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World Congress on Intelligent Control and Automation (WCICA)

作者： Yongsheng Gao Jie Bai Shengxin Wang Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

An elbow biomechanical model can provide theoretical guidance for the rehabilitation of the human arm. Researches on the mechanism of elbow movement are developed mainly through analysis of surface electromyographic (sEMG), but the signals that were captured are redundant, without the consideration of muscle groups, while output of the model are mostly muscle force or torque, which is not intuitive. In this paper, through the establishment of muscle-force model as well as the joint dynamics to calculate angle trajectory of the elbow joint, a sEMG to elbow joint angle model can be built. In order to express the active forces of the muscle groups with the specified muscles, a modified muscle groups matrix (MGM) was introduced. By experiments, the model without MGM has a large error while the deviation can decline when the MGM is introduced. In this way, the model is more precise to reflect the applied forces to elbow joint by the attached muscle groups.

关键词： Muscles Elbow Joints Biological system modeling Force Brain modeling Trajectory

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Dynamics verification of free-floating space robot based on the hybrid simulation

Dynamics verification of free-floating space robot based on ...

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IEEE International Conference on robotics and Biomimetics

作者： Haitao Yang Kui Sun Zongwu Xie Minghe Jin Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilong Jiang China

ISBN: (纸本)9781479973989

The paper mainly validates that the dynamics characteristic of the free-floating space robot during space manipulator capturing the target satellite. The dynamics verification system adopts the hybrid simulation method, which combines the real ground hardware experiment and the software simulation. The hardware experiment component can acquire the joint driving torques, which are the inputs of the forward dynamics for space robot. The software simulation is to simulate the dynamics characteristic of the real space robot, which is modeled in the RT-LAB real-time environment by the Simmechanics Toolbox. The dynamics verification experiment can acquire the attitude disturbance of the free-floating base and the joint angles during space manipulator capturing the target with the visual servoing.

关键词： Joints Aerospace electronics Manipulator dynamics Satellites Space vehicles

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Method for optimizing manipulator's geometrical parameters and selecting reducers

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Journal of Central South University 2013年第5期20卷 1235-1244页

作者：杜志江肖永强董为 State Key Laboratory of Robotics and System Harbin Institute of Technology

A geometrical parameters optimization and reducers selection method was proposed for robotic manipulators design. The Lagrangian approach was employed in deriving the dynamic model of a two-DOF manipulator. The flexibility of links and joints was taken into account in the mechanical structure dimensions optimization and reducers selection, in which Timoshenko model was used to discretize the hollow links. Two criteria, i.e. maximization of fundamental frequency and minimization of self-mass/load ratio, were utilized to optimize the manipulators. The NSGA-II (fast elitist nondominated sorting genetic algorithms) was employed to solve the multi-objective optimization problem. How the joints flexibility affects the manipulators design was analyzed and shown in the numerical analysis example. The results indicate that simultaneous consideration of the joints and the links flexibility is very necessary for manipulators optimal design. Finally, several optimal combinations were provided. The effectiveness of the optimization method was proved by comparing with ADAMS simulation results. The self-mass/load ratio error of the two methods is within 10%. The maximum error of the natural frequency by the two methods is 23.74%. The method proposed in this work provides a fast and effective pathway for manipulator design and reducers selection.

关键词： robotic manipulator optimal design reducer selection flexible links flexible joints

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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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Online force optimization with input filter for robot hand based on EtherCAT

Online force optimization with input filter for robot hand b...

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2014 International Conference on Computational Intelligence and Industrial Engineering(CIIE 2014)

作者： Mingxin Hou Li Jiang Hong Liu Zhaopeng Chen Harbin Institute of Technology School of Technology State Key Laboratory of Robotics and System Institute of Robotics and Mechatronics German Aerospace Center

The aim of this study is to present an online force optimization algorithm based on Lagrange multiplier for robot hand with Butterworth input filter under EtherCAT(Ethernet for Control Automation Technology) Master TwinCAT 3.1 platform. The integrated Butterworth filter proposed in the paper can be used effectively for filtering processing of joint torque signals obtained by torque sensor. In this research,the advantages of using these strategies as follow: they reduce the noise,they provide an online force optimization theory and are able to real-time adjust the fingertip force when the robot hand grasps objects. The proposed schemes are validated by online grasping experiments.

关键词： force optimization filter robot hand Lagrange Multiplier EtherCAT

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Quartic Bézier curve based trajectory generation for autonomous vehicles with curvature and velocity constraints

Quartic Bézier curve based trajectory generation for autono...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Cheng Chen Yuqing He Chunguang Bu Jianda Han Xuebo Zhang State Key Laboratory of Robotics University of Chinese Academy of Sciences Beijing China State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China Institute of Robotics and Automatic Information System (IRAIS) Nankai University Tianjin

To generate local trajectory between initial states and target states for autonomous vehicles, a feasible trajectory generation algorithm based on quartic Bézier curve is proposed. The problem of trajectory generation is firstly separated into generating continuous and bounded curvature profile to shape the trajectory and generating linear velocity profile to execute the trajectory. The curvature profile generation is further converted to an optimization problem with only 3 parameters owing to the specific properties of quartic Bézier curve. Sequential quadratic programming is employed to find optimal solution with respect to specific objective function. To avoid sideslip and ensure velocity-continuity and acceleration limits, the framework of linear velocity profile generation is also proposed. A simple profile with constant acceleration is also provided as an example. Simulation results on lane keeping and changing and path following demonstrate the capability and the real-time performance of the proposed algorithm.

关键词： Trajectory Vehicles Optimization Acceleration Equations Mobile robots

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A Direct Swing Constraint-based Trajectory Planning Method for Underactuated Overhead Cranes

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Acta Automatica Sinica 2014年第11期40卷 2414-2419页

作者： Peng-Cheng WANG Yong-Chun FANG Zi-Ya JIANG Institute of Robotics and Automatic Information System (IRAIS) Nankai University Tianjin 300071 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin 300071 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

This paper proposes a novel swing constraint-based trajectory planning method for nonlinear overhead crane systems. To enhance the efficiency and security of the transportation process, some desired trajectories are designed to achieve the following merits: 1) leading the trolley to reach the destination sufficiently fast; 2) keeping the payload swing in an acceptable domain; 3) eliminating the residue swing when the trolley stops at the desired position. Specifically, the trajectories are divided into three stages. For each stage, the desired curve of the swing angle is directly constructed in accordance with anti-swing and zero-residual swing requirements, based on which the trolley trajectory is then obtained by analyzing the nonlinear kinematics of the crane system. An optimization mechanism is introduced to make intelligent compromises among the indices of transportation time, maximal swing angle, and so on. Both simulation and experimental results are provided to demonstrate the performance of the proposed direct swing constraint-based trajectory planning method.

关键词： Trajectory planning overhead cranes swing optimization nonlinear kinematics

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A practical distortion correcting method from fisheye image to perspective projection image

A practical distortion correcting method from fisheye image ...

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International Conference on Information and Automation (ICIA)

作者： Zhongli Wang Hedong Liang Xian Wu Yipeng Zhao Baigen Cai Chuanqi Tao Zhiyi Zhang Yinling Wang Shanwen Li Fengtian Huang Shuangfu Fu Feng Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology China Beijing Engineering Research Center of EMC GNSS Technology for Rail Transportation Haidian Beijing China School of Electronics and Information Engineering Beijing Jiaotong University CSR Qindao Sifang Co. Ltd. Qindao Shandong Province China CSR Qindao Sifang Co.. Ltd. Shandong Province 266111 China

ISBN: (纸本)9781467391054

Fisheye camera is finding increasing number of applications in robotic vision, visual surveillance, and other fields. But the use of super-wide angle fish-eye lenses causes strong distortions in the resulting images. A method for the correction of fisheye distortion using only single images and linearity of imaged objects is presented. Spherical projection is a simple and effective method to transform a fisheye image to a perspective projection image. To use this method, the optic center of the fisheye image and the radius of the projecting sphere must be known in advance. The proposed algorithm is based on ellipse fitting. It requires only the possibility of the extraction of distorted image points from straight lines in the 3D scene. The mathematical model is introduced for the transformation. The method for finding out the optic center and the radius of the projection sphere is discussed. Contrary to most former algorithms, the algorithm discussed here does not depend on information about the real world coordinates of matching points. The correctness and effectiveness of the proposed method are demonstrated with real image.

关键词： Cameras Nonlinear distortion Lenses Three-dimensional displays Optical distortion Calibration

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Approach movement of redundant manipulator using stereo vision

Approach movement of redundant manipulator using stereo visi...

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IEEE International Conference on robotics and Biomimetics

作者： Jiadi Qu Fuhai Zhang Yili Fu Shuxiang Guo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Department of Intelligent Robotics Kagawa University Takamatsu City

ISBN: (纸本)9781479973989

This paper proposed a visual control method with a relative position measurement model of stereo vision fixed in the work space for the approach movements of 7-DOF redundant manipulator. The relative position between the end-effectors' endpoint and object will be solved in real-time by the measurement model of stereo vision, then using position-based visual servo method, the endpoint position will be controlled to approach the object until achieve the approach task goal. Meanwhile redundancy resolution formalism of 7-DOF manipulator will be employed to avoid joint limits. Simulation results verified the effectiveness of the proposed methods.

关键词： Joints Cameras Manipulators Trajectory Stereo vision Redundancy Visualization

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Features representation by multiple local binary patterns for facial expression recognition

Features representation by multiple local binary patterns fo...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Li Wang Ruifeng Li Ke Wang Department State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

To recognize expressions conveniently and effectively, an enhanced feature representation method is proposed for facial expression recognition. Local binary pattern histogram Fourier (HF-LBP) features is used to represent facial expression features. Multiple HF-LBP features are extracted to form recognition vectors for facial expression recognition in the approach, which include sign and magnitude LBP in the completed LBP scheme with multiple radii and different size neighborhoods to achieve enough features. It represents images from different scales and directions in the local neighborhood by overall considerations from the aspect. K-nearest neighborhoods classifier is applied for expression recognition after representing facial features using HF-MLBP. Comparisons are made with other extension LBP operators to evaluate the approach. The experimental results show that our method has good performance in facial expression recognition.

关键词： Feature extraction Face recognition Iron Facial features Histograms Support vector machine classification

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