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检索条件"机构=State Key Laboratory and Robotics and System"

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Effects of PD control parameter on walking characteristics of a passive dynamic walker with torso

Effects of PD control parameter on walking characteristics o...

引用

IEEE International Conference on robotics and Biomimetics

作者： Xinyu Liu Xizhe Zang Jie Zhao The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

Specific walking velocity, stability and energy consumption (i.e. walking characteristics) can be obtained by adjusting control parameters of complaint actuation which is essential for a passive walking robot to make full use of its own parameters to walk. In this paper, the series elastic actuator is used as the complaint actuator to adjust the walking characteristics. A passive dynamic walking model and a physical prototype with only one hip actuation were built to investigate how the control parameter can affect the walking characteristics. We studied the effects of control parameter on walking characteristics of a passive dynamic walker with torso by both numerical simulations and physical prototype experiments. The results showed that the control parameter k p has marginal effect on walking speed but can affect the walking stability and energy consumption greatly.

关键词： Legged locomotion Joints Prototypes Torso Foot Hip

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Stability analysis of quasi-periodic hopping of a passive one-legged robot with compliant hip joint

Stability analysis of quasi-periodic hopping of a passive on...

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IEEE International Conference on Mechatronics and Automation

作者： Bao Lei Pengfei Wang Fusheng Zha Mantian Li Wei Guo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Aimed at improving energy efficiency of legged robots, flexible elements like springs are introduced to realize temporary energy storage. To achieve the excellent locomotion performance of animals, it is necessary to introduce the torsional spring at the revolute joint into the robot. This paper focuses on a simplified one-legged robot with compliant hip joint, and studies the influence of the torsional spring on the stability of robot quasi-periodic hopping. Firstly, the dynamics differential equations of stance phase and flight phase are established and solved by numerical and analytical methods respectively. Then Poincare map of one whole hopping cycle is built through the unity of four sub-maps. In condition of completely passive hopping of the robot, fixed points are searched through cell mapping and orthogonal table methods. Finally, quasi-periodic solution is obtained, and its stability is analyzed. The analysis results show that the introduced flexible element in revolute joint deteriorates the stability of robot hopping.

关键词： Springs Joints Legged locomotion Hip Trajectory Vectors

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Design and analysis of a force reflection master manipulator for minimally invasive surgical robot

Design and analysis of a force reflection master manipulator...

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IEEE International Conference on robotics and Biomimetics

作者： Tao Wang Bo Pan Zhaokun Tang Yili Fu Xiaoxia Niu Shuguo Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

In this paper, the design of a 8 degrees-of-freedom (DOF) force reflection master manipulator for applications in minimally invasive surgery is presented. The manipulator includes three parts: arm mechanism, wrist mechanism and clamping mechanism. Arm mechanism is capable of position and force reflection in three translational motion. The wrist mechanism has a redundant DOF and can provide 3 DOF orientation. Based on the structure of the manipulator, forward and inverse kinematics and Jacobian matrix are presented. The kinematics simulation in Adams verifies its correctness. Using Jacobian matrix condition number the manipulability of the manipulator in its workspace is analyzed, which demonstrate that the manipulator is not only meet the workspace requirement of minimally invasive surgery well but also has great flexibility.

关键词： Manipulators Force Joints Reflection Minimally invasive surgery Wrist

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Noise cancellation for electrotactile sensory feedback of myoelectric forearm prostheses

Noise cancellation for electrotactile sensory feedback of my...

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International Conference on Information and Automation (ICIA)

作者： Li Jiang Qi Huang Jingdong Zhao Dapeng Yang Shaowei Fan Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479940998

For achieving a closed-loop, bidirectional control over myoelectric prosthetic hands, adopting the electrical stimulation in the sensory feedback channel for providing electrotactile substitution is currently a big trend. However, the electrical pulses used for stimulation may spread to the EMG collection sites which significantly interferes the controlling stability. In this paper, a novel noise cancellation method is proposed to suppress the interference between the electrotactile feedback subsystem and the electromyographic collection subsystem. Based on the propagation model of the stimulation noise, this method integrates the optimization of the stimulation waveform, the special design of the stimulation electrode and the advanced technique of digital signal processing. Experiments on healthy subjects are conducted to verify the feasibility of the proposed method. Primary results show that, through the method, the signal to noise rate (SNR) of the EMG signals reaches to 43dB, without frequency or time multiplexing.

关键词： Electrodes Noise Electromyography Frequency modulation Silicon Robot sensing systems Finite impulse response filters

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Development of a multi-linked tracked jack robot

Development of a multi-linked tracked jack robot

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IEEE International Conference on robotics and Biomimetics

作者： Xizhe Zang Yixiang Liu Jibin Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

This paper reports the development of a new jack robot. The jack robot consists of two crawler vehicles connected by 3-DOF joint mechanism which is capable of posture change, constructing a thin structure to enable it to enter narrow space, as well as high mobility in disaster sites and adaptability to irregular terrain. An electric jack mechanism and a multi-DOF manipulator are equipped in the front segment of the jack robot to accomplish jack-up operations. Adopted multiple layers screw sleeves structure, the jack mechanism can spread to the place which is almost six times the height of its own, making it possible to lift a gap up from 70 mm to 400 mm under 300 kg load driven by DC motor. With the help of the multi-DOF manipulator, precise operations to the jack mechanism can be realized. Experimental results of driving test and jack-up test validate the capability of the multi-linked tracked jack robot.

关键词： Lifting equipment Grippers Manipulators Gears Synchronous motors Pulleys

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A modular manipulator system using rotary joints toward helping the elderly and the handicapped

A modular manipulator system using rotary joints toward help...

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IEEE International Conference on robotics and Biomimetics

作者： Jihong Yan Gangfeng Liu Xin Guo Hongbing Dong Yubin Liu Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

At present, the manipulator for the elderly and disabled has the shortcomings of long production cycle, poor versatility and cannot meet the requirements of individual differences. The modular idea is presented to the design of manipulator system. A rotary joint module is developed with the advantages of small size, light weight and large torque. It integrates mechanical structure, drive, control and communication modules and can be combined into various manipulators with different configurations on demand. A distributed control system based on industrial Ethernet and CAN bus is built using a hierarchical modular structure. It can adapt to a variety of modular manipulators characterized by low stiffness and difficulty of control. Toward assisting the elderly and disabled, a 6-DOF manipulator is assembled by utilizing 6 modular rotary joints. An impedance controller is designed based on the position force control strategies. A drawer-pulled experiment is carried out with the compliance control. Experimental results verify that the modular manipulator presented is qualified to assist the elderly and the handicapped with daily operations safely.

关键词： Manipulators Joints Force Impedance Trajectory

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An adaptive sliding mode-like P-type iterative learning control for robot manipulators

An adaptive sliding mode-like P-type iterative learning cont...

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International Conference on Control, Automation and systems ( ICCAS)

作者： Yi Long Zhijiang Du Weidong Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Iterative learning control(ILC) is used to track the trajectory of repetitive motion, especially for industrial robot. The proposed control scheme is based upon the feedback of tracking error and corresponding change rate, which construct a switching surface, with the use of a proportional structure, for which it is called sliding mode-like P-type ILC. In addition, an adaptive item was added to not only cope with the unknown parameters and disturbances but also. remove chatter phenomenon happening in control process. To verify the proposed control law, a conventional PD ILC and an adaptive PD ILC are added as comparison with all the same setting conditions. We use root mean square error (RSME) each iteration trial as performance evaluation index. Finally, simulation results are provided to illustrate the effectiveness of the proposed controller. As a result, it can achieve better performance.

关键词： Robustness Robots Sun Adaptation models

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A novel traveling wave ultrasonic motor using sandwich-type ring stator

A novel traveling wave ultrasonic motor using sandwich-type ...

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IEEE International Symposium on Applications of Ferroelectrics (ISAF)

作者： Xiangyu Zhou Weishan Chen Junkao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper intends to present and verify a new idea for constructing traveling wave ultrasonic motors that may utilize the advantages of sandwich-type transducer-higher efficiency PZT working mode of d 33 than d 33 easy fabrication and minimization of the adhesive layer fatigue problem under harsh environment. A traveling wave ultrasonic motor using a composite sandwich-type ring stator was proposed in this paper. The proposed stator contains a ring-like stator and a pair of rotors. We implement the stator by cutting a duralumin alloy ringlike beam into four parts. And the PZT elements were sandwiched and bolted in the ring beam in accordance with 90 degree rotational symmetry. Two disk type rotors are pressed in contact to the teeth on both end surfaces of the stator, and the pre-pressure between the stator and the rotors is applied by a spring and a nut system. The working principle of the proposed motor was analyzed. The FEM modal analysis method was used to design the stator and the FEM transient analysis was used to simulate the establishment of traveling wave on the ring-like stator. A prototype motor was manufactured and experimentally characterized. The working mode shapes of prototype stator were tested by a laser Doppler scanner to verify the theoretical analysis. The maximal no-load speed and torque of the prototype are tested to be 2.23rpm and maximum torque of 15gf-cm at an exciting voltage of 100V. Possible variations of the present design aimed to increase output torque should be adjusting the dimensions of PZT element, increasing the depth of parallelism of the composite sandwich-type stator in fabrication.

关键词： Stators Acoustics Vibrations Rotors Prototypes Torque Ceramics

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The non-cooperative satellite capturing nozzle device based on laser range finders guidance

The non-cooperative satellite capturing nozzle device based ...

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IEEE International Conference on robotics and Biomimetics

作者： Yu Zhang Kui Sun Yuanfei Zhang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

Expansion Rod Capturing Nozzle Device based on Laser Range Finders Guidance is developed to capture the non-cooperative satellite by capturing the main engine nozzle. The capturing device is integrated with capturing mechanism of expansion rod, Field-Programmable Gate Array (FPGA) controller, multi-sensors with laser range finders and Force/Torque Sensor, which utilizes the design concept of the optics, mechanism and electricity unitization. In order to capture the nozzle by the “soft” contact way, six laser range finders are radially arranged in the capturing device to sense the nozzle pose. The measuring range of laser range finder is 25-350mm, and the measuring accuracy is 2%. By the finders, capturing device can achieve the function of accurately approaching and reaching the capturing and locking location in the capturing process of extremely close to nozzle, to capture the non-cooperative satellite. The experiments are carried out capture the nozzle by the capturing device utilizing the finders real-time measurement. The experiments demonstrate the capturing device has the ability to capture and lock the satellite nozzle.

关键词： Satellites Control systems Lasers Extraterrestrial measurements Robots Brushless DC motors

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Humanoid arm with the integrated serial elastic actuator

Humanoid arm with the integrated serial elastic actuator

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IEEE International Conference on robotics and Biomimetics

作者： Xijian Huo Yanfeng Xia Yiwei Liu Li Jiang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

This paper proposes the design and development of an integrated serial elastic actuator (SEA) which is used as the elbow joint in the soft humanoid arm. First, requirements of SEA are illustrated. And six different types of elastic elements (e.g. the discoid element, the cylindrical) are analyzed using the design of experiment (DOE) method. And then, a discoid elastic element with larger flexibility is developed. Based on this, an integrated SEA containing the position sensors and the torque sensor is developed. And a 7-degree-of-freedom humanoid arm with joint flexibilities is designed. Finally, experiments of SEA demonstrate the approximation of the stiffness between the desired SEA and the prototype.

关键词： Torque Stress Structural engineering Finite element analysis Robots Actuators Springs

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