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Mechanical design and analysis of a novel variable stiffness actuator with symmetrical pivot adjustment

Frontiers of Mechanical Engineering 2021年第4期16卷 711-725页

作者： Yiwei LIU Shipeng CUI Yongjun SUN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

The safety of human-robot interaction is an essential requirement for designing collaborative ***,this paper aims to design a novel variable stiffiiess actuator(VSA)that can provide safer physical human-robot interaction for collaborative *** A follows the idea of modular design,mainly including a variable stiffiiess module and a drive *** variable stiffiiess module transmits the motion from the drive module in a roundabout maimer,making the modularization of VS A *** the key component of the variable stiffiiess module,a stiffness adjustment mechanism with a symmetrical structure is applied to change the positions of a pair of pivots in two levers linearly and simultaneously,which can eliminate the additional bending moment caused by the asymmetric *** design of the doubledeck grooves in the lever allows the pivot to move freely in the groove,avoiding the geometric constraint between the ***,the VSA stiffiiess can change from zero to infinity as the pivot moves from one end of the groove to the *** facilitate building a manipulator in the future,an expandable electrical system with a distributed structure is also *** calibration and control experiments are performed to evaluate the physical performance of the designed *** results show that the VSA stiffiiess is close to the theoretical design ***,the VSA with a proportional-derivative feedback plus feedforward controller exhibits a fast response for stiffiiess regulation and a good performance for position tracking.

关键词： variable stiffiiess actuator variable stiffness module drive module symmetrical structure doubledeck grooves expandable electrical system

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An Autonomous Obstacle Avoidance Path Planning Method Involving PSO for Dual-Arm Surgical Robot 5

An Autonomous Obstacle Avoidance Path Planning Method Involv...

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5th International Conference on Mechatronics, robotics and Automation, ICMRA 2022

作者： Chen, Qiao Liu, Yiwei Chen, Zhuo Zhou, Yangjunjian Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781665472654

Currently, motion planning and reasonable obstacle avoidance of surgical robots are essential research directions. Most surgical robots adopt a simple master-slave control strategy and cannot avoid obstacles autonomously. To this end, we propose an autonomous obstacle avoidance method for the dual-arm surgical robot. Firstly, the obstacle avoidance path planning is based on the artificial potential field method. We propose the splicing algorithm to make the manipulator jump out of the local minimum and improve the planning efficiency. And using the adaptive step to stable motion. Secondly, for collision detection, we use the Gilbert-Johnson-Keerthi (GJK) algorithm to calculate the distance between the obstacle and the equivalent convex body of the manipulator. A warning appears when there is a collision. Because the artificial potential field method lacks time planning, we use the time-optimized 3-5-3 polynomial interpolation based on the Particle Swarm optimization (PSO) to the obtained path. And make manipulators perform the surgery without collision for a suitable period. Finally, we carry out the system simulation, physical experiments, and dual-arm obstacle avoidance experiments based on the above autonomous obstacle avoidance algorithm. Experiments show that this study can make the dual-arm surgical robot move quickly and smoothly on the premise of avoiding obstacles, which provides a reference for the automation of surgical robots. © 2022 IEEE.

关键词： Motion planning

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Kinematic Parameter Calibration Method of Light Weight Robots Based on Sequence Quadratic Programming Algorithm 12

Kinematic Parameter Calibration Method of Light Weight Robot...

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12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Min, Kang Ni, Fenglei Shu, Xin Ji, Zhu Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Kinematic parameter calibration can improve the absolute positioning accuracy of the robot tool center point (TCP). However, the current least-squares (LS) iterative method for calibration is sensitive to noise and ineffective when the Jacobian matrix is close to singular. In addition, the robot kinematic parameter errors cannot be directly compensated because its structure needs to satisfy Pieper's criterion. Thus, a kinematic parameter calibration based on sequence quadratic programming (SQP) algorithm is proposed to solve the above two issues. Firstly, the kinematics and its error model of TCP positions are established. Then, the kinematic parameter errors are identified by SQP algorithm. Finally, the identified kinematic parameter errors are converted into joint angle errors for error compensation. The simulations and experiments are carried out on the self-developed light weight robot. Simulation results show that the proposed calibration method is insensitive to noise. Experimental results reveal that mean positioning accuracy has increased 88.17% and 63.58% than that of the before calibration in sampling and verification regions, respectively. © 2022 IEEE.

关键词： Calibration

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Integral Real-time Locomotion Mode Recognition Based on GA-CNN for Lower Limb Exoskeleton

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Journal of Bionic Engineering 2022年第5期19卷 1359-1373页

作者： Jiaqi Wang Dongmei Wu Yongzhuo Gao Xinrui Wang Xiaoqi Li Guoqiang Xu Wei Dong State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Weapon Equipment Research Institute China South Industries Group CorporationBeijing 102202China

The wearable lower limb exoskeleton is a typical human-in-loop human–robot coupled system,which conducts natural and close cooperation with the human by recognizing human locomotion *** subject-specific training is the main challenge of the existing approaches,and most methods have the problem of insufficient *** paper proposes an integral subject-adaptive real-time Locomotion Mode Recognition(LMR)method based on GA-CNN for a lower limb exoskeleton *** LMR method is a combination of Convolutional Neural Networks(CNN)and Genetic Algorithm(GA)-based multi-sensor information *** improve network performance,the hyper-parameters are optimized by Bayesian *** exoskeleton prototype system with multi-type sensors and novel sensing-shoes is used to verify the proposed *** locomotion modes,which composed an integral locomotion system for the daily application of the exoskeleton,can be recognized by the proposed *** to a series of experiments,the recognizer shows strong comprehensive abilities including high accuracy,low delay,and sufficient adaption to different subjects.

关键词： Locomotion mode recognition Gait mode detection Lower limb exoskeleton Convolutional neural network Genetic algorithm Bionic design

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Semantic Assisted LiDAR Odometry with Loop Closure in Large Scale Urban Environment 8

Semantic Assisted LiDAR Odometry with Loop Closure in Large ...

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8th International Conference on systems and Informatics, ICSAI 2022

作者： Lin, Jiaye Liu, Yanjie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665474481

Compared to the vision-based approach, LiDAR-based SLAM has shown a great advantage in depicting geometric characteristics but still suffers from accumulated localization errors during long-term operation in large-scale scenarios. Introducing semantic information to the current system helps to discover higher-level features and establish a stronger association of features in different frames. In this paper, we utilize semantic information to present an integral LiDAR odometry that combines adaptive downsampling feature with label-specified registration to boost the performance of odometry estimation, together with Scan Context as the loop closure module to constrain the amplification of cumulative errors. Experiments are conducted based on the well-known KITTI dataset, which reveals that the proposed framework achieves higher accuracy with an average RTE of 0.97% in real-time and shows great robustness toward various scenarios. © 2022 IEEE.

关键词： Semantics

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Improving the Reliability of Gaze Estimation through Cross-dataset Multi-Task Learning 4

Improving the Reliability of Gaze Estimation through Cross-d...

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4th International Conference on High Performance Big Data and Intelligent systems, HDIS 2022

作者： Zhang, Hanlin Wang, Xinming Ren, Weihong Noack, Bernd Rainer Liu, Honghai Harbin Institute of Technology State Key Laboratory of Robotics and System Shenzhen China

ISBN: (数字)9781665491440

ISBN: (纸本)9781665491440

In recent years, gaze estimation has been applied to numerous application scenarios, such as driver monitor systems and autism evaluation, to name a few. However, the current algorithms are based on an assumption: The users eyes are all open in the input images. In practice, this assumption does not always hold since people blink. Images with eyes closed will result in irregular gaze estimation results that will affect the safety of the vehicle driving and the reliability of the evaluation results. Here, we address the problem by leveraging cross-dataset training to train a multi-Task network capable of simultaneously estimating the eye gaze and the blink on the gaze estimation dataset and blink estimation dataset. We further compare our networks results with that of single-Task networks and evaluate our network in a simulated scenario. The experimental results demonstrate that our method is suitable for practical use and can improve the reliability of the gaze estimation results. © 2022 IEEE.

关键词： Reliability

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A Helium Type Turbo-blasting Device (TBD) into a Penetrating Probe for Main-belt Comets Volatiles Exploration

A Helium Type Turbo-blasting Device (TBD) into a Penetrating...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Tang, Junyue Ha, Zekun Xiao, Junxiao Chi, Cheng Yao, Ziyun Liang, He Jiang, Shengyuan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781665481090

Comparing the isotopic composition of the D/H ratio of the water ice in main belt comets (MBCs) to that of the oceans on the Earth can enhance the understanding of where the water comes from and of how the distribution of the water ices in our early solar system. Since mineral volatiles are normally covered underground, it is difficult to accurately detect its composition from remote observation. Herein, a subsurface penetrating probe integrated with non-contamination detonation is proposed to realize an in-situ exploration. Under the rapid turbo-blasting interaction, the surrounding rubble piles will be definitely blown away, leaving an artificial crater for later remote observation. A novel a helium type turbo-blasting device (TBD) is proposed and designed. The simulant rubble pile structure detonation experiments verified the detonation equivalent. © 2022 IEEE.

关键词： Detonation

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High accuracy target point classification through dark-field detection of large-aperture optics surface based on machine vision

High accuracy target point classification through dark-field...

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2024 Applied Optics and Photonics China: Optical Sensing, Imaging Technology, and Applications, AOPC 2024

作者： Zhou, Shicheng Yin, Zhaoyang Wang, Bei Zhao, Linjie Cheng, Jian Chen, Mingjun School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (数字)9781510687820

ISBN: (纸本)9781510687813

Surface defects on optics seriously affect their service life in high-power laser system. To address this issue, repair technologies for large-aperture optics are extensively employed. However, the operation of high-power laser system generates a large number of optics requiring repair. Currently, microscopic inspection is widely used for target points classification due to its high accuracy, but it has limitations such as small field of view and low efficiency. Utilizing the OTSU algorithm and Convolutional Neural Networks (CNN), a dark-field classification model for optical surface target points has been developed. Upon conducting experiments with several network models, the ResNet model, a probability threshold of 0.998 were determined. In conclusion, the classification accuracy for defects was 99.18% and for contaminants was 90.34%. The outcomes show that target points on the surfaces of optics can be accurately classified using this method. © 2024 SPIE.

关键词： Machine vision

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Effect of flapping mode on aerodynamic characteristics of bat-like flapping-wing aerial vehicle

Effect of flapping mode on aerodynamic characteristics of ba...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Duan, Bosong Mao, Tianyou Gong, Kening Guo, Chuangqiang Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665481090

In this paper, three reciprocating flapping modes of bats are analyzed and studied. According to the flapping structure of bat-like flapping-wing aerial vehicle(FAV), the structural modes corresponding to the three reciprocating flapping modes are established, that is, the symmetric flapping mode(S), the asymmetric flapping mode with the upward flapping angle greater than the downward flapping angle(UR) and the asymmetric flapping mode with the downward flapping angle greater than the upward flapping angle(U). The influence of the three flapping modes on the structural strength is verified by theoretical calculation. The fluid-structure interaction simulation(FSI) is used to verify the influence of three flapping modes on aerodynamic characteristics. Finally, the advantages and disadvantages of three patting methods are compared and analyzed, it is concluded that under the same motion and flow field conditions, the pitching moment and thrust of UR are the smallest, and the lift is the largest, which is suitable for slow and stable flight;U has the largest thrust and pitching moment, and the smallest lift, which is conducive to rapid flight;The pitching moment, thrust and lift of S are moderate, and the performance is balanced, which is suitable for conventional flight. This study is helpful for the structural design of bat-like FAV. © 2022 IEEE.

关键词： Fluid structure interaction

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Speed Fluctuation Suppression of Current Scaling Errors Based on Improved Iterative Learning Control Method 26

Speed Fluctuation Suppression of Current Scaling Errors Base...

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26th International Conference on Electrical Machines and systems, ICEMS 2023

作者： Mu, Haoyi Yu, Guodong Li, Shaobin Zhu, Pengcheng Xu, Yongxiang School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350317589

In recent years, there has been a growing demand for high-precision speed control of permanent magnet synchronous motor (PMSM), drawing significant attention to the issue of inherent current measurement errors in drive control. This paper presents a novel approach to mitigate periodic speed fluctuations using an expert system-based iterative learning control (ILC) method. The proposed method employs an expert system to dynamically adjust the weight values of the memory factor during online updates. This ensures the calculated relaxation factor optimally suppresses speed fluctuations across all operating conditions. Furthermore, the stability and parameter tuning aspects are analyzed from the perspective of transfer functions, and the feasibility of the proposed method is demonstrated through simulation. © 2023 IEEE.

关键词： Errors

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