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

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Planar region alignment based visual regulation for mobile robot

Planar region alignment based visual regulation for mobile r...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Wang, Z.L. Liu, Y. Cai, B.G. Zhao, J. School of Electronic Information and Engineering Beijing Jiao Tong University Beijing 100044 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781467312776

It has been proved that, based on planar region alignment, camera ego-motion motion can be robustly estimated with a multistage approach in [24]. Based on this observation, a visual regulation approach based on planar region alignment is proposed. This paper is composed of two parts. In the first part, the image motion model of planar point is reviewed first, which will be used for camera motion estimation. Then a simple least square method for computing homography matrix H is introduced. The basic procedure of multistage motion estimation based on planar region alignment is summarized. In the second part, the kinematic model of monocular camera based mobile robot system is deduced with a constrained camera-robot configuration, the visual regulation control law is derived and the stability of the close loop system is analyzed in the sense of Lyapunov stability theory. The motion estimation experiment results are presented with real images, and simulation results show the convergence of the proposed visual regulation. © 2012 IEEE.

关键词： Motion estimation

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A new 4M model-based Human-Machine Interface for lower extremity exoskeleton robot

A new 4M model-based Human-Machine Interface for lower extre...

引用

5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Guo, Zhao Fan, Yuanjie Zhang, Jianjun Yu, Haoyong Yin, Yuehong State Key Laboratory of Mechanism System and Vibration Institute of Robotics Shanghai Jiao Tong University 200240 Shanghai China Department of Bioengineering National University of Singapore 117576 Singapore

ISBN: (纸本)9783642335082

This paper presents a Human-Machine Interface (HMI) for controlling lower limb exoskeleton robot intelligently with the joint torque estimated by a new biomechanical model of skeletal muscle. Based on the Microscopic working Mechanism of Molecular Motor (4M) in sacromere, this 4M model is established to reveal the relation between the characteristics of sEMG signal and active contraction force of muscle fiber. We discuss the interaction mechanism between human body and exoskeleton via analyzing the dynamics of exoskeleton robot and knee joint respectively. The knee joint torque that generated by skeletal muscle can be predicted accurately with the 4M model via measuring the sEMG signals on muscle surface. An active strategy for controlling exoskeleton robot has been proposed to train the lower limb on human intention. Experimental results show that the operator can exercise harmoniously with the exoskeleton, which prove the validity of this theoretical biomechanical model. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Muscle

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Fuzzy-sliding mode control for flexible-joint manipulator based on friction compensation

Fuzzy-sliding mode control for flexible-joint manipulator ba...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Ni, Fenglei Liu, Yechao Dang, Jin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Guang Xi Yuchai Heavy Industry Company Limited Guang Xi Province China

ISBN: (纸本)9781467312776

For overcoming unknown external disturbance, the nonlinearity and uncertainty of the flexible joint manipulator, a novel robust controller is proposed based on fuzzy-sliding mode control and friction compensation. The fiction compensation based on model can effectively predict the friction amplitude and compensate the dynamic error. The external uncertain disturbance, nonlinear part of friction, parameters variation, modeling error and so on can be overcome by the fuzzy-sliding mode control. Experimental results on the platform of HIT four degrees of freedom flexible joint manipulator show that the proposed controller not only can realize good position tracking performance, independency to parameters fluctuation, but also have a strong anti-interference ability. © 2012 IEEE.

关键词： Controllers

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Planar region alignment based ego-motion estimation for mobile robot

Planar region alignment based ego-motion estimation for mobi...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Wang, Z.L. Cai, B.G. Yi, F.Z. Liu, Y. Zhao, J. School of Electronic Information and Engineering Beijing Jiao Tong University Beijing 100044 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781467312776

The ego-motion estimation is a basic task in many operations of a mobile robot. An accurate and robust result of motion estimation can greatly improve the operation. In this paper, we assume the mobile robot with visual observer is moved on flat ground and a constrained camera-robot configuration is used to simplify the camera motion model. Based on the assumption and simplified camera-robot configuration, the 3D camera motion can be separately estimated by planar region alignment between two frames. Firstly, a detected 2D motion between two frames is used to align corresponding planar regions, such an alignment or registration removes the effects of camera rotation, and the resulting residual parallax displacement field between the two region-aligned images is an epipolar field centered at the FOE (Focus-of-Expansion). Then the camera translation can be recovered from the epipolar field. The camera rotation is recovered from the computed 3D translation and the detected 2D motion. The camera motion model is derived and expressed by two parts, the multistage process for ego-motion estimation is introduced. Some experiments with real images demonstrate the robustness of the motion estimation. And the factors which may affect the results are discussed. © 2012 IEEE.

关键词： Motion estimation

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A fast two-step marker-controlled watershed image segmentation method

A fast two-step marker-controlled watershed image segmentati...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Han, Xianwei Fu, Yili Zhang, Haifeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Harbin Dongyu Agricultural Engineering Machinery Co. Ltd. Harbin 150090 China

ISBN: (纸本)9781467312776

A fast two-step marker-controlled watershed image segmentation method in CIELAB color space is presented in this paper. We choose a number of seed points distributed nearly uniformly as the makers to perform the first marker watershed segmentation step, and obtain superpixels of the input image. These markers have the minimal gradient in a 3 x 3 neighborhood, which is able to avoid placing them at an edge and to reduce the chances of choosing a noise pixel. After superpixels segmentation, we do not adopt the traditional region merging strategies based on the different features of the adjacent regions, but cluster the superpixels in a 5-D space composed of Lab color vector and the position coordinates of the superpixels to resolve the over-segmentation problem, which saves a lot of computation time. Experiments on various types of images demonstrate that our algorithm is faster than many other segmentation algorithms and very suitable for real-time applications. © 2012 IEEE.

关键词： Superpixels

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Static analysis for a 3-RUU parallel mechanism

Static analysis for a 3-RUU parallel mechanism

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Yu, Lingtao Wang, Tao Song, Huajian Wang, Zhengyu Yu, Peng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China College of Mechanical and Electrical Engineering Harbin Engineering University Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

A mathematical model of static for a parallel mechanism is generally established by using the force Jacobin matrix [1], [2], [3], which is inaccurate due to ignoring of self-gravity of the linkage [4], [5]. In this paper, based on taking self-gravity of the linkage into account, static analysis of a novel 3-DOF parallel mechanism with RUU joint structure that can perform three-dimensional translations is put forward. Based on the inverse-kinematics of parallel mechanism and forces (torques) transfer mechanism between different hinges, static model is established in order to improve accuracy of static model. Then, a numerical example is given. © 2012 IEEE.

关键词： Static analysis

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The optimization of obstacle-crossing and the simulation in ADAMS of the composite six-wheeled-legged robot

The optimization of obstacle-crossing and the simulation in ...

引用

International Conference on Fuzzy systems and Knowledge Discovery (FSKD)

作者： Weidong Wang Dongmei Wu Wei Dong Chun Xie Pengfei Sun State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin China

This paper establishes the spatial kinematic model of the composite six-wheeled-legged robot according to its spatial motion, and simplifies the special motion postures so as to do the motion planning [1]. Furthermore, taking the slope obstacle as a typical example, it makes the analysis for the postures in the process of crossing the obstacle and optimizes the key postures in order to improve its obstacle negotiation capability to the safest and steadiest level. Then the analysis and optimization are verified by the simulation of the robot's obstacle-crossing motion for the vertical obstacle, the ditch obstacle and the slope obstacle.

关键词： Wheels Legged locomotion Robot kinematics Optimization Planning

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Layout space modeling for automation design of pipeline system

Layout space modeling for automation design of pipeline syst...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Feng, Haibo Fu, Yili Li, Liyi School of Electrical Engineering and Automation Harbin Institute of Technology Harbin Heilongjiang Province China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Automation design is of great significance to promote design quality and reduce design cycle for pipeline system design. But high complexity and strong design interference are two main problems in automation design process of pipeline system. Thus, this study proposes a novel layout space model to reduce high complexity and design interference in automation design of pipeline system. The proposed model uses grid methods to provide candidate layout space. The candidate layout space adopts random sampling to meet requirements of reducing complexity and design interference. Test experiment is provided to show that the proposed model is effective. © 2012 IEEE.

关键词： Automation

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Design and Development of a Cheetah Robot under the Neural Mechanism Controlling the Leg's Muscles

Design and Development of a Cheetah Robot under the Neural M...

引用

IEEE/RSJ International Conference on Intelligent robotics and systems

作者： Xin Wang Mantian Li Wei Guo Pengfei Wang Lining Sun currently a PhD candidate in State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China in State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China currently an associate professor in State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China

ISBN: (纸本)9781467317375

The high speed running of legged robot raise higher requirements on the design and development of the robot and the control method. The mammals' excellent performance, especially the cheetah, provides us much inspiration on control, mechanical design and etc. In this paper, a model of the cheetah robot is developed for researching the locomotory behaviors of fast running. Under the biological knowledge on neural mechanism, a new bio-inspired control method was proposed via controlling the muscles flexion and extension movements. Then, a bio-musculoskeletal hindlimb prototype was designed in this paper. The muscle-like actuator and the cheetah-like structure combining the bio-control approach provide more natural fashion for the new robot. Finally, the simulation of the bounding gait establishes good biological properties, cheetah-like leg's trajectory. Experiment with the real hindlimb prototype validates the design and the development of the structure and the controller. In the near future, a final prototype will be manufactured with onboard power and air source.

关键词： Neural Mechanism Controlling development extension movements cheetahs Robot Control Methods Legged robot AIR SUPPLIES Leg muscles

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Study of high-speed loading machine's missing chip detection system based on vacuum testing

Study of high-speed loading machine's missing chip detection...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Rong, Weibin Liu, Ruyi Fan, Zenghua Sun, Lining Department of State Key Laboratory of Robotics and System Harbin Institute of Technology Ministry of Education Harbin Heilongjiang Province China Key Laboratory of Micro-systems and Micro-structures Manufacturing Harbin Institute of Technology Ministry of Education Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

A method of missing chip detection based on vacuum testing is presented in the paper in view of the requirement of response time in high-speed loading machine. On the basis of analyzing the factors that influence response time in theoretical, the experimental platform of the detection system is set up. Some key factors that affect the response time are analyzed by experiments, and the improvement of experimental platform completed in final. The experimental results show that the improved detection system has faster response time on the basis of guaranteeing the stability, the response time of this system is about 38ms, and it has put into use. © 2012 IEEE.

关键词： Response time (computer systems)

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