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HIT prosthetic hand based on tendon-driven mechanism

Journal of Central South University 2014年第5期21卷 1778-1791页

作者：刘伊威丰飞高一夫 State Key Laboratory of Robotics and System Harbin Institute of Technology

An underactuated finger structure actuated by tendon-driven system is *** and static analysis of the finger is done,and the results indicate that the prosthetic finger structure is effective and *** on the design of finger,a prosthetic hand is *** hand is composed of 5 independent fingers and it looks more like *** size is about 85% of an adult's hand and weights about 350 *** the thumb finger,each finger is actuated by one DC motor,gear head and a tendon,and has three curling/extension *** thumb finger which is different from other existing prostheses is a novel design *** thumb finger has four joints including three curling/extension joints and a joint which is used to realize the motion of the thumb related to the palm,and these joints are also driven by one DC motor,harmonic drive and a *** underactuation and adaptive curling/extension motion of the finger are realized by joint torsion springs.A high-powered chip of digital signal processing(DSP)is the main part of the electrical system which is used for the motors control,data collection,communication with external controlling source,and so *** improve the reliability of the hand,structures and sensors are designed and made as simply as *** hand has strong manipulation capabilities that have been verified by finger motion and grasping tests and it can satisfy the daily operational needs and psychological needs of deformities.

关键词： prosthetic hand tendon-driven mechanism underactuation kinematics and static analysis

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Semantic Region Estimation of Assistant Robot for the Elderly Long-Term Operation in Indoor Environment

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China Communications 2016年第5期13卷 1-15页

作者： Guanglei Huo Lijun Zhao Ke Wang Ruifeng Li State Key Laboratory of Robotics and System Harbin Institute of Technology

In this work, in order to improve spatial recognition abilities for the long-term operation tasks of the assistant robot for the elderly, a novel approach of semantic region estimation is proposed. We define a novel graphbased semantic region descriptions, which are estimated in a dynamically fashion. We propose a two-level update algorithm, namely, Symbols update level and Regions update level. The algorithm firstly adopts particle filter to update weights of the symbols, and then use the Viterbi algorithm to estimate the region the robot stays in based on those weights, optimally. Experimental results demonstrate that our proposed approach can solve problems of the long-term operation and kidnapped robot problem.

关键词： service robot semantic region estimation particle filter viterbi algorithm long-term tasks

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Development of Chinese large-scale space end-effector

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Journal of Central South University 2011年第3期18卷 600-609页

作者：刘宏谭益松刘伊威介党阳高凯蔡鹤皋 State Key Laboratory of Robotics and System Harbin Institute of Technology

In order to achieve large tolerance capture and high stiffness connection for space payload operations,a Chinese large-scale space end-effector (EER) was *** flexible steel cables were adopted to capture the payload with large capture *** screw transmission mechanism and plane shape-constraint four bar linkage mechanism were utilized to connect the payload with high *** experiments show that capture tolerances in X,Y,Z,Pitch,Yaw,Roll directions are 100 mm,100 mm,120 mm,10.5°,10.5°,12°,*** maximum connection stiffness is 4 800 N·*** end-effector could meet the requirements for space large tolerance capture and high stiffness connection in the future.

关键词： large tolerance capture high stiffness connection end-effector flexible steel cable ball screw four bar linkage

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A review of heavy-duty legged robots

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Science China(Technological Sciences) 2014年第2期57卷 298-314页

作者： ZHUANG HongChao GAO HaiBo DENG ZongQuan DING Liang LIU Zhen State Key Laboratory of Robotics and System Harbin Institute of Technology

Heavy-duty legged robots have been regarded as one of the important developments in the field of legged robots because of their high payload-total mass ratio,terrain adaptability,and *** problems associated with the development and use of heavy-duty legged robots have motivated researchers to conduct many important studies,covering topics related to the mechanical structure,force distribution,control strategy,energy efficiency,***,heavy-duty legged robots have three main characteristics:greater body masses,larger body sizes,and higher payload-total mass ***,various heavy-duty legged robots and their performances are reviewed *** review presents the current developments with regard to heavy-duty legged ***,the main characteristics of high-performance heavy-duty legged robots are determined and conclusions are ***,the current research of key techniques of heavy-duty legged robots,including the mechanical structure,force distribution,control method,and power source,is *** assess the transportation capacity of heavy-duty legged robots,performance evaluation parameters are ***,problems that need further research are addressed.

关键词： heavy-duty legged robot mechanical structure force distribution control method power source

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Dispersion compensation for an ultrathin metal film using LCD-CCD system

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Chinese Physics B 2012年第10期21卷 265-269页

作者：代煜张建勋 Institute of Robotics and Automatic Information System Nankai University State Key Laboratory of Robotics and System Harbin Institute of Technology

A dispersion compensation method is introduced to correct the distorted image passing through an ultrathin metal *** LCD-CCD system is modeled by the back propagation network and used to evaluate the transmittance of the ultrathin metal *** samples for the network come from 729 images captured by shooting test patches,in which the RGB values are uniformity distributed between 0 and *** RGB value of the original image that will be distorted by the dispersion is first transformed by mapping from the LCD to the CCD,multiplied by the inverse matrix of the transmittance matrix,and finally transformed by mapping from the CCD to the LCD,then the corrected image is *** order to verify the effectiveness of the proposed method,ultrathin aluminum films with different thicknesses are evaporated on glass substrates and laid between the CCD and *** results show that the proposed method compensates for the dispersion successfully.

关键词： ultrathin metal film dispersion compensation back propagation network LCD-CCD system

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Joint Design of Radar Receive Filter and Unimodular ISAC Waveform with Sidelobe Level Control

arXiv

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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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A Climbing Robot for Tube-sheet Inspection Based on Planar Parallel Mechanisms

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IEEE robotics and Automation Letters 2025年第7期10卷 6752-6759页

作者： Zhang, Kuan Fan, Jizhuang Xu, Tian Zhang, Xuehe Lin, Jinghan Yu, Xuan Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin 150001 China

This paper introduces a novel climbing robot for tube-sheet inspection (CRTI) that uses inner wall grippers (IWGs) to grasp tubes, enabling it to hang and crawl beneath the tube-sheet plane. The robot is designed primarily for inspecting steam generators in nuclear power plants. The CRTI based on a planar parallel mechanism is proposed, with its workspace optimized through the solution space method to address the limitations of existing systems in adaptability, load capacity, and efficiency. A modular IWG based on a wedge mechanism is introduced, featuring a load capacity exceeding 100 kg without damaging tubes, with its configuration optimized through a geometric method to enable insertion into smaller apertures. Furthermore, a forward kinematic solution method for parallel robots based on coordinate transformation is proposed, providing a unique analytical solution for the forward kinematics of all parallel configurations of this CRTI. The performance evaluation, which is grounded in singularity analysis and typical experiments, reveals that the proposed CRTI offers high efficiency, substantial load capacity, and exceptional adaptability, indicating its significant potential for future applications. © 2016 IEEE.

关键词： Climbing Robot Inner Wall Gripper Planar Parallel Mechanisms Tube Sheet

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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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