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TRUSTS: A novel treadmill-based multifunctional testing system for performance evaluation of wheeled planetary exploration rover

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robotics and Autonomous systems 2023年第1期164卷

作者： Yu, Haitao Chen, Jian Pan, Dong Gao, Haibo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Beijing Institute of Spacecraft System Engineering Beijing100094 China

This paper presents a novel treadmill-based multifunctional testing system (TRUSTS) to execute ground testing for wheeled planetary exploration rover (WPER) in both regular and extreme physical conditions before launching. The TRUSTS with specially-made components featuring compact structure and multifunctional testing items comprises a traction loading subsystem (TLS) and a treadmill-based resistance torque loading subsystem (TRTLS). The former offers the working modes including traction loading, position holding, and range limiting. The latter offers working modes including resistance torque loading and leader–follower tracking. By appropriately allocating the working modes of two subsystems, the TRUSTS is capable of conducting diverse testing items. The customized controllers for the TLS and the TRTLS are proposed to guarantee the operation performance of the TRUSTS in all testing items. Extensive experimental results on a Mars rover prototype in both regular and extreme physical conditions demonstrate that the devised TRUSTS could effectively executing trafficability and maneuverability as well as adaptability tests with reliable scenarios and satisfactory precisions of motion tracking and traction/torque loading, which makes the TRUSTS a favorable choice for comprehensive performance assessment of rover in simulant extraterrestrial environment. © 2023 Elsevier B.V.

关键词： Sporting goods

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Energy-Consumption Optimization Control for Lunar Rover's Travel with Torque-Distribution-strategy in Rear Wheels

Energy-Consumption Optimization Control for Lunar Rover's Tr...

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IEEE International Conference on Control Science and systems Engineering (CCSSE)

作者： Delun Li Jianfei Cao Yiliang Chen Zongwu Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (数字)9798331517199

ISBN: (纸本)9798331517205

In anticipation of future extensive lunar surface operations, lunar rovers are required to advance towards higher speeds and improved energy conservation. When traveling at high speeds on the lunar surface, the vehicle's energy expenditure is greatly amplified by the influence of the terrain, particularly in conditions where driving and steering are coupled. This paper proposes an energy-saving control strategy for lunar rovers that employs dynamic rear-axle torque distribution, with the goal of optimizing transient energy consumption during travel. To tackle the challenge of non-differentiable functions within the optimization objectives, we suggest using a zeroth-order gradient optimization method for resolution, dynamically constraining the range of control parameters to fulfill the dynamic torque distribution objectives as needed for the task. The energy-saving control effectiveness of the algorithm has been confirmed through simulation, demonstrating a minimum energy-saving ratio of at least 4%, which increases to over 11% as the speed level rises, offering a valuable technical solution for the energy optimization of lunar rovers.

关键词： Space vehicles Energy consumption Torque Distribution strategy Moon Wheels Optimization methods systems engineering and theory Vehicle dynamics Transient analysis

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MC-Tac: Modular Camera-Based Tactile Sensor for Robot Gripper 16th

MC-Tac: Modular Camera-Based Tactile Sensor for Robot Gripp...

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

作者： Ren, Jieji Zou, Jiang Gu, Guoying Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China School of Mechanical Engineering State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9789819964949

Camera-based tactile sensors provide a convenient and low-cost approach for robot tactile perception. However, existing sensors are customized and only suit limited robots, which retards tactile applications. In this work, we proposed a modular design for camera-based tactile sensor to facilitate their integration on various robot grippers and fingers. Specifically, we disassemble tactile sensors into sense module for sensing surface interaction, receptor module for arranging camera, illumination, and structure elements, and adapter module for connection with robot gripper. Experiments show the proposed sensors can adopt various robot grippers and achieve high tactile perception performance. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Cameras

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PI2-CMA Based Trajectory Planning Method for the Tractor-Trailer Vehicle 6

PI2-CMA Based Trajectory Planning Method for the Tractor-Tra...

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6th IEEE International Conference on Pattern Recognition and Artificial Intelligence, PRAI 2023

作者： Wang, You Wang, Zehao Wang, Jingchuan Guo, Rui Xiao, Peng Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Institute of Medical Robotics and Department of Automation Shanghai200240 China State Grid Intelligence Technology CO. LTD China

ISBN: (纸本)9798350325485

The motion primitive-based state lattice trajectory planning method has been widely used in the field of trajectory planning. However, due to the limitations of the search space and resolution of motion primitives, and the lack of consideration of scenario information during offline generation of motion primitives, the tractor-Trailer vehicles can easily fall into "jackknife phenomenon"when making large pose adjustments in narrow scenarios, which brings dilemma for trajectory planning. In this paper, a trajectory planning algorithm is proposed based on a general model of tractor-Trailer vehicle, which combines global planning and local optimization. The method first generates a series of motion primitives, including forward and backward driving conditions, and then an A based global state lattice planner is used to obtain a planning result, which is imported as the initial solution into the local trajectory optimizer based on PI2-CMA (Path Integral Policy Improvement with Covariance Matrix Adaptation) algorithm and dynamic potential method. Experiments show that this method significantly improves the performance in the obstacle avoidance, "jackknife phenomenon"avoidance and curvature compared to traditional motion primitive-based state lattice planning methods. © 2023 IEEE.

关键词： Trajectories

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Realizing high-speed target tracking by using multi-rate feedforward predictive control for the acquisition, tracking, and pointing system

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Defence Technology 2025年

作者： Li, Hang Peng, Gaoliang Shan, Xiaobiao Zhao, Mingyuan Zhang, Wei Wang, Jinghan Cheng, Feng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China College of Information Science and Technology Eastern Institute of Technology Ningbo315200 China

The acquisition, tracking, and pointing (ATP) system is widely used in target tracking, counter-UAV operations, and other related fields. As UAV technology develops, there is a growing demand to enhance the tracking capabilities of ATP systems. However, in practical applications, ATP systems face various design constraints and functional limitations, making it infeasible to indefinitely improve hardware performance to meet tracking requirements. As a result, tracking algorithms are required to execute increasingly complex tasks. This study introduces a multi-rate feedforward predictive controller to address issues such as low image feedback frequency and significant delays in ATP systems, which lead to tracking jitter, poor tracking performance, low precision, and target loss. At the same time, the proposed approach aims to improve the tracking capabilities of ATP systems for high-speed and highly maneuverable targets under conditions of low sampling feedback rates and high feedback delays. The method suggested is also characterized by its low order, fast response, and robustness to model parameter variations. In this study, an actual ATP system is built for target tracking test, and the proposed algorithm is fully validated in terms of simulation and actual system application verification. Results from both simulations and experiments demonstrate that the method effectively compensates for delays and low sampling rates. For targets with relative angular velocities ranging from 0 to 90°/s and angular accelerations between 0 and 470°/s2, the system improved tracking accuracy by 70.0%–89.9% at a sampling frequency of 50 Hz and a delay of 30 m s. Moreover, the compensation algorithm demonstrated consistent performance across actuators with varying characteristics, further confirming its robustness to model insensitivity. In summary, the proposed algorithm considerably enhances the tracking accuracy and capability of ATP systems for high-speed and highly maneuverable ta

关键词： Predictive control systems

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Design, Modeling and Control of a Dielectric Elastomer Actuated Micro-positioning Stage 16th

Design, Modeling and Control of a Dielectric Elastomer Ac...

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

作者： Yan, Peinan Gu, Guoying Zou, Jiang Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9789819964918

In this paper, we propose one kind of a dielectric elastomer actuated micro-positioning stage (DEAMS) that can achieve both large stroke and high resolution. To this end, a customized multilayer dielectric elastomer actuator (DEA), made of silicone, is designed and fabricated, which can generate a linear movement. Then based on the DEA, a DEAMS is designed with a stroke of nearly 1 mm and resolution of 480 nm. Next, several dynamic tests are conducted to reveal its dynamic responses: i) the natural frequency of the DEAMS can reach 80 Hz;ii) its output displacement shows both slow-time creep and rate-dependent hysteresis because of the inherent viscoelasticity. Lastly, a direct inverse hysteresis compensation (DIHC) controller based on a phenomenological hysteresis model and a closed-loop controller are adopted to remove hysteresis and creep, respectively. Experimental results demonstrate that with our control method, the DEAMS can achieve high-precision tracking control, which may pave the way for its applications in the field of micro/nano manipulations. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Silicones

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Soft ionic-hydrogel electrodes for electroencephalography signal recording

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Science China(Technological Sciences) 2021年第2期64卷 273-282页

作者： SHENG XinJun QIN Zhun XU HaiPeng SHU XiaoKang GU GuoYing ZHU XiangYang Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

Wet gel electrodes have been widely used for electroencephalography(EEG) signal recording, which generally causes skin abrasion and longer preparation time. In this paper, we present soft ionic-hydrogel based electrodes to overcome such *** order to conveniently measure the EEG signals, we design the claw-like and patch-like structures for robust connection between metal(Ag/Ag Cl) electrodes and skin scalps. Next, we experimentally show that the soft ionic-hydrogel based electrodes have similar performance with the conventional wet gel electrodes in terms of the short-circuit noise, electrical impedance, and skin-electrode contact impedance on unprepared human skin, significantly better than dry electrodes and water-based *** further perform the EEG measurements and steady-state visual evoked potentials(SSVEP) experiments with five subjects to verify the effectiveness of the soft ionic-hydrogel based electrodes. The experimental results demonstrate that our developed soft ionic-hydrogel electrodes can record high-quality EEG signals in a fast and clean way, being a compelling option for EEG-based brain-computer interfaces.

关键词： brain-computer interface EEG electrodes ionic hydrogel soft materials

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ATTENTION-AWARE LAPAROSCOPIC IMAGE DESMOKING NETWORK WITH LIGHTNESS EMBEDDING AND HYBRID GUIDED EMBEDDING

arXiv

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arXiv 2024年

作者： Liu, Ziteng Zhu, Jiahua Liu, Bainan Liu, Hao Gao, Wenpeng Fu, Yili School of Life Science and Technology Harbin Institute of Technology Harbin150080 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China

This paper presents a novel method of smoke removal from the laparoscopic images. Due to the heterogeneous nature of surgical smoke, a two-stage network is proposed to estimate the smoke distribution and reconstruct a clear, smoke-free surgical scene. The utilization of the lightness channel plays a pivotal role in providing vital information pertaining to smoke density. The reconstruction of smoke-free image is guided by a hybrid embedding, which combines the estimated smoke mask with the initial image. Experimental results demonstrate that the proposed method boasts a Peak Signal to Noise Ratio that is 2.79% higher than the state-of-the-art methods, while also exhibits a remarkable 38.2% reduction in run-time. Overall, the proposed method offers comparable or even superior performance in terms of both smoke removal quality and computational efficiency when compared to existing state-of-the-art methods. This work will be publicly available on http://***/wpgao. Copyright © 2024, The Authors. All rights reserved.

关键词： Smoke

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Enhancing interaction performance of soft pneumatic-networks grippers by skeleton topology optimization

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Science China(Technological Sciences) 2021年第12期64卷 2709-2717页

作者： CHEN ShiTong WANG YuSheng LI DeChen CHEN FeiFei ZHU XiangYang Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

The inherent compliance of soft materials imbues robots,generally referred to as soft robots,with particular advantages in producing adaptive and safe ***,the mainstream design paradigms of soft robots have been focused on pursuing large free motions only,usually at the expense of greatly decreased stiffness,leading to limited capability of withstanding external loads in interactive *** is a pressing need to incorporate the interaction specifications at the design stage to embody soft robots with not only proper deformability but equally importantly,considerable stiffness to perform complex tasks in practical ***,inspired by the dexterity of human hands,we propose a computational design framework for soft grippers with a focus on improving their interaction performance in power grasping or precision grasping *** design paradigm rests on attaching a relatively stiffer skeleton layer to the parametric pneumatic networks based actuator which is widely used due to the geometric advantage,and the skeleton layout is designed for customized interaction conditions by a level set based topology optimization *** expected,the optimized skeleton layouts exhibit specified structural features highly relevant to the predefined concentrated loads for precision grip or distributed loads for power grip,which physically implies the compromise between deformability and *** the interaction forces are difficult to measure in situ,we devise power and precision grasping scenarios and evaluate the critical actuation pressure of the object’s falling *** experiments qualitatively demonstrate the superiority of each specified *** work represents an initial step toward the rational design for interaction in soft robots.

关键词： soft robotics interaction grippers topology optimization

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Design and Control of Continuous Jumping Gaits for Humanoid Robots Based on Motion Function and Reinforcement Learning

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Procedia Computer Science 2024年 250卷 51-57页

作者： Zida Zhao Shilong Sun Haodong Huang Qingbin Gao Wenfu Xu State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin Heilongjiang China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen 518055 China

Continuous jumping of humanoid robots is a challenging problem that requires appropriate gait and force control for the robot to achieve. Reinforcement learning (RL) has been applied to the motion control of humanoid robots and has achieved significant progress. However, traditional RL control methods primarily rely on designing reward signals to generate human-like movements, and it requires developing complex reward signals for continuous jumping, resulting in limited actions and suboptimal jumping performance. To address this issue, we have designed motion functions for humanoid continuous jumping and incorporated them into the RL framework to obtain desired human-like continuous jumping actions. Furthermore, two different jumping gaits are designed to investigate the jumping effects produced by different jumping functions: bent-knee jumping (BJ) and straight-knee jumping (SJ). BJ is a typical jumping style where the legs flex during the jumping process to accumulate energy, enabling higher explosive power. SJ is more suitable for tasks requiring quick responses, as the legs remain upright during the jump, providing faster reaction speed. The performance in continuous jumping tasks has been evaluated by comparing the effects of training with different jumping functions. This research has particular guidance for improving the jumping ability of robots and enhancing the stability and efficiency of humanoid continuous jumping.

关键词： Continuous jumping gaits Humanoid robots Motion function Reinforcement learning

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