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International Conference on Measuring Technology and Mechatronics Automation

作者： Wang, Yangwei Wang, Zhenlong Li, Jian State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9780769542966

This article describes the initial design of a biomimetic cuttlefish robot. The robot has a similar streamlined shape as cuttlefish, propelled by the complex of the biomimetic undulatory level pectoral fin and the waterjetting. Firstly, the morphology and swimming theory of cuttlefish is analyzed. Secondly, the overall structure of the biomimetic cuttlefish robot is designed and the threedimensional model is simulated by software FLUENT. Finally, the biomimetic level pectoral fin and the biomimetic mantle actuated by SMA wires are designed. The propulsive thrust and the propulsive efficiency are analyzed. The results show that the robot has good hydrodynamic performance, can achieve slow swimming speed with high efficiency by the level pectoral fin. When the swimming speed is 0.18 m/s, the propulsive fore is 0.047 N, the propulsive efficiency is 89 %. It can also achieve high swimming speed relying on jetting propulsion. The maximum propulsive force is 0.79 N and the maximum swimming speed is above 0.6 m/s, the propulsive efficiency is 31 %. © 2011 IEEE.

关键词： Shape memory effect

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Research on locomotive evolution based on worm-shaped configuration of self-reconfigurable robot HitMSR II

Research on locomotive evolution based on worm-shaped config...

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2011 International Conference on Electric and Electronics, EEIC 2011

作者： Zhu, Yanhe Wang, Xiaolu Cui, Xindan Yin, Jingchun Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9783642217463

In this paper, we constructed a three-dimensional dynamic simulator for HitMSR II which is a module self-reconfigurable robot system composed of single-rotational-freedom modules. Downhill Simplex Optimization Algorithm were used to evolve the locomotion of the robot ensuring that it is possible to get access to the relatively more optimized locomotion gaits parameters after large enough numbers of iterative calculations under a certain evaluation function. What's more. We selected worm-shaped configuration to research on the validation of locomotive evolution both in simulation and experiment. © Springer-Verlag Berlin Heidelberg 2011.

关键词： Iterative methods

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Robust Iterated Sigma Point FastSLAM Algorithm for Mobile Robot Simultaneous Localization and Mapping

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Chinese Journal of Mechanical Engineering 2011年第4期24卷 693-700页

作者： SONG Yu SONG Yongduan LI Qingling Center for Intelligent System and Renewable Energy Beijing Jiaotong University Beijing 100044 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Institute of Automation Chinese Academy of Sciences Beijing 100190 China

Simultaneous localization and mapping （SLAM） is a key technology for mobile robots operating under unknown environment. While FastSLAM algorithm is a popular solution to the SLAM problem, it suffers from two major drawbacks： one is particle set degeneracy due to lack of observation information in proposal distribution design of the particle filter; the other is errors accumulation caused by linearization of the nonlinear robot motion model and the nonlinear environment observation model. For the purpose of overcoming the above problems, a new iterated sigma point FastSLAM （ISP-FastSLAM） algorithm is proposed. The main contribution of the algorithm lies in the utilization of iterated sigma point Kalman filter （ISPKF）, which minimizes statistical linearization error through Gaussian-Newton iteration, to design an optimal proposal distribution of the particle filter and to estimate the environment landmarks. On the basis of Rao-Blackwellized particle filter, the proposed ISP-FastSLAM algorithm is comprised by two main parts： in the first part, an iterated sigma point particle filter （ISPPF） to localize the robot is proposed, in which the proposal distribution is accurately estimated by the ISPKF; in the second part, a set of ISPKFs is used to estimate the environment landmarks. The simulation test of the proposed ISP-FastSLAM algorithm compared with FastSLAM2.0 algorithm and Unscented FastSLAM algorithm is carried out, and the performances of the three algorithms are compared. The simulation and comparing results show that the proposed ISP-FastSLAM outperforms other two algorithms both in accuracy and in robustness. The proposed algorithm provides reference for the optimization research of FastSLAM algorithm.

关键词： mobile robot simultaneous localization and mapping （SLAM） particle filter Kalman filter unscented transformation

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The kinematic model, motion planning and analysis for obstacle negotiation capability of the composite six-wheeled-legged robot

The kinematic model, motion planning and analysis for obstac...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Wang, Weidong Xie, Chun Wu, Dongmei Dong, Wei Du, Zhijiang State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781457721373

This paper establishes the spatial kinematic model of the six-wheeled-legged robot by combining its spatial motion. In the process of the robot's crossing the obstacle, the position of its centroid determines whether the robot can cross the obstacle successfully or not, so the paper establishes the spatial kinematic model and the kinematic model of the centroid, and furthermore, simplifies the model for different typical postures so as to do the motion planning[1] and the analysis for obstacle negotiation capability of the vertical obstacle, the ditch obstacle and the slope obstacle. © 2011 IEEE.

关键词： Motion planning

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Robot-assisted PET-CT-MRI image fusion

Robot-assisted PET-CT-MRI image fusion

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IEEE/Institute of Complex Medical Engineering International Conference on Complex Medical Engineering

作者： Wang, Weidong Wu, Dongmei Sun, Pengfei Du, Zhijiang State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781424493241

A novel robot-assisted PET/CT/MRI image fusion method is presented. The robot carries the patient from one device to another automatically, securely and precisely. The images obtained in each device are fused by the robot position transformational matrix. First, a 4WD and 4WS mobile robot is introduced. Its design features are super payload capability, precise navigation and positioning, ultrasonic obstacle avoidance and Anti- magnetic. Second, the general kinematics model of the 4WD and 4WS mobile robot is presented. Several special modes are simplified from the general model, Such as ZRT mode, navigation mode and so on. At last several clinical trial of this system is introduced. The comparison result between the result of robot-assisted PET/MRI image fusion and the result of combined machine is presented. The method of the robot-assisted PET/MRI image fusion can make the process of image fusion more automatically, securely and precisely. © 2011 IEEE.

关键词： Mobile robots

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Development of a panoramic simulation for robot assisted endoscopic surgery

Development of a panoramic simulation for robot assisted end...

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IEEE/Institute of Complex Medical Engineering International Conference on Complex Medical Engineering

作者： Yan, Zhiyuan Wu, Dongmei Ma, Ruqi Du, Zhijiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781424493241

In recent years, the robot for minimally invasive surgery has been expanded for wide application in clinic. However, robot assisted surgery is quite different from traditional surgery, so the training and practice are very important to the surgeon. The development of a panoramic simulation for robot assisted endoscopic surgery is described in the paper. The simulation is appropriate for da Vinci and other similar system. In this simulation, the robot model is accurately presented, and its kinematic analysis is precise. The soft tissue model used in the simulation is an improved mass-spring model. This model is suited for real-time and visual deformation. A commercial haptic device known as Omega is used in this simulation, we can easily obtain haptics by it. As a result, the user can switch between panoramic display and local scene by zoom, and can easily manipulate the virtual surgical robot to perform many surgical operations such as grasping and pushing, at the same time, the user can feel the force feedback. © 2011 IEEE.

关键词： Robotic surgery

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A drive-control system for 3D piezoelectric stick-slip positioner

A drive-control system for 3D piezoelectric stick-slip posit...

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6th International Forum on Strategic Technology, IFOST 2011

作者： Rong, Weibin Zhang, Shizhong Liu, Xingxing Yu, Miao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781457703966

The micro-positioning system composed of dynamic piezoelectric translation devices features nanoscale resolution, millimeters range, compact structure and availability in extreme operating conditions, and it is commonly used in field of micro-nano operation. To solve the problem of the drive and control of the piezoelectric stick-slip positioner, a 3-channel drive-control system is developed. The driver is designed with a high-power integrated operational amplifier based on a mixed approach of voltage control and current control. The two modes can be switched easily in the use. A high speed DSP chip is chosen as the core of the controller which receives and processes the commands from PC. Experimental results show that the drive-control system has a resolution less than 4.6mV, a linearity error of 0.014% and a full power response bandwidth up to 5 kHz. © 2011 IEEE.

关键词： Stick-slip

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A 3D stick-slip nanopositioner for nanomanipulation

A 3D stick-slip nanopositioner for nanomanipulation

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2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

作者： Rong, Weibin Zhang, Shizhong Yu, Miao Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781424481149

A compact nanopositioner which consists of three stick-slip inertial stages was designed and built particularly for nanomanipulation inside a scanning electron microscope (SEM). Considering linear dynamics of PZT and nonlinear friction between slider and rod, a comprehensive model representation of the stick-slip stage was presented and verified by being compared with experimental results. Resolution to 10nm has been achieved and the ability to lift up to 70g has been demonstrated. Some manipulations of nanowires were performed in assistant of the nanopositioner we developed, including picking up and bending single ones. Both results of experiments and manipulations demonstrated the excellent performance of the nanopositioner. © 2011 IEEE.

关键词： Stick-slip

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Design and development of a hand rehabilitation robot for patient-cooperative therapy following stroke

Design and development of a hand rehabilitation robot for pa...

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2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

作者： Fu, Yili Zhang, Qinchao Zhang, Fuhai Gan, Zengkang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9781424481149

Stroke is very common and always leads to severe hand impairment. Traditional robotic systems have been introduced to assist therapy for a long time and already achieved certain effect. However, with further development of therapy strategies in the last few years, higher request to the rehabilitation robot has been put forward. Thus, we are developing a novel hand rehabilitation robot named HIT-glove to provide patient-cooperative therapy for hand-impaired post-stroke patients. In this paper, the mechanical design of the actuated hand exoskeleton is detailed and the control strategy for patient-cooperative therapy is introduced. The actuated hand exoskeleton, which can be applied to hands in different sizes and shapes, is able to bilaterally actuate every joint of the fingers. The patient-cooperative control strategy, based on the sensing system and an interactive interface, is well designed to let the patient actively participate into the therapy. Besides, to get a better effect of functional rehabilitation of the hand, our robot is expected to provide the following two categories of therapy: motor function exercise for joints and movement coordination training for fingers. © 2011 IEEE.

关键词： Exoskeleton (robotics)

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The research on release micromanipulation mechanism and method of microparticle based on dynamic adhesion control

The research on release micromanipulation mechanism and meth...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Shao, Bing Chen, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Robotics and Microsystems Center Soochow University Suzhou China

ISBN: (纸本)9781424487554

The manipulation of particles at the micro-scale is of great importance and challenge in the fields of electronics and bioengineering. A compound vibration adhesion control technique has been proposed in this article in order to achieve the manipulation of mciro spheres. This paper firstly analyzes the micro-scale adhesive force generated during the release process. Then a dynamic adhesive contact model was established. Based on this model, a novel microgripper has been developed. Its performances such as the micromanipulation acceleration, inertial force, and adhesion force for the release manipulation are investigated by dynamics modeling and simulation. Precision positioning problem of the released micro-scale object is analysed. Experiments are conducted under different size of microparticles, to verify the performance the novel microgripper, such as effective release and accurate positioning. The results have confirmed that microgripper by the use of the compound vibration adhesion control technique can achieve an effective and reliable release manipulation of microparticles. This novel microgripper has the advantages of the high release repeatibility and accuracy. © 2011 IEEE.

关键词： Adhesion

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