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

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Gesture recognition system based on acceleration data for robocup referees

Gesture recognition system based on acceleration data for ro...

引用

5th International Conference on Natural Computation, ICNC 2009

作者： Lo, Charles Cao, Qixin Xiao, Zhu Zhen, Zhang Research Institute of Robotics Shanghai Jiaotong University 800 Dongchuan Road Shanghai 200240 China State Key Laboratory of Mechanical System and Vibration Shanghai Jiaotong University 800 Dongchuan Road Shanghai 200240 China

ISBN: (纸本)9780769537368

In this paper, we present a proof-of-concept gesture recognition based on Artificial Neural Networks (ANN) for referees participating in the Robocup competitions. Here, we aim at recognizing gestures to interact with an application (Robocup Referee Box) and present the design and evaluation of our sensor-based gesture recognition. As input device we employ the Wii-controller (Wiimote) and the use of the iPhone, both of which recently gained much attention world-wide. We use both devices ' independent acceleration data for gesture recognition. The system allows the training of arbitrary gestures by users which can then be recalled for interacting with the systems. We exploit the devices' sensor data and employ an artificial Neural Network model for training and recognizing user-chosen gestures. Our evaluation shows that our system is intuitive and easy to use. © 2009 IEEE.

关键词： Gesture recognition

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Design of a novel snake-like robotic colonoscope

Design of a novel snake-like robotic colonoscope

引用

2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Haiyan Hu Pengfei Wang Bo Zhao Mantian Li Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology.Harbin150001 China

ISBN: (纸本)9781424447749

The colonoscope is an important surgical tool to diagnose various colon diseases. However, the conventional colonoscope usually causes the patient a great deal of discomfort and pain. In order to develop a colonoscope for less discomfort of the patient and less demanding operation techniques of the doctor, a novel snake-like robotic colonoscope is proposed in this paper. This robotic colonoscope adopts a kind of continuum structure which features continuously deformable backbone as opposed to the traditional robot featuring rigid links and identifiable rotational joints. The robotic colonoscope is 600mm in total length and 12mm in diameter that is less than the average diameter of human colon. The robotic colonoscope is divided to five sections, and each driven remotely by two DC servo motors through cables. Thus, each section of the robotic colonoscope has 2 DOF (Degrees of Freedom) and the robotic colonoscope has a total of 10 DOF. The mechanical structure, kinematics and DSP-based control system are presented. The workspace simulation and prototype experiments are carried out to verify the kinematics and show the motion performance.

关键词： robotic colonoscope continuum robot kinematics DSP-based control system

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A micro biomimetic manta ray robot fish actuated by SMA

A micro biomimetic manta ray robot fish actuated by SMA

引用

2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Zhenlong Wang Yangwei Wang Jian Li Guanrong Hang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001HeilongjiangChina

ISBN: (纸本)9781424447749

The paper presented a design of a micro biomimetic manta ray robot fish actuated by shape memory alloy SMA wire, verified that SMA wire is a feasible actuator. The robot fish is quitely similar to manta ray in shape. It also have a flat-form body and a pair of triangular flexible pectoral fins. In our experiment, we researched the flexible pectoral fin shape change, and then the forward swimming and turning swimming performance were evaluated. We also give the results of the robot fish's speed and amplitude in different actuating pulse width. It can swim with good stability and stealthily. The micro biomimetic manta ray robot fish is suitable to do investigation in narrow space of the ocean.

关键词： Stone matrix asphalt Shape memory alloys Robot Half line Ray RAYS narrow space Biomimetics PULSE WIDTH oceans micro Pairing Amplitude Fishes

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Study on turning in place of a spherical robot based on stick-slip principle

Study on turning in place of a spherical robot based on stic...

引用

2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Bo Zhao Pengfei Wang Haiyan Hu Mantian Li Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology.Harbin150001 China

ISBN: (纸本)9781424447749

The paper deals with the motion of turning in place of a spherical robot for military reconnaissance and unknown environment exploration developed by us. The robot belongs to a nonholonomic and under-actuated system. The robot has 3 DOF and 2 inputs. The motion of turning in place can make a spherical robot with higher dexterity and environmental adaptability. The mathematical model of the turning motion is established by theory of moment of momentum. The relationship between the motion parameters is deduced, which is the basis of motion simulation and control system. Based on the analysis of mathematical model, a stick-slip principle is proposed for turning in place of the robot which is driven by double ballast masses. The stick-slip process is divided to three stages which are interpreted in theory. The principle is verified by numerical simulation and prototype experiment. The results confirm the effectiveness of the principle. The errors between theoretical analysis and experiment are analyzed at last.

关键词： spherical robot turning in place stick-slip principle

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Design of hybrid-type MEMS microgripper

Design of hybrid-type MEMS microgripper

引用

IEEE International Conference on Mechatronics and Automation

作者： Liguo Chen Baixu Liu Tao Chen Bing Shao State Key Laboratory of Robotics and System Robotic Institute Harbin Institute of Technology Harbin China

As the endeffectors of micromanipulation systems, microgrippers are crucial point of such systems for their efficiency and their reliability. So the steady and reliable performance of the microgripper is needed. In this work, a hybrid-type electrostatic silicon microgripper integrated vacuum tool is designed and fabricated to realize the steady gripping and reliable placing manipulations. This hybrid-type microgripper keeps the traditional functions of electrostatic comb drive microgripper and also combines the advantages of the vacuum tool. Vacuum tool integrated in this novel microgripper is used to improve its pick and place capability. Bulk micromachining technology is employed to fabricate the microgripper from single crystal silicon wafer. The vacuum control subsystem and electrostatic comb drive control subsystem are also designed for the microgripper controlling. At a driving voltage of 80V, a deflection of 25¿m at the arm tip of the gripper is achieved. The objects ranging from 100¿m to 200¿m are picked and placed successfully in the experiment, and the experiment results indicate that this microgripper can realize the steady manipulation.

关键词： Micromechanical devices Grippers Electrostatics Silicon Adhesives robotics and automation Micromachining Robots Rough surfaces Surface roughness

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A hybrid visual servoing control of 4 DOFs space robot

A hybrid visual servoing control of 4 DOFs space robot

引用

IEEE International Conference on Mechatronics and Automation

作者： Guoliang Zhang Bin Wang Jie Wang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

This paper presents research and development for a hybrid visual servoing control method for a newly developed space robot. The hybrid scheme consists of an eye-in-hand camera and eye-to-hand camera configuration. The first one guarantees good accuracy and the ability to explore the workspace; the second one ensures a panoramic sight of the workspace. The motivation of this paper is to take advantage of both in a cooperation scheme to makes the execution of complex tasks easier and offers higher flexibility in the presence of a dynamic scenario. Compared with other multi-camera system, both global and local vision has the capability of determining pose of target independently. Moreover, this paper also addresses suitable object recognition and pose estimation algorithm based on polygonal approximation. To realize real-time visual servoing control, part of recognition module has been optimized to increase process speed. Finally, 3D visual servoing within a dynamic look and move scheme based on estimated object pose has been carried out. Experimental results demonstrate the feasibility and the effectiveness of the proposed method.

关键词： Visual servoing Orbital robotics Robot vision systems Cameras Space technology robotics and automation Object recognition Automatic control Control systems Robot control

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Working Principle and Design of a Linear Ultrasonic Motor with Rectangle-type Stator

Working Principle and Design of a Linear Ultrasonic Motor wi...

引用

2009 The 18th IEEE International Symposium on Applications of Ferroelectrics(2009年国际铁电学暨IEEE国际铁电应用联合会议)

作者： Yingxiang Liu Junkao Liu Weishan Chen Shengjun Shi State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001Heilongjiang ProvinceChina

A linear ultrasonic motor with rectangletype stator is proposed in this paper. The stator of proposed motor contains four longitudinal transducers, which are located in rectangle-type. Every transducer includes two exponential shape horns located on each end. And the horns of adjacent transducers intersect at tip ends where located a driving foot. Longitudinal vibrations are superimposed in the motor and generated elliptical trajectories at the driving feet. The working principle of proposed motor is analyzed. The resonant frequencies of two working modals are degenerated by adjusting the structure parameters. The motion trajectories of nodes on the driving feet are gained by transient analysis, results indicate that the motion trajectories of nodes on the four driving feet are ellipses. The vibration amplitudes of driving feet indicate the proposed motor has potential advantage in output characteristics. The results of this paper verify the theoretical feasibility and provide instructions for the development of proposed motor.

关键词： ultrasonic motor linear rectangle -type four driving feet longitudinal-bending vibration

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A Ring Type Standing Wave Ultrasonic Motor Using Bending Transducer

A Ring Type Standing Wave Ultrasonic Motor Using Bending Tra...

引用

2009 IEEE 16th International Conference on Industrial Engineering and Engineering Management(IEEE第16届工业工程与工程管理国际学术会议)

作者： Yingxiang Liu Junkao Liu Weishan Chen Shengjun Shi State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001Heilongjiang ProvinceChina

ISBN: (纸本)9781424436712

A ring type standing wave USM using bending transducer is proposed. The transducer includes one exponential horn located on leading end,and the horn insect with the ring at tip end. The working principle of proposed motor is analyzed. The ring and transducer are designed with FEM. The bending vibration modals of ring and transducer are degenerated. Transient analysis is developed to gain the vibration characteristics of stator,and results indicate that the motion trajectories of nodes on the teeth are oblique lines. Results also indicate the proposed design enables the standing wave USM to operate with large vibration amplitude,which would improve the mechanical output characteristics. The results of this paper verify the theoretical feasibility and provide instructions for the development of proposed motor.

关键词： ultrasonic motor,ring type standing wave bending transducer FEM

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An exoskeleton master hand for controlling DLR/HIT hand

An exoskeleton master hand for controlling DLR/HIT hand

引用

2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Honggen. Fang Zongwu. Xie Hong. Liu Institute of Robotics and Mechatronics German Aerospace Center Germany State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In order to eliminate the drawbacks of conventional force feedback gloves, a new type of master hand has been developed. By utilizing three ¿four-bar mechanism joint¿ in series and wire coupling mechanism, the master finger transmission ratio is kept exact 1:1.4:1 in the whole movement range and it can make active motions in both extension and flexion direction. Additionally, to assure faster data transmission and near zero delay in master-slave operation, a digital signal processing/field programmable gate array (DSP/FPGA-FPGA) structure with 200 ¿s cycle time is designed. The operating modes of the master hand can be contact or non-contact, which depends on the motion states of slave hand, free motion or constrained motion. The position control employed in non-contact mode ensures unconstrained motion and the force control adopted in contact mode guarantees natural contact sensation. To evaluate the performances of the master hand, an master-slave control experiment based on force-position control method between the master hand and DLR/HIT hand is conducted. The results demonstrate this new type master hand can augment telepresence.

关键词： Exoskeletons Master-slave Force control Digital signal processing Force feedback Wire Couplings Fingers Data communication Filtering theory

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An exoskeleton force feedback master finger distinguishing contact and non-contact mode

An exoskeleton force feedback master finger distinguishing c...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Honggen Fang Zongwu Xie Hong Liu Tian Lan Jinjun Xia State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany

In this paper, a new type of master finger in exoskeleton type has been developed to implement master-slave operation for DLR/HIT dexterous hand. The finger has three novel characteristics. Firstly, the exoskeleton mechanism uses ldquofour-bar mechanism jointrdquo, which rotates about an instant center that coincides with joint center of operator's finger. Secondly, the master finger can distinguish the contact and non-contact mode. The two modes enable free motion and natural contact sensation between operator and master finger respectively. Thirdly, the master finger can exert forces in the direction of extension and flexion because it can make active motion in the two directions. In order to assure faster data transmission and near zero delay in master-slave operation, a digital signal processing/field programmable gate array (DSP/FPGA-FPGA) structure is proposed to control the master finger. The kernel of the hardware system consists of a peripheral component interface (PCI)-based DSP/FPGA board configured as high-level and a FPGA board configured as low-level. By utilizing low-voltage differential signaling (LVDS) serial data bus and PCI bus, the high-level can communicate with the low-level and PC. Using the principle of Virtual work, the relationship between driving torque and the force acting at the tip of master finger is acquired and validated by an experiment conducted to the operation of master finger and DLR/HIT dexterous finger. Experimental results also demonstrate that the master finger can augment telepresence.

关键词： Exoskeletons Force feedback Fingers Digital signal processing Field programmable gate arrays Master-slave Data communication Filtering theory Delay Kernel

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