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Robot learning from demonstration for path planning: A review

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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Optimal Design of Robust Wireless Power Transfer Links for Human-machine Interface

Optimal Design of Robust Wireless Power Transfer Links for H...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Wu, Yujun Fang, Yun Guo, Weichao Sheng, Xinjun Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai200240 China Shanghai Jiao Tong University Meta Robotics Institute Shanghai200240 China

ISBN: (纸本)9798350325706

Human-machine interfaces (HMIs) require minimal size and less interference to the users. Wireless and battery-free design of HMI devices can be promoted by wireless power transfer (WPT) technology. However, researchers often ignore the curvature of WPT coils. In addition, power transfer efficiency (PTE) and robustness to coil shifts are not both considered when designing WPT links. In this paper, a coaxial cylindrical coils model was presented to simulate curved coils, and several design parameters affecting robustness were investigated through electromagnetic and circuit simulation. We also proposed a novel method for designing WPT links that ensures both sufficient robustness and optimal PTE. Three sets of coils designed with the proposed method achieved an efficiency over 85% in the simulation and fulfilled the given robustness requirements at the same time. The coaxial cylindrical coils model and the proposed method were validated by experiments. A demonstration of the wireless powering of an HMI device was performed as well. In conclusion, this paper provided a guideline to model and design efficient and robust WPT coils in HMI applicaitions. © 2023 IEEE.

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Autonomous Navigation of Tracked Robot in Uneven Terrains 16th

Autonomous Navigation of Tracked Robot in Uneven Terrains

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： He, Gang Shi, Juntian Liu, Chao Guo, Weichao Sheng, Xinjun State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9789819965007

Since microdosing of chemical, biological, radiological, and nuclear (CBRN) contaminants is enough to cause great damage to humans, operating robots are widely used to handle CBRN-related tasks. However, how to improve the automation capabilities of these robots in uneven environments, such as autonomous navigation, is still a huge challenge. Current navigation methods usually set the scene as flat pavement, without considering the situation that the land slope exceeds a certain threshold. In order to explore ways of autonomous navigation in uneven environments, a 3D path planning and navigation method for the tracked robot is proposed in this paper, respecting applicable traversability constraints in uneven terrains. Firstly, a 3D graph-based map is built according to the occupancy map of the uneven environment. A set of spatial points, ensuring collision-avoidance of the robot, is randomly sampled in free space, and a vertex map is generated based on these vertices for robot traversing. Then, regarding the robot’s climbing and obstacle crossing ability as constraints, a path planning algorithm is used to search for the best path based on the Dijkstra algorithm. Finally, a fusion SLAM method based on LiDAR, IMU and RGB-D camera is used to achieve real-time localization, and the pure pursuit algorithm is used for navigation. The simulation results show that the proposed method can provide a safe and effective 3D path for the tracked robot and enable the robot’s autonomous navigation in uneven environments. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Motion planning

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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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Poly-MOT: A Polyhedral Framework For 3D Multi-Object Tracking

arXiv

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arXiv 2023年

作者： Li, Xiaoyu Xie, Tao Liu, Dedong Gao, Jinghan Dai, Kun Jiang, Zhiqiang Zhao, Lijun Wang, Ke State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150006 China

3D Multi-object tracking (MOT) empowers mobile robots to accomplish well-informed motion planning and navigation tasks by providing motion trajectories of surrounding objects. However, existing 3D MOT methods typically employ a single similarity metric and physical model to perform data association and state estimation for all objects. With large-scale modern datasets and real scenes, there are a variety of object categories that commonly exhibit distinctive geometric properties and motion patterns. In this way, such distinctions would enable various object categories to behave differently under the same standard, resulting in erroneous matches between trajectories and detections, and jeopardizing the reliability of downstream tasks (navigation, etc.). Towards this end, we propose Poly-MOT, an efficient 3D MOT method based on the Tracking-By-Detection framework that enables the tracker to choose the most appropriate tracking criteria for each object category. Specifically, Poly-MOT leverages different motion models for various object categories to characterize distinct types of motion accurately. We also introduce the constraint of the rigid structure of objects into a specific motion model to accurately describe the highly nonlinear motion of the object. Additionally, we introduce a two-stage data association strategy to ensure that objects can find the optimal similarity metric from three custom metrics for their categories and reduce missing matches. On the NuScenes dataset, our proposed method achieves state-of-the-art performance with 75.4% AMOTA. The code is available at https://***/lixiaoyu2000/Poly-MOT. © 2023, CC BY-NC-SA.

关键词： Motion planning

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Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

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Frontiers of Mechanical Engineering 2021年第3期16卷 435-450页

作者： Boyu MA Zongwu XIE Zainan JIANG Hong LIU School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Seven-degree-of-freedom redundant manipulators with link offset have many advantages,including obvious geometric significance and suitability for configuration *** configuration is similar to that of the experimental module manipulator(EMM)in the Chinese Space Station Remote Manipulator ***,finding the analytical solution of an EMM on the basis of arm angle parameterization is *** study proposes a high-precision,semi-analytical inverse method for ***,the analytical inverse kinematic solution is established based on joint angle ***,the analytical inverse kinematic solution for a non-offset spherical-roll-spherical(SRS)redundant manipulator is derived based on arm angle *** approximate solution of the EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS ***,the error is corrected using a numerical method through the analytical inverse solution based on joint angle *** selecting the stride and termination condition,the precise inverse solution is computed for the EMM based on arm angle ***,case solutions confirm that this method has high precision,and the arm angle parameterization method is superior to the joint angle parameterization method in terms of parameter selection.

关键词： 7-DOF redundant manipulator inverse kinematics semi-analytical arm angle link offset

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A Fabric-Based Flexible Actuator for Thumb Joints of Soft Anthropomorphic Hands 23rd

A Fabric-Based Flexible Actuator for Thumb Joints of Soft An...

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Zhao, Yi Zhang, Ningbin Feng, Miao Gu, Guoying State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9789811993978

Although various advanced anthropomorphic hands have been proposed, the design and fabrication of thumb joints to achieve dexterity function in a limited space is still a great challenge. To promote the dexterity of the anthropomorphic thumb joints in the cramped space of the palm, we present a fabric-based flexible actuator used for thumb joints to realize two degrees of freedom (DOFs): circumduction and adduction. First, we introduce the design concept inspired by muscle groups of the human palm. A kind of pneumatic small-scale actuators that relies on fabric-crease to produce deformation is proposed. Then the properties of flexible lightweight actuators are characterized. The actuators just need ± 10 kPa pressure to realize a flexion range of 90°. Finally, we modularly assemble the actuators to construct a compact two DOFs thumb joints. Experimental results show that the applied fabric-based thumb joints can achieve dexterous manipulation like sliding the smartphone screen. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Degrees of freedom (mechanics)

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Design and Control for WLR-3P:A Hydraulic Wheel-Legged Robot

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Cyborg and Bionic systems 2023年第1期4卷 243-259页

作者： Xu Li Haoyang Yu Haibo Feng Songyuan Zhang Yili Fu State Key Laboratory of Robotics and System College of Mechatronics EngineeringHarbin Institute of TechnologyHarbin 150001China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China Intelligent Robot Research Center Zhejiang LaboratoryHangzhou 311100China

The robot used for disaster rescue or field exploration requires the ability of fast moving on flat road and adaptability on complex *** hybrid wheel-legged robot(WLR-3P,prototype of the third-generation hydraulic wheel-legged robot)has the characteristics of fast and efficient mobility on flat surfaces and high environmental adaptability on rough *** this paper,3 design requirements are proposed to improve the mobility and environmental adaptability of the *** meet these 3 requirements,2 design principles for each requirement are put ***,for light weight and low inertia with high stiffness,3-dimensional printing technology and lightweight material are ***,the integrated hydraulically driven unit is used for high power density and fast response ***,the microhydraulic power unit achieves power autonomy,adopting the hoseless design to strengthen the reliability of the hydraulic *** is more,the control system including hierarchical distributed electrical system and control strategy is *** mobility and adaptability of WLR-3P are demonstrated with a series of ***,the robot can achieve a speed of 13.6 km/h and a jumping height of 0.2 m.

关键词： robot Robot terrain

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A Lightweight Jumping Robot with Untethered Actuation 16th

A Lightweight Jumping Robot with Untethered Actuation

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Wang, Jinqiang Wang, Dong State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9789819964918

Jumping motion is enlarging the robotic toolbox by providing agile and rapid locomotion functions that can overcome the limitations of environment and size. Although these jumping robots powered by novel mechanisms and functional materials have shown remarkable dexterity and adaptability, their intricate actuation mechanics make it challenging to realize the jumping robots lightweight and compact. To address this challenge and endow robots capable of untethered movements, we focused on ultralight magnetic carbon fiber beams that exhibit arch-like bending when triggered under magnetic field and induce a rapid release of stored strain energy after the magnetic field is removed. We evaluated their bending process under magnetic field and build untethered jumping robots with respect different geometries to help analyze their jumping performances. In our experiment, a single magnetic carbon fiber beam robot (0.8 g) with a height of 0.2 mm and a length of 80 mm is able to achieve a jumping height of 420 body heights and a jumping distance of 4.5 body length. By assembling two magnetic beams together, our robot can jump to more than 325 times of its body height carrying a payload of 3 times its body weight. These results demonstrate the developed jumping robot avails a new design strategy for lightweight and compact jumping robot to function in complicated conditions. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Carbon fibers

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Three-line structured light vision system for non-cooperative satellites in proximity operations

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Chinese Journal of Aeronautics 2020年第5期33卷 1494-1504页

作者： Yang LIU Zongwu XIE Hong LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150000China

Adapter ring is a commonly used component in non-cooperative satellites,which has high strength and is suitable to be recognized and grasped by the space *** proximity operations,this circle feature may be occluded by the robot arm or limited field of ***,the captured images may be underexposed when there is not enough *** address these problems,this paper presents a structured light vision system with three line lasers and a monocular *** lasers project lines onto the surface of the satellite,and six break points are formed along both sides of the adapter ring.A closed-form solution for real-time pose estimation is given using these break ***,a virtual structured light platform is constructed to simulate synthetic images of the target *** with the predefined camera parameters and relative positions,the proposed method is demonstrated to be more effective,especially at a close ***,a physical space verification system is set up to prove the effectiveness and robustness of our method under different light *** results indicate that it is a practical and effective method for the pose measurement of on-orbit tasks.

关键词： Adapter ring Line detection Non-cooperative target Pose measurement Space robot Structured light

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