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IEEE International Conference on robotics and Biomimetics

作者： Li Wang Ruifeng Li Jingwen Sun Lijun Zhao Hezi Shi Hock Soon Seah Budianto Tandianus State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In order to achieve an intuitive interaction and visual semantic navigation for the indoor robot, we propose a novel object-aware hybrid map. The existing map is usually a metric map, lacking semantics for interaction. We combine objects in the indoor environment with the metric map to constitute a hybrid map. The map consists of a 3D object semantic map and a 2D occupancy grid map, which transfers human commands to the grid map through object semantics, thereby enabling autonomous navigation for the robot. We utilize ORB-SLAM2 for continuous pose estimation and 3D mapping. 2D object detection in key-frames is conducted based on YOLO v3. The object point clouds in multiple perspectives are merged and a 3D bounding box of the object is estimated. These objects construct a 3D semantic map. Furthermore, we project a 3D point cloud map into a 2D plane in order to get an occupancy grid map. Finally, these two maps are combined forming an object-aware hybrid map. We conduct experiments in real environments in order to verify the feasibility and robustness of the hybrid map for robot semantic navigation.

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Parametric Gait Online Generation of a Lower-limb Exoskeleton for Individuals with Paraplegia

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Journal of Bionic Engineering 2018年第6期15卷 941-949页

作者： Tianjiao Zheng Yanhe Zhu ZongweiZhang Sikai Zhao Jie Chen Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechanical Engineering and Automation Northeastern University Shenyang 110819 China

Lower-limb exoskeletons can provide paraplegics with the ability to restore gait function. In the community ambulation, the user would frequently meet different floors, doorsills, and other obstacles. Therefore, parametric gait generation is a significant issue for this kind of exoskeletons. In this paper, a parametric gait online generation approach is proposed, which combines a parametric gait control method with a torque compensation control strategy, based on the state machine. In the torque compensation control, the reference tra- jectories of joint positions are obtained through compensating gravity, inertia, and friction, which is intent on the natural and well-directed source data. Based on the reference trajectories, the parametric gait control method is established, in which the gait can be controlled via three parameters： velocity, step-length, and step-height. Two test cases are performed on three healthy subjects. The results demonstrate that the parametric gait can be online generated smoothly and correctly, meanwhile every variable step can be triggered as users expect. The effectiveness and practicability of the gait generation approach proposed in this paper are validated. In addition, this research is the foundation of autonomous gait planning.

关键词： exoskeleton parametric gait gait online generation paraplegic bionic design

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Dynamic Simulation of Planetary Rovers with Terrain Property Mapping * Research supported by National Natural Science Foundation of China (Grant No. 61370033), National Basic Research Program of China (Grant No. 2013CB035502), Foundation for Innovative Research Groups of the Natural Science Foundation of China (Grant No. 51521003), Foundation of Chinese state key laboratory of robotics and systems (Grant No. SKLRS201501B, SKLRS20164B), Harbin Applied Technology Project of Research and Development (2015RQQXJ081), and the “111 Project” (Grant No. B07018).

Dynamic Simulation of Planetary Rovers with Terrain Property...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Huaiguang Yang Liang Ding Haibo Gao Lan Huang Junlong Guo Chao Chen Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

Simulation of planetary rovers moving on complex terrains is critical for Mars exploration. Equivalent stiffness is proposed and used to characterize the pressure-sinkage property of terrain, while friction angle to characterize the shearing property. Terramechanics model for calculating forces between rigid wheel and soil is proved to be the same with that contact model for calculating forces between rigid wheel and rock. A Digital Elevation Map with Physical Properties is developed and applied to simulate terrain physical properties along with its geometry information. The established methods are validated using simulation and experimental tests with a three-wheel-rover.

关键词： Soil Mathematical model Wheels Stress Computational modeling Shearing Force

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Stiffness Effect on Periodic Locomotion of Legged Robot Based on Dimensional Analysis and Fixed Points Search Method

Stiffness Effect on Periodic Locomotion of Legged Robot Base...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Ming Liu Mantian Li Fusheng Zha Fangwei Zou Pengfei Wang Wei Guo Haowei Wang State Key Laboratory of Robotics and System Harbin Institute of Technology China Shenzhen Academy of Aerospace Technology Shenzhen China China railway resources group Manchuria Co. Ltd. China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

The high complexity of dynamic equations of legged robot with spring legs often leads to difficulty in analyzing the influence of spring stiffness on periodic locomotion of legged robots. To deal with this problem, this paper firstly applies dimensional analysis method to determine the relationship among physical quantities. And through the dimensionless processing for dynamic equations, the relatively independent expression of the spring stiffness, i.e. relative spring stiffness, is obtained, which can lower down the coupling degree among the physical quantities in dynamic equations. Then, the fixed point distribution of the dynamic model for legged robot, with respect to different stiffness, is presented based on the fixed point theory. Finally, the regularities of influence of spring stiffness on the fixed point are summarized by analyzing the simulation results.

关键词： Springs Legged locomotion Mathematical model Electronic mail Animals Aerodynamics

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A Visual Calibration Method of Monocular Camera and Pan-Tilt for Mobile Robots

A Visual Calibration Method of Monocular Camera and Pan-Tilt...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Jingwen Sun Lijun Zhao Ke Wang Yujia Zhao Xiangbo Meng Chuwei Mao Jiancheng Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System China School of Electrical Engineering & Automation Harbin Institute of Technology Harbin China

ISBN: (数字)9781728137261

ISBN: (纸本)9781728137278

In the competition of “RoboMaster”, the robot, a mobile platform with a two-axis pan-tilt and a barrel, needs to shoot the target by launching a projectile. In order to detect and shoot the target automatically, we develop a visual system with a monocular camera mounted on the chassis. Based on some target detection algorithms, the target's 3D pose in the camera coordinate system is obtained. As the launching mechanism of the robot is on the two-axis pan-tilt, it demands to further obtain target's pose in the pan-tilt coordinate system to achieve precise shooting. Therefore, how to obtain the relative position between the camera coordinate system and the pan-tilt coordinate system is the main problem in our research. We propose a fast and effective method for the relative position calibration between the camera and two-axis pan-tilt based on specular reflection. We utilize a plane mirror to reflect the laser pointer light path mounted on the barrel. Then, the camera calibration method is applied to obtain the rotation matrix between the camera coordinate system and the world coordinate system. We finally verify the effectiveness of our method through experiments and achieve the first place in the competition.

关键词： Cameras Calibration Robot kinematics Robot vision systems Lasers Mirrors

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Learning-Based Gravity Estimation for Robot Manipulator Using KRR and SVR

Learning-Based Gravity Estimation for Robot Manipulator Usin...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Chenglong Yu Zhiqi Li Hong Liu Alan.F. Lynch State Key Laboratory of Robotics and System Harbin Institute of Technology China Applied Nonlinear Controls Lab University of Alberta Edmonton T6G 1H9 Canada

ISBN: (数字)9781728167947

ISBN: (纸本)9781728167954

In this paper, a learning-based method for estimating the parameters of the gravity term of a manipulator with the kernel trick approach is presented. This method extracts the mapping equation from the analytical form of the dynamic equation. Based only on the configuration and sampling data of the robotic arm, Kernel ridge regression (KRR) and Support vector regression (SVR) algorithms are introduced to estimate the position parameters and provide a comparison between different learning regression techniques. The novelty of this work is the time-efficient estimation of robot gravity through randomly located joint sampling data using the kernel trick. The optimal solution to the optimal trade-off curve is proposed and discussed. Theoretical analysis shows that the joint angle and driving torque can be used to estimate the relationship between the center of gravity of the manipulator links and the mass of the connecting rod to obtain an accurate dynamic gravity model.

关键词： Gravity Mathematical model Manipulator dynamics Torque Jacobian matrices

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Reconstruct defect features in ultrasonic scan data by multi-time local outlier factors

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Measurement 2025年 255卷

作者： Peng Yin Fei Wang Yunyan Liu Peng Song Jianghao Zhao Zhuoyan Yue Yaodong Yang Honghao Yue Junyan Liu State Key Laboratory of Robotics and System (HIT) Harbin 150001 PR China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 PR China Beijing Satellite Manufacturing Factory Co. LTD Beijing 100001 PR China College of Mechanical and Transportation Engmeering China University of Peteroleum(Beijing) Beijing 102249 P.R. China

In this paper, a novel multi-time Local Outlier Factor (MT-LOF) algorithm is proposed to address the challenges posed by the low efficiency of automated imaging of ultrasound data and the difficulty of reusing the results. MT-LOF is employed to summarize ultrasound outlier signals at multiple time points and reconstruct detection results. Additionally, phased array ultrasonic testing (PAUT) boards are utilized to collect data from flat-bottomed holes, simulated impact components, and real specimens. The collected data is then processed using the MT-LOF and gate peak method, and the results are compared. The findings of the research suggest that MT-LOF can effectively streamline the ultrasonic signal processing process, achieve automated characterization of ultrasonic defect data, and concurrently enhance the signal-to-noise ratio (SNR) of the impact simulation sample experiment by 176.7% in comparison with conventional methods, while concomitantly reducing the background standard deviation by 44.7%.

关键词： Ultrasonic testing

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A Real-Time Variable Stiffness Measuring Method consisted of Residual-based Estimator and Parametric Observer

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Procedia CIRP 2019年 83卷 773-778页

作者： Xianghan Lin Cheng Peng Yuehong Yin State Key Laboratory of Mechanical System and Vibration Institute of Robotics Shanghai Jiao Tong University Shanghai 200240 China

In the field of human-machine interaction, a dynamic stiffness estimator consisted of residual-based estimator and parametric stiffness observer is proposed to estimate the nonlinear time-varying dynamic stiffness of the variable stiffness joint (VSJ). Firstly, the static stiffness is presented by theoretical analysis, then the dynamic stiffness recognition is divided into a second-order residual-based estimator of the flexible torque and a weight-modified parametric stiffness observer of the dynamic stiffness. The simulation demonstrates the high accuracy and robustness. Besides, the overview of VSJ system and corresponding product-service systems (PSS) is also presented.

关键词： variable stiffness joint dynamic stiffness residual-based estimator parametric stiffness observer

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Numerical and experimental studies of hydrodynamics of flapping foils

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Journal of Hydrodynamics 2018年第2期30卷 258-266页

作者： Kai Zhou Jun-kao Liu Wei-shan Chen College of Mechanical and Electronic Engineering Shandong Agricultural University Taian 271018 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The flapping foil based on bionics is a sort of simplified models which imitate the motion of wings or fins of fish or birds. In this paper, a universal kinematic model with three degrees of freedom is adopted and the motion parallel to the flow direction is considered. The force coefficients, the torque coefficient, and the flow field characteristics are extracted and analyzed. Then the propulsive efficiency is calculated. The influence of the motion parameters on the hydrodynamic performance of the bionic foil is studied. The results show that the motion parameters play important roles in the hydrodynamic performance of the flapping foil. To validate the reliability of the numerical method used in this paper, an experiment platform is designed and verification experiments are carried out. Through the comparison, it is found that the numerical results compare well with the experimental results, to show that the adopted numerical method is reliable. The results of this paper provide a theoretical reference for the design of underwater vehicles based on the flapping propulsion.

关键词： Biological fluid dynamics flapping foil hydrodynamic performance numerical simulation

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Mapping for Planetary Rovers from Terramechanics Perspective*

Mapping for Planetary Rovers from Terramechanics Perspective...

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

作者： Ruyi Zhou Liang Ding Haibo Gao Wenhao Feng Zongquan Deng Nan Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

In an autonomous scientific exploration system, the terrain map generated from mapping process integrates sensing information from multiple aspects and lays the base for decision making processes. With the increasing challenges in planetary exploration, equipping planetary rovers with the principles of terramechanics is becoming more and more common, especially on rough or intricate terrain. However, it is difficult for conventional maps with elevation information only to reflect terrain mechanical properties, which play important roles in terramechanics-based simulation or motion control. This study extracts the dominant parameters in terrain bearing and shearing models, and presents a multi-layered grid map with fundamental geometric and mechanical elements. A corresponding mapping scheme based on dense visual input is designed to reconstruct elevation in the map and predict terrain mechanical parameters of the entire visual field. Experiments are conducted to verify the practicability of the approach proposed in a Mars emulation yard with a rover prototype.

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