented method can achieve the numerical convergent solution in less than 1 ms with high accuracy(1×10-9 m in linear motion and 1×10-9 rad in angular motion),even the initial guess value is far from the root.

关键词： parallel manipulator forward kinematics global Newton-Raphson real-time system

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Bio-inspired design of alternate rigid-flexible segments to improve the stiffness of a continuum manipulator

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Science China(Technological Sciences) 2020年第8期63卷 1549-1559页

作者： LIU Hong WANG HaiRong FAN ShaoWei YANG DaPeng State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Intrinsic flexible structures enable a continuum manipulator to exhibit attractive dexterity and intrinsic compliance over traditional hyper-redundant ***,its insufficient stiffness makes the performance of continuum manipulators unsatisfactory and thus limits the applications in many fields.A significant challenge is how to make a trade-off among dexterity,compliance and *** an evolutionary perspective,this paper compares several biological structures that enable the continuum manipulator function,and intends to reveal the mechanism on how the biological structures can improve the *** notochord and the vertebral column with acoelous centra are abstracted and physically implemented.A fundamental roddriven continuum manipulator is also introduced as a *** stiffness models of these three continuum manipulators are proposed,and comparative experiments are conducted to verify their stiffness *** results demonstrate that the rigid-flexible segmental structure can improve the stiffness properties of a continuum manipulator.

关键词： continuum robots biologically inspired robot flexible arm stiffness kinematics

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Design and experiments of a small resonant inchworm piezoelectric robot

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Science China(Technological Sciences) 2023年第3期66卷 821-829页

作者： DENG Jie YANG ChengLin LIU YingXiang ZHANG ShiJing LI Jing MA XueFeng XIE Hui State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

A small resonant inchworm piezoelectric robot with six driving feet which are set evenly along the circumference is proposed and tested.A bonded-type structure is adopted to realize a small *** radial bending vibration mode and longitudinal vibration mode are excited at the same *** superposition of these two vibration modes makes the driving feet produce elliptical *** the driving force can be generated by friction coupling between the driving foot and the operating *** structure of the robot is designed by finite element *** geometric parameters are adjusted to make the resonant frequencies of the vibration modes as close as *** elliptical trajectories generated at the driving feet are discussed in *** vibration and motion characteristics of the prototype are tested,and the resonant frequencies of the radial bending mode and the longitudinal vibration mode are degenerated *** optimal working frequency of the prototype is 21.5 *** maximum speed of the prototype is 200 mm/s,and the displacement resolution is 0.71μ*** measured results show that the resonant inchworm piezoelectric robot can be used for fast and high-precision transportation in narrow space.

关键词： piezoelectric robot resonant actuation inchworm movement bending and longitudinal vibration

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Two-phase visual servoing for capturing tumbling non-cooperative satellites with a space manipulator

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Chinese Journal of Aeronautics 2024年第12期37卷 560-573页

作者： Dezhi ZHANG Guocai YANG Yongjun SUN Junhong JI Minghe JIN Hong LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

In this paper,a visual servoing approach is developed to capture the docking rings of tumbling non-cooperative satellites with a space *** primary challenge addressed is the potential for the docking ring to leave the monocular camera’s field-of-view as the manipulator approaches the target,due to the ring’s large *** solve this issue,a two-phase visual servoing scheme combining a monocular camera and a three-line structured light vision system is *** an effort to augment the success rate and safety of capture operations,several constraints are formulated,encompassing manipulator’s kinematics,monocular camera’s field-of-view,obstacle avoidance,structured light’s breakpoints and smooth ***,a nonlinear model predictive controller is proposed to manage these constraints in real-time and regulate the *** models are established based on image moments and pose for each phase,selecting these features as visual feedback to simplify the formulation of servo constraints and avoid the complex circle-based pose ***,to ensure unbiased predictions,the model disturbances arising from the imprecise estimation of target motion parameter are observed using an extended Kalman filter,which are then incorporated into the predictive control *** simulation results demonstrate the effectiveness of this scheme.

关键词： Space manipulator Tumbling non-cooperative satellite Visual servoing Model predictive control Disturbance estimation

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NUMERICAL SIMULATION OF BATOID LOCOMOTION

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Journal of Hydrodynamics 2011年第5期23卷 594-600页

作者： CHEN Wei-shan WU Zhi-jun LIU Jun-kao SHI Sheng-jun ZHOU Yang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The hydrodynamics of batoid swimming motions is investigated using the three-dimensional simulation of a self-propelled body in still water. The kinematics of batoid swimming is characterized by large amplitude undulations of the pectoral fins while the middle part of the body remains straight. The majority of the thrust is generated by pectoral fins. Linear and quadratic amplitude variations are used for the pectoral fins in analyzing the locomotion of the batoid. Navier-Stokes equations are used to solve the unsteady fluid flow. A user defined function and a dynamic mesh method are applied to track the batoid locomotion. The mean swimming velocities of 1.6 BL/s and 1.3 BL/s are achieved, respectively, with thrust coefficients of 0.13 in and 0.095 in the dynamical simulation, where BL/s is the body length per second. The maximum propulsive efficiency 19% is achieved when the frequency of the undulation is 2.2 Hz in both amplitude variations.

关键词： batoid fish undulation pectoral fin dynamical simulation

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A Rhythmic Motion Control Method Inspired by Board Shoe Racing for a Weight-Bearing Exoskeleton

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Journal of Bionic Engineering 2022年第2期19卷 403-415页

作者： Tianshuo Wang Jie Zhao Dongbao Sui Sikai Zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

To ensure the flexible walking of the weight-bearing exoskeleton robot,most researchers control the exoskeleton to follow the wearer’s movements and provide force to maintain the current dynamic ***,due to the limitation of sensing information and computing power,it is difficult for the exoskeleton to provide the wearer reasonable and stable force only based on the dynamic model,especially in switching between swing phase and stance *** by China’s traditional sport named board shoe racing,a walking control method based on the cooperation of the human and the exoskeleton is proposed in this paper for a lower-limb exoskeleton named *** certain conditions,the exoskeleton itself can walk stably depending on the rhythm signals generated by the Central Pattern Generator(CPG).With certain initiative during walking,it can make proper adjustments according to the human *** the help of dynamic simulation software and Genetic Algorithm(GA),the optimized CPG parameters are *** control is introduced to increase the comfort of the *** impedance parameters as well as the CPG parameters are tuned in real time based on *** experiments were conducted with *** results demonstrate that PALExo can effectively assist the wearer walking with a 45-kg payload benefiting from the proposed method.

关键词： Exoskeleton robot Central pattern generator Walking control method

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Design, Analysis and Experimental Performance of a Bionic Piezoelectric Rotary Actuator

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Journal of Bionic Engineering 2017年第2期14卷 348-355页

作者： Shupeng Wang Weibin Rong Lefeng Wang Zhichao Pei Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

This study presents a piezoelectric rotary actuator which is equipped with a bionic driving mechanism imitating the cen- tipede foot. The configuration and the operational principle are introduced in detail. The movement model is established to analyze the motion of the actuator. We establish a set of experimental system and corresponding experiments are conducted to evaluate the characteristics of the prototype. The results indicate that the prototype can be operated stably step by step and all steps have high reproducibility. The driving resolutions in forward and backward motions are 2.31 grad and 1.83 μrad, respectively. The prototype can also output a relatively accurate circular motion and the maximum output torques in forward and backward directions are 76.4 Nmm and 70.6 Nmm, respectively. Under driving frequency of 1 Hz, the maximum angular velocities in forward and backward directions are 1029.3 grad·s^-1 and 1165 μrad·s^-1 when the driving voltage is 120 V. Under driving voltage of 60 V, the angular velocities in forward and backward motions can be up to 235100 grad·s^-1 and 153650 μrad·s^-1 when the driving frequency is 1024 Hz. We can obtain the satisfactory angular velocity by choosing a proper driving voltage and frequency for the actuator.

关键词： bionic foot piezoelectric rotary actuator centipede foot stick-slip

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