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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Zhang, Guojun Ni, Fenglei Li, Zhiqi Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781538660720

' In order to increase control frequency and expansibility for 7-degree-of-freedom(DoF) light-weight, a novel robot control system based on EtherCAT bus is designed. The control system consists of arm controller and joint controller. The arm controller is implemented by a core-i5 PC, which achieves motion control, trajectory planning and real-time task planning. The joint controller is designed based on Field Programmable Gate Array(FPGA), which achieves sensor samping and motor control. EtherCAT bus achieves data transmission between joint controller and arm controller. The experiment results show that our control system can achieve higher control frequency and better expansibility. © 2018 IEEE.

关键词： Buses

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Locally Guided Multiple Bi-RRT∗ for Fast Path Planning in Narrow Passages

Locally Guided Multiple Bi-RRT∗ for Fast Path Planning in N...

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IEEE International Conference on robotics and Biomimetics

作者： Xin Shu Fenglei Ni Zhou Zhou Yechao Liu Hong Liu Tian Zou The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Department of system dynamics KUKA JV(Shunde) Foshan China

Rapidly-exploring Random Tree Star (RRT * ) and its variants can provide a collision-free and asymptotic optimal solution for many path planning problems. However, it is inefficient for many RRT * based variants to rapidly find one initial solution in a clustered environment with narrow passages, since consuming high memory as well as time, due to a large number of iterations in sampling critical nodes. To overcome this problem, the paper proposes the Locally Guided Multiple Bi-RRT * (LGM-BRRT * ) method, which can provide a fast solution by incorporating an improved bridge-test and a novel search strategy based on local guidance. It ensures an accelerated success rate and more efficient memory utilization compared with Bidirectional RRT * (BRRT * ), and it is easy for implementation as well. It was verified on different types of scenarios in terms of efficiency and success rate. The results demonstrated that LGM-BRRT * is beneficial for fast path planning in a clustered environment with narrow passages.

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A deployable end-effector with caging-based grasp capability for capturing free-floating objects 15

A deployable end-effector with caging-based grasp capability...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Li, XueAi Zhang, Yuanfei Sun, Kui Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781538660720

In this paper, based on the caging grasp, a novel deployable end-effector for capturing free-floating objects is proposed, which implements a secure grasp without precise motion tracking and complex feedback control. Three subsystems for capture, transmission and actuation are highly integrated, including mechanics, electronics and sensors. Grippers composed of constant-torque hinges are arranged specifically to endow the mechanism with deployable function and ensure a steady envelope. Gears are widely adopted in a unique manner for synchronous motion of six grippers, with only one actuator. Meanwhile, an optimal design for a larger envelope with weight reduction of the grippers is carried out. The multisensory system and electronics in the actuation subsystem lay the foundation for operational procedure of the end-effector. Additionally, performance of the end-effector is verified in virtual simulation software. © 2018 IEEE.

关键词： Grippers

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Joint design and position servo control of frog inspired robot based on pneumatic muscle and reset spring 15

Joint design and position servo control of frog inspired rob...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Jizhuang, Fan Bowen, Yuan Qilong, Du He, Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang150080 China

ISBN: (纸本)9781538660720

In this paper, a single degree of freedom joint is designed based on pneumatic muscle and reset spring. First of all, through the isobaric experiment, equal length experiment and equal tension experiment, we build a more accurate pneumatic muscle model. Then a three-order affine nonlinear mathematical model is established by studying the characteristics of the high-speed switching valve, the internal pressure changes of the pneumatic muscle, the energy formula of pneumatic muscle during charging and releasing gas and the dynamic formula of joint to describe the relationship between the input of the value of PWM and output of the joint angle. MATLAB S function is used for simulation, and the corresponding static and dynamic response is obtained through different input (PWM). At the same time, the influence of the three main factors is studied. Based on this model, the equivalent sliding mode control law is designed. We prove the stability, verify the static and dynamic control effect of the control law. © 2018 IEEE.

关键词： Pulse width modulation

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Elbow joint angle estimation in wavelet neural network using relieff selected features of sEMG and post filter 15

Elbow joint angle estimation in wavelet neural network using...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Luo, Yang Gao, Yongsheng Li, Qiang Zhao, Jie Fei, Xingtong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang150080 China

ISBN: (纸本)9781538660720

In the control of electromyography-driven exoskeleton, the algorithms must estimate the human motion with fast speed and high accuracy. In this paper, we propose a wavelet neural network (WNN) to estimate the continuous wrist joint angle using the reliefF selected features of surface electromyography (sEMG) and post filter (WNN using RSF&PF). The working process of WNN using RSF&PT can be described as three steps. The candidate sEMG features extracted in time domain are selected according to reliefF theory, and then the selected features are relayed to WNN for angle estimation. In the end, the moving average filter, a post filter, is used to smooth the output curve of the WNN. The estimation performance of WNN using RSF&PF is evaluated via an experimental platform and compared with that of support vector machine as well as that of radial basis function neural network. The average execution time of WNN using RSF&PT in processing 20-s of the sEMG data is 1.104s. The root mean square error and correlation coefficient are 8.73 degree, 0.978 respectively. The comparison results suggest that WNN using RSF&PF achieves the best estimation in terms of accuracy and speed in this work. © 2018 IEEE.

关键词： Radial basis function networks

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Development of an assist upper limb exoskeleton for manual handling task

Development of an assist upper limb exoskeleton for manual h...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Yan, Zefeng Yi, Haoyuan Du, Zihao Huang, Tiantian Han, Bin Zhang, Lufeng Peng, Ansi Wu, Xinyu State Key Laboratory of Digital Manufacturing Equipment and Technology School of Mechanical Science and Engineering Huazhong University of Science and Technology China CAS Key Laboratory of Human-Manchine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Science Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China

ISBN: (纸本)9781728163215

In this paper we describe the construction of a wearable upper arm exoskeleton to provide support for industrial workers who engaged in repetitive handling tasks and patients who full or partial loss of function in their upper limb due to accident injuries, spinal cord and strokes. We use flexible rope driven by a motor to realize the shoulder and elbow joints linkage, use ball screw to realize the self-locking in any position to providing assist for users. This novel design not only saves energy but also make the whole system portable. The total weight of the prototype is only 2 kg. The exoskeleton is connected upper limb with 3 bandages, and users take about 30 seconds to put it on and 20 seconds to put the exoskeleton off without any help. The PD adaptive control method is applied to the proposed exoskeleton to track expected trajectories. Five healthy people participated in data acquisition. Upper limb muscle integrated electromyography (IEMG) of the deltoid muscle(DM), the biceps femoris muscle (BFW), the femoral muscle (FM), the femoral wrist flexor (FWF) were compared in continuous handling for four different loads (0, 1.5, 3, 4.5kg). The average assistance efficiency were 39.1%, 41.5%, 36.5% and 40.6% for the DM, BFM, FM and FWF respectively. The experimental data show that the upper limb exoskeleton can provide assist for workers and protect their upper limbs injuries in long-term handling task. © 2019 IEEE.

关键词： Muscle

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A Modified Full-Band Adjustable Bi-Quad Filter for Mechanical Resonance Suppression in Industrial Servo Drive systems

A Modified Full-Band Adjustable Bi-Quad Filter for Mechanica...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： Yangyang Chen Ming Yang Yongping Sun Jiang Long Dianguo Xu Frede Blaabjerg IEEE State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Aalborg University Aalborg Denmark

As for mechanical resonance suppression, the online adjustable bi-quad filter is a powerful method and has been widely used in industrial applications. Compared with the notch filter, the bi-quad filter has one more parameter for notch depth design, which is more suitable for servo systems with nature damping coefficient and limited resonant gain. However, this classic method still has room for improvement. Usually, the adjustable bi-quad filter has two steps, including fast Fourier transformation (FFT) analysis, and filter tuning. In this paper, concerning these two steps mentioned above, two targeted modification strategies are proposed. Firstly, a single-phase MIT (SM/T) method is used to remove the certain noise cluster of the FFT result. Then, inspired by the discretization distortion correction of the notch filter, a similar method is designed to avoid that the bi-quad filter becomes inaccurate when the central notch frequency is close to the Nyquist frequency. In the end, the validity and effectiveness of aforementioned analysis and strategies are verified by experimental results.

关键词： Notch filters Resonant frequency Servomotors Optical filters Velocity measurement Service robots

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Lightweight and conformal acousto-ultrasonic sensing network for multi-scale structural health monitoring: A review

FlexMat

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FlexMat 2024年

作者： Yehai Li Shifeng Guo Zhongqing Su Keqin Ding Xian Jun Loh Shenzhen Key Laboratory of Smart Sensing and Intelligent Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China University of Chinese Academy of Sciences Beijing China The Key Laboratory of Biomedical Imaging Science and System Chinese Academy of Sciences Shenzhen China Department of Mechanical Engineering The Hong Kong Polytechnic University Kowloon Hong Kong Technology Innovation Center of Structural Health Monitoring of State Market Regulation China Special Equipment Inspection & Research Institute Beijing China Institute of Materials Research and Engineering (IMRE) Agency for Science Technology and Research (A*STAR) Singapore Singapore

Structural health monitoring (SHM) has been increasingly investigated for decades. Different physical principles have been developed for damage identification, such as electronics, mechanics, magnetics, etc., with different coverage (i.e., global, large-area, and local monitoring) and sensitivity. Mechanical acousto-ultrasonic-based methods have formed a big family in SHM technologies. Multiple wave/resonance modes have been utilized for versatile SHM tasks. The permanently integrated sensing networks play a significant role in achieving a cost-effective and reliable SHM system, with major concerns including weight increase for large-scale deployment and conformity for complex geometry structures. In this review, typical acousto-ultrasonic sensors made of different material systems are discussed, along with advantages and limitations. Moreover, advanced network installation methods have been introduced, including surface-mounting with pre-integrated networks on substrates and in situ printing, and embedding with composite layup and metal additive manufacturing. Sensor versatility and usage in multi-scale SHM techniques are then highlighted. Different wave/resonance modes are transmitted and received with corresponding elements and network designs. In conclusion, this systematic review mainly covers a collection of acousto-ultrasonic sensors, two modalities of network installation, and their employment with various SHM methods, hopefully providing a useful guide to building lightweight and conformal networks with passive or active-passive sensors, and developing complete and reliable SHM strategies by integrating different damage identification methods on multiple scales.

关键词： acousto-ultrasonic conformal installation lightweight sensing networks structural health monitoring

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Design and Implementation of a Lightweight Lower Extremity Exoskeleton

Design and Implementation of a Lightweight Lower Extremity E...

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作者： Jiamin Mu Hongzhou Jiang Yuxiang Hua Jie Zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology Department of Fluid Control and Automation Harbin Institute of Technology

This paper summarizes the biomechanics simulation and design of a lightweight lower extremity exoskeleton. The biomechanics simulation was carried out using LifeMOD to obtain joint torques of human body in the condition of its applications including walking on flat ground, ascending stairs, sitting down and standing up which provided the design criteria of actuating torques. The anthropomorphically based exoskeleton has 7 degrees of freedom per leg, two of which are powered by brushless DC motors, and the total mass is less than 12 kg due to the use of carbon fiber material and the compact structural design and optimization. Controlling and sensing system based on CANopen communication protocol is proposed which can provide high communication efficiency and reliability for the control of the exoskeleton.

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Humanoid Robot Torso Motion Planning Based on Manipulator Pose Dexterity Index

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IOP Conference Series: Materials Science and Engineering 2020年第1期853卷

作者： Baoshi Cao Kui Sun Yikun Gu Minghe Jin Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Humanoid robot operation task is mainly executed with arm-torso system. The torso system can effectively increase humanoid robot arm operation range and vision range of the humanoid robot, but it also increases the difficulty of the humanoid robot motion planning. Humanoid robot torso increases humanoid robot arm operation range by changing the pose of the robot arm base and it also reconstruct humanoid robot arm workspace pose dexterity. Humanoid robot torso position is optimized with manipulator pose dexterity in different humanoid robot arm sub-workspace. For different operation tasks, the indicators to be considered for the position of the torso joint include: whether the robot arm can grasp the target position, whether the specified motion trajectory can be reached, and whether it has higher dexterity in specified motion trajectory. In this paper, we consider higher manipulator pose dexterity sub-workspace is better operation position, and we introduce a scheme to optimize torso joint position.

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