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检索条件"机构=State Key Laboratory^of Robotics and System"

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Closed-Form Analytical Model of Binding Force for Wheeled Mobile Robots with Skid-Steering Mechanism Running on Sandy Terrains

Closed-Form Analytical Model of Binding Force for Wheeled Mo...

引用

IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Junlong Guo Xin Meng Liang Ding Haibo Gao Huang Bo Weihua Li Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

Wheeled mobile robot (WMR) with skid-steering mechanism is popular due to its simplicity and robust performance. Dynamic models of skid-steering systems are very important to their control, and binding force is one essential component of the dynamic models. Integrating the bulldozing resistance force determined using Hegedus's theory along the wheel side face to estimate the binding force is a common way. However, due to the complexity of Hegedus's equations, it is hard to use the binding force model online. To solve this problem, the equivalent wheel sinkage is utilized to compute the bulldozing resistance force, which can then be used to develop a closed-form analytical expression of binding force. The analytical model is used to compute the binding force based on the experimental results obtained using a six-wheeled mobile robot running on a sandy terrain UM-LSS1 and the measured terrain mechanical parameters. Under the specific experimental conditions described in this paper, the binding force exerted on the wheel side face can be neglected for the cases with light vehicle and low forward velocity.

关键词： Conferences Robots Automation Control systems Intelligent systems Wheels Force

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Closed-Form Equations and Experimental Verification for Soft Robot Arm Based on Cosserat Theory*

Closed-Form Equations and Experimental Verification for Soft...

引用

2019 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Lizhou Niu Liang Ding Haibo Gao Yang Su Zongquan Deng Zhen Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Compared with conventional robots, soft structures such as living octopus arms and various soft-robot arms have more degrees of freedom (DOFs) and greater flexibility. Soft robot arms have a considerable range of applications. However, it is arduous to establish a mechanical model for them, because of the hyper-redundant DOFs, and the hyperelasticity and nonlinearity of the soft material. In this study, to investigate the deformation of soft octopus robot arms, the simplified closed-form analytical equations for the curvature and torsion were derived according to the Cosserat theory. A closed-form model for axial constriction was developed. The analytical equations were experimentally validated, and a dynamical simulation of the multi-flexible bodies was performed for a cable-driven soft-robot arm inspired by the octopus. The results show satisfactory accuracy.

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A Novel Method of Combining Computer Vision, Eye-Tracking, EMG, and IMU to Control Dexterous Prosthetic Hand

A Novel Method of Combining Computer Vision, Eye-Tracking, E...

引用

IEEE International Conference on robotics and Biomimetics

作者： Chunyuan Shi Le Qi Dapeng Yang Jingdong Zhao Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Due to poor robustness, instability, and the heavy burden of use, the traditional myoelectric control method is still powerless in the face of the control of the dexterous prosthetic hand. To solve this problem, a new method (CVEEI), that combines computer vision, eye tracking, electromyogram (EMG) and IMU was proposed in this paper. Firstly, through gazing (eye-tracking) in front of the screen, the grasping pattern of the objects can be fed back to the prosthetic hand controller; Then, the prosthetic hand can be controlled to transport the object to the position expected, on collaboration of both EMG and IMU. In this process, the grasping pattern of all objects can be recognized by computer vision in real-time. Importantly, through comparing the traditional EMG control method (co-contraction to switch) in the transport experiment of the objects, the superiority of this new method in operating the dexterous prosthetic hand was further verified (fast > 1s/single object) in this paper.

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An Adaptable Robotic system for Assembling Irregular Earphone Parts on Factory Automation

An Adaptable Robotic System for Assembling Irregular Earphon...

引用

IEEE International Conference on robotics and Biomimetics

作者： Guiwei Zhang Changle Li Xuehe Zhang Gangfeng Liu Yubin Liu Jie Zhao Shuo Xu. State Key Laboratory of Robotics and System Harbin Institue of Technology Harbin China

The assembly of earphone parts in electro acoustic factory automation is a challenging problem for industrial robots. The main difficulties come from the fact that conventional industrial robots perform poorly on rapid-updated earphone parts, which are characterized by small size, variety and irregular shapes. What's worse, the robot cannot adapt to the earphone parts with different poses effectively. In order to tackle above problems, an adaptable robotic system guided by the 3D laser triangulation sensor and six-axis F/T sensor is built in this paper. In addition, to reduce position errors caused by the 3D sensor accidently, an assembly strategy which is implemented by the admittance controller learned from human teaching, is proposed for assembling earphone parts. Specifically, AdaBoost-based GPR method is applied to derive the admittance gain, so that the controller perform effectively. A series of comparative experiments prove that the established system could demonstrate superior performance on the earphone parts with small size, variety and irregular shapes. Furthermore, it is also validated that the assembly strategy could be executed effectively on the earphone parts with different poses.

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Model Learning for Two-Wheeled Robot Self-Balance Control

Model Learning for Two-Wheeled Robot Self-Balance Control

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IEEE International Conference on robotics and Biomimetics

作者： Enbo Li Haibo Feng Haitao Zhou Xu Li Yanwu Zhai Songyuan Zhang Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Two-wheeled robots have many advantages over other mobile robots, but they are difficult to self-balance compared with other wheeled robots. Reinforcement learning (RL) is a general framework for sequential decision-making problems. So far, there are many applications of reinforcement learning to solve robot control problems, but most of them are used in simulators because of the large amount of data required. In addition, due to the reality gap, the policy learned in a simulation environment cannot be transferred directly to a real robot. Real robot data often expensive due to the potential damage to the robot. Model-based methods require far fewer robot data than model-free methods, but these methods have the problem of model bias. In this paper, we use a model-based reinforcement learning method to achieve self-balance of a two-wheeled robot. We present a model learning method that can reduce the problem of model bias. Our method combines the simulator and a few real robot data to learn a probabilistic dynamics model of the robot through an iterative way, which requires no expertise and can learn from scratch. Then the control policy is optimized based on the learned model.

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A New Method For Fiber Bragg Grating Based Needle Shape Sensing Calibration*

A New Method For Fiber Bragg Grating Based Needle Shape Sens...

引用

IEEE International Conference on robotics and Biomimetics

作者： LeiFeng Zhang ChangLe Li XueHe Zhang GangFeng Liu YuBin Liu Jie Zhao Guang Ban YiLun Fan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Accurate placement of the needle is critical in percutaneous surgery. Needle shape reconstruction technology based on fiber Bragg gratings (FBGs) sensor is considered to have the potential to achieve this goal. In this paper, we present a temperature-insensitive calibration model for calibrating needles with FBG sensors to accurately estimate its deformation. In addition, we have designed a device for simultaneously calibrating the loading direction and shape. Preliminary results indicate that the proposed model is theoretically insensitive to temperature, but in fact it can only be used within a certain temperature range. The resolution of the loading direction increases as the degree of bending increases, with a maximum error of 8.58°. Shape reconstruction error can be less than 1.5mm with small needle bending. This calibration method can meet clinical applications.

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Development of a Novel Hand-eye Coordination Algorithm for Robot Assisted Minimally Invasive Surgery*

Development of a Novel Hand-eye Coordination Algorithm for R...

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IEEE International Conference on robotics and Biomimetics

作者： Yanwen Sun Bo Pan Yili Fu Guojun Niu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

The minimally invasive surgical robot greatly improved surgical OR efficiency, and surgeon manipulates the surgical instruments through master-slave control under the guidance of laparoscope vision. As a mapping of the surgeon's hand-eye coordination, the coordination between surgical instruments and laparoscope has an important impact on the surgical efficiency and the ergonomics. In this paper, a novel hand-eye coordination algorithm is proposed for the robot -assisted minimally invasive surgery (RMIS). Firstly, a novel cascade-calibration (CC) algorithm structure is proposed to determine the pose relationship between the robot laparoscope arm coordinate system and the robot instruments arm coordinate system. A hand-eye coordination algorithm is also proposed, which provides accurate master-slave control and improves the surgical operation room (OR) efficiency. We validate the proposed algorithm through two experiments with our minimally invasive surgical robot system. Our experiments demonstrate that the proposed method is competitively effective to induce the hand-eye coordination for the RMIS.

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Extrinsic Calibration Between a Stereo system and a 3D LIDAR

Extrinsic Calibration Between a Stereo System and a 3D LIDAR

引用

IEEE International Conference on robotics and Biomimetics

作者： Yanwu Zhai Haibo Feng Jia He Enbo Li Songyuan Zhang Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

As the robot gradually develops from indoor to outdoor, multi-sensor fusion is increasingly being applied to the field of robot perception. Among them, LiDAR and binocular sensors are most widely used. Robots use the complementary and redundant data they provide to perform environmental perception and implement certain functions of the robot, such as SLAM, autonomous obstacle avoidance and so on. However, the data obtained by each sensor are relative to its own coordinate system. Data must be converted to a unified coordinate system before data fusion. Therefore, the calibration of the transformation among sensors is the first problem to be solved in data fusion. Moreover, the accuracy of calibration is directly related to the effect of data fusion. Therefore the calibration between sensors is very important and necessary. In this paper, we propose a novel method to find accurate rigid-body transformation for the extrinsic calibration of a 3D LiDAR and a stereo cameras, using two Aruco calibration boards. Also the validity of the algorithm is demonstrated by some experiments.

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2-DOF Simultaneous Control of Dexterous Prosthesis based on Constrained NMF and Hadamard Product

2-DOF Simultaneous Control of Dexterous Prosthesis based on ...

引用

IEEE International Conference on robotics and Biomimetics

作者： Zixin Wang Dapeng Yang Jiaming Li Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

It is a question of great import for the dexterous prosthesis to realize its continuous, simultaneous and proportional control of multi-DOFs so that its rehabilitation function can be well achieved and its user acceptance rate can be improved. In this paper, we propose a new method, CNMF-HP, which integrates the constrained non-negative matrix factorization (NMF) and the Hadamard product, for estimating 2-DOF wrist movements (DOF-1, flexion/extension; DOF-2, adduction/abduction) from myoelectric signals. Based on this method, the simultaneous control of a multi-fingered prosthesis is verified in this paper. Through establishing the mapping relationship between the wrist movements and the finger movements of the dexterous prosthesis, two grasp control strategies (synchronous and asynchronous) are proposed and successfully applied in operating the dexterous prosthesis to grasp four kinds of objects of different grasping patterns (cylindrical, spherical, tripod and lateral). Then, the performance of different strategies (synchronous/asynchronous control) in the grasping process is compared in terms of the completion time and completion rate of the tasks, in this way the superiority of EMG control proposed in this paper is further verified.

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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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IEEE International Conference on robotics and Biomimetics

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

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.

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