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International Conference on Information and Automation (ICIA)

作者： Fenglei Ni Qian Zhang Shipeng Xie Hong Liu Dangyang Jie State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China Beijing Institute of Astronautics System Engineering Beijing China

In order to achieve large tolerance capture and high stiffness connection for space payload operations, a Chinese large-scale space end-effector (EER) was developed. Friction is a kind of strong nonlinear factor that severely degrades performance of EER To predict the friction amplitude and compensate the dynamic error, the friction model based Generalized Maxwell-Slip model (GMS) is built. In order to improve the parameters identification accuracy of friction model, and overcome the error effects of the low speed velocity measurement, the full-order speed observer is designed as feedback speed information. Experiments platform has been built and some dragging experiments on the EER have been done. Results of the experiments show that the precision of the position tracking can reach ±0.02mm by GMS compensation, increased more than 30% compared with Stribeck friction model.

关键词： Friction Observers Decision support systems Conferences Automation Abstracts Indexes

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The HITCR-I:Evaluation on a free gait generation method for the hexapod robot on irregular terrain

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High Technology Letters 2013年第4期19卷 406-412页

作者：张赫 Zhao Jie Liu Yubin Chen Fu State Key Laboratory of Robotics and System Harbin Institute of Technology

The purpose of this paper is to present and evaluate a method of free gait generation for HITCRI,a hexapod walking *** HITCR-I is designed as a modularized structure of legs that is based upon a four-bar linkage mechanism and with force sensors in the tip of legs,distributed hardware structure and a modular software structure of the control *** on a set of local rules between adjacent legs,finite state machine(FSM) model is built to control the coordination of *** automatic smooth transition of gait pattern is achieved through deriving the mathematical relation between gait pattern and locomotion *** disordered inter-leg phase sequence is adjusted to a regular state smoothly and quickly by the local rules based FSM,and the gait pattern can transform automatically adapting to irregular *** experiment on HITCR-I has demonstrated that it can walk through irregular terrain reliably and expeditiously with the free gait controller designed in this paper.

关键词： robotics hexapod robot irregular terrain walking tree gait gait pattern transition

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Fuzzy steering control to serpentine tracked robots in unknown environment

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High Technology Letters 2013年第1期19卷 1-6页

作者：赵杰 Han Zhenfeng Liu Gangfeng Liu Gang Zhu Lei State Key Laboratory of Robotics and System Harbin Institute of Technology

To solve the problem of multi-turning attitudes,unknown ground parameters and complex skidsteering control for serpentine tracked robots(STR),a fuzzy control method based on the estimation of track curvature and side slip angles is *** on the track-ground interaction,mathematical models are established for stable turning in the way of recursive homogeneous *** navigation parameters such as rack curvature and side slip angles have approximately linear relationship with the yaw angles of articulate *** attitude models in turning control are studied and *** strategies of attitude models are *** on the strategies,an adjustable fuzzy controller is *** the controller,an estimator is set to solve the problem of unknown and variable *** estimator predicts the track curvature by metabolic linear least squares *** have verified the feasibility and validity of the controller.

关键词： serpentine tracked robot （STR） steering control track curvature side slip angles stable turning modes

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Ontological Modelling of Knowledge Management for Human-Machine Integrated Design of Ultra-Precision Grinding Machine

Ontological Modelling of Knowledge Management for Human-Mach...

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Enterprise systems Conference (ES)

作者： Haibo Hong Yuehong Yin Xing Chen State Key Laboratory of Mechanical System and Vibration Institute of Robotics Shanghai Jiao Tong University Shanghai Shangai China

ISBN: (纸本)9781479955558

Despite of the rapid development of computer science and information technology, human-machine integrated design of complex mechatronic products is still not fully accomplished, partly because of the inharmonious communication among collaborators. Therefore, one challenge in human-machine integration is how to establish an appropriate knowledge management (KM) model to support integration and sharing of heterogeneous product knowledge. Aiming at the diversity of design knowledge, this paper proposes an ontology-based model to reach at an unambiguous and normative representation of the knowledge. Firstly, an ontology-based human-machine integrated design framework is described, then corresponding ontologies and sub-ontologies are established according to different purposes and scopes. Secondly, a similarity calculation-based ontology integration method composed of ontology mapping and ontology merging is introduced. The ontology searching-based knowledge sharing method is then developed. Finally, a case of human-machine integrated design of a large ultra-precision grinding machine is used to demonstrate the effectiveness of the method.

关键词： Ontologies Man machine systems Grinding machines Merging Optimization Semantics Thermal stability

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous robotics systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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Fisheye omnidirectional camera calibration — Pinhole or spherical model?

Fisheye omnidirectional camera calibration — Pinhole or sph...

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IEEE International Conference on robotics and Biomimetics

作者： Ke Wang Lijun Zhao Ruifeng Li Faculty of State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang province P.R. China

ISBN: (纸本)9781479973989

In this paper, we investigate two camera models for fisheye camera, namely, the pinhole camera model and spherical projection model. The former one has been successfully applied in calibration modeling of monocular vision system. However, for fisheye camera calibration modeling, we demonstrate that the spherical projection model is more appreciate for nonlinear image system. Moreover, to deal with the high distortion introduced by the camera lens, we use local Hough Transform to detect sub-pixel corners in stead of some classical corner detectors, and two optimization methods are proposed to estimate the camera parameters. Experimental results validate the approach.

关键词： Cameras Robot vision systems Calibration Nonlinear distortion Image edge detection Optimization Transforms

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Analysis of the multi-finger dynamics for robot hand system based on EtherCAT

Analysis of the multi-finger dynamics for robot hand system ...

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International Conference on Natural Computation (ICNC)

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

ISBN: (纸本)9781479951529

A multi-finger dynamics model has been presented in this study, which contains a single finger dynamics model equation and a restraint equation between fingers based on Lagrangian multiplier controller. To validate the model, an EtherCAT master and slave platform has been developed based on FPGA. Meanwhile, the multi-finger dynamics algorithm has been designed in the TwinCAT. Finally, the experiments demonstrate this strategy can be implemented and operated by online grasping object.

关键词： Thumb Mathematical model Robots Equations Joints Heuristic algorithms

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Mechanics analysis of a wheelchair robot with wheel-track coupling mechanism

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Journal of Beijing Institute of Technology 2013年第3期22卷 301-307页

作者：李敬一白阳靳飞王冬晓高学山 Intelligent Robotics Institute Beijing Institute of Technology State Key Laboratory of Robotics and System ( HIT)

A barrier-free wheelchair robot with a mechanism coupled by wheel and track is presen- ted in this paper. Using the wheelchair, the lower limb disabled persons could be more relaxed to take part in outdoor activities whether on flat ground or stairs and obstacles in the city. The wheel- track coupling mechanism is designed and the stability of the bodywork of the wheelchair robot on the stairs is analyzed. In order to obtain the stability of wheelchair robot when it climbs obstacles, centroid projection method is applied to analyze the static stability, stability margin is proposed to provide the stability under some dynamic forces, and the push rod rotation angle in terms of the guaranteed stability margin is given. Finally, the dynamic model of the wheelchair robot based on Lagrange equation is established, which can be a theoretical foundation for the wheelchair control system design.

关键词： wheelchair robot wheel/track coupling mechanism centroid projection method sta-bility margin dynamic analysis

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A fast filtering algorithm using the transmission mechanism of human auditory information and its application on quadruped robot speed tracking

A fast filtering algorithm using the transmission mechanism ...

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IEEE China Summit & International Conference on Signal and Information Processing (ChinaSIP)

作者： You Zhou Wa Gao Fusheng Zha Baoyu Song Mantian Li Pengfei Wang Wei Guo State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Mechanical Design Harbin Institute of Technology China

This paper develops a fast filtering algorithm based on the transmission mechanism of human auditory information. By integrating the function of cochlea tuning and short-term synaptic plasticity, the derived details and the feasible parameter criterion under minimum error variance condition are discussed. For illustration, the developed fast filtering algorithm is applied to the speed tracking of quadruped robot walks. The comparison with the Kalman filtering method is given from two aspects, the tracking performance and the tracking speed. Both the two illustrate the high-efficiency of developed fast filtering algorithm.

关键词： Vibrations Legged locomotion Kalman filters Noise Mathematical model Auditory system

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A fault tolerant control strategy for six-phase transverse flux tubular PMLM based on synthetic vector method

A fault tolerant control strategy for six-phase transverse f...

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Electromagnetic Launch Technology

作者： Hao Yan Yongxiang Xu Shanlin Jiang Jibin Zou Weiyan Liang Department of Electrical Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System (HIT) Harbin China

This paper presents a fault tolerant control strategy for six-phase transverse flux tubular PMLM based on Synthetic Vector Method when the machine has a single phase open circuit fault. The operation of six-phase transverse flux tubular PMLM is described as well as its basic mathematical model. Then, the principles of Synthetic Vector Method are introduced. Based on these theories, the fault tolerant control strategy is derived in detail under the single phase open fault condition. In addition, a fault tolerant, dual Three-phase Four-leg Inverters drive topology which can be applied under this faulted condition is proposed. More, to implement the control algorithms proposed, a modified Space Vector Modulation is presented. Both the finite element simulation and the MATLAB/Simulink simulation results illustrate the validity of proposed fault tolerant control as well as the associated control topology and space vector modulation.

关键词： Vectors Fault tolerance Fault tolerant systems Circuit faults Windings Inverters Mathematical model

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