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Annual Conference of the IEEE Industrial Electronics Society

作者： Shengri Xue Zhan Li Yipeng Yang Liu Yang Yingxin Yan Weiyang Lin School of Astronautics Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System (HIT) Harbin China School of Automation Harbin University of Science and Technology Harbin China Science and Technology on Space Physics Laboratory Beijing China

The target of this article is to design a data-driven model predictive control algorithm for general multirate sampled-data systems. Multirate sampling widely exists in the industrial process control systems. In this paper, not only sampling periods between inputs and outputs are different, but also periods among inputs or outputs are different from each other. For such the general multirate sampled-data system, we combine the lifting technique and partial least square method to obtain inputs/outputs data sets, which are used for the model regression. An incorporating autoregressive exogenous (ARX) structure model is utilized to model predict. Then we give the principal components cost function for the model predictive control algorithm. Finally, we use example to illustrate the ARX model's precision and the efficiency of our data-driven model predictive control algorithm for general multirate sampled-data systems.

关键词： Sampled data systems Predictive models Prediction algorithms Predictive control Heuristic algorithms Mathematical model Cost function

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Research on Gravity Compensation Algorithm of Model-free Manipulator Based on L_1-norm Convex Optimization

Research on Gravity Compensation Algorithm of Model-free Man...

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IEEE International Conference on robotics and Biomimetics

作者： Chenglong Yu Zhiqi Li Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781728103785;9781728103778

In this paper, a model-free gravity compensation algorithm for manipulators based on L_1-norm convex optimization is proposed. The method does not depend on the structure and parameters of the robotic arm. In contrast, this method optimizes the solution of gravity compensation parameters based on the sampled data. Theoretical analysis shows that the reconstruction of the gravity compensation parameters of the manipulator is realized based on the joint angle and joint torque training data. Experiments show that the gravity compensation results can restore the joint torque of the test set well, which proves the effectiveness of the method.

关键词： Gravity Manipulators Torque Mathematical model Jacobian matrices Robot kinematics

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PlantBot: A new ROS-based robot platform for fast building and developing 15

PlantBot: A new ROS-based robot platform for fast building a...

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

作者： Ma, Liulong Liu, Yanjie Gao, Yibo Zhu, Chuanming State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang15000 China School of Mechanical Engineering Tongji University 4800 Cao'an Highway Shanghai201804 China

ISBN: (纸本)9781538660720

In recent years, the Robot Operating system (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and easy-to-expand advantages. In scientific research, the corresponding hardware platform is indispensable for the experiment. In the field of mobile robots, PR2, Turtlebot2, and Fetch are commonly used as research platforms. Although these platforms are fully functional and widely used, they are expensive and bulky. What's more, these robots are not easily redesigned and expanded according to requirements. To overcome these limitations, we propose Plantbot, an easy-building, low-cost robot platform that can be redesigned and expanded according to requirements. It can be applied to not only fast algorithm verification, but also simple factory inspection and ROS teaching. This article describes this robot platform from several aspects such as hardware design, kinematics, and control methods. At last two experiments, SLAM and Navigation, on the robot platform are performed. The source code of this platform is available: https://***/marooncn/plantbot. © 2018 IEEE.

关键词： Robot Operating system

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Dynamic modeling and analysis of the drill stem in the lunar soil drilling sampler 15

Dynamic modeling and analysis of the drill stem in the lunar...

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

作者： Yang, Shuai Han, Jianchao Hu, Huajun Lai, Xiaoming Zhang, Jiabo Sun, Jing Pan, Bo Beijing Spacecrafts China Academy of Space Technology Beijing China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China Institute of Spacecraft System Engineering China Academy of Space Technology Beijing China

ISBN: (纸本)9781538660720

Mechanics researches related to the drill stem of the lunar soil drilling sampler mainly focus on the interaction characteristics between the drill stem and the soil at present, while the mechanical analysis of the drill stem itself is relatively less and can't reflect the actual working process. Aimed at this problem, it is presented in this paper that the flexible multibody dynamic model of the drill stem in the initial stage of drilling on lunar surface and the analysis results obtained by using the variable-length beam-shaft element. It turned out that to improve the drilling precision of the sampler, it is necessary to set up a special amplitude limiting mechanism between the rotating drive mechanism and the fixed support and lower the amplitude limiting mechanism in a suitable position to constitute an approximate clamped constraint with the fixed support to the drill stem. Works in this paper could provide theoretical basis for the design of amplitude limiting mechanism and raise the reliability of the lunar soil drilling sampler accordingly. © 2018 IEEE.

关键词： Soils

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Walking of Biped Robot with Variable Stiffness at the Ankle Joint*

Walking of Biped Robot with Variable Stiffness at the Ankle ...

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IEEE International Conference on robotics and Biomimetics

作者： Qing Bi Yixiang Liu Xizhe Zang Rui Song Haibin Wang Weimin Li Shandong Institute of Advanced Technology Chinese Academy of Sciences Jinan China School of Control Science and Engineering Shandong University Jinan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Achieving versatile and efficient walking on biped robots is an important research objective. The impact between the foot and the ground has significant effects on the walking stability of biped robots. Research on human walking indicates that the joints in human lower limbs show different stiffness values in different phases of walking. Inspired by humans, this paper presents the realization of biped robot walking with variable stiffness at the ankle joint. A walking control scheme which combines PD control and variable impedance control is designed for the biped robot. Results of dynamic walking simulation verified that variable stiffness at the ankle joint could contribute to the improvement of walking stability and energy efficiency.

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Design and experimental research of the rotation-impact shafting in the lunar soil drilling sampler 15

Design and experimental research of the rotation-impact shaf...

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

作者： Liu, Xiaoqing Yang, Shuai Han, Jianchao Hu, Huajun Sun, Qichen Lai, Xiaoming Sun, Jing Beijing Spacecrafts China Academy of Space Technology Beijing China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China Institute of Spacecraft System Engineering China Academy of Space Technology Beijing China

ISBN: (纸本)9781538660720

In order to satisfy the function and performance requirements of the lunar soil deep sampling, a novel rotation-impact shafting used in the lunar soil drilling sampler is developed through requirements analysis, schematic design, theoretical calculation, dynamic simulation analysis and experimental verification. The novel rotation-impact shafting could adapt to the severe environments of the space and the lunar surface. The rotary motion and percussive motion can be adjusted separately or synchronously, which not only satisfies the diversity requirements of the drilling procedure in the sampling process, but also improves the reliability of the rotation-impact shafting. The experimental results show that the rotation-impact shafting could transmit the rotary cutting power and the impact rock-breaking power effectively to the driller. Furthermore, the rotation-impact shafting has broad application prospects in the soil sampling mechanisms of other extraterrestrial bodies as well as some other spacecraft mechanism products. © 2018 IEEE.

关键词： Rotation

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Collision detection based on octree for virtual surgery system

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IOP Conference Series: Materials Science and Engineering 2020年第7期768卷

作者： Yanrong Hu Zhiyuan Yan Zhenlun Yin Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Naval Architecture and Ocean Engineering Harbin Institute of Technology Harbin China

In the virtual surgery system, the organ is always non-convex and deforms over time which makes the collision detection problem more difficult to handle. In this case, we put forward an innovative collision detection algorithm based on octree. This algorithm can perfectly apply to deal with non-convex organs and organ deformation scenario. In addition, it can achieve high run-time efficiency.

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Encoding Space to Count Multi-Targets with Multiplexed Binary Infrared Sensors

Encoding Space to Count Multi-Targets with Multiplexed Binar...

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International Conference on Mobile Ad-hoc and Sensor Networks, MSN

作者： Longxiang Luo Yang Xiao Wei Liang Key Laboratory of Networked Control System Shenyang Institute of Automation Chinese Academy of Sciences Shenyang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences Beijing China Department of Computer Science The University of Alabama Tuscaloosa AL USA

ISBN: (数字)9781728152127

ISBN: (纸本)9781728152134

Recently, many researchers multiplex binary infrared sensors in object tracking, habitat monitoring, and atypical behavior detection. Due to the binary digit output of binary sensors, multiplex binary sensors may lead to count the wrong number of targets when three or more targets present in the field of interest (FOI). We call this as the invisible targets' problem. To enhance the sensing results of sensors, a reference structure tomography technique is used to segment and code the FOI by modulating the sensing view of sensors. In this paper, we propose a subregion coding method to count targets moving in the FOI. Hexagon modulators are designed to make their projections segment the FOI into hexagon cells. We also propose a signature construct scheme to code cells and a encoder to count the number of targets in the FOI. Experiment results show that the accuracy to correctly count targets of our method is around 90% which is much better than 45% of a conventional method.

关键词： Modulation Monitoring Shape Sensor systems Encoding Intelligent sensors

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Development of a Complete Multi-phase Dynamics Model for a Biped Robot

Development of a Complete Multi-phase Dynamics Model for a B...

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IEEE International Conference on Mechatronics and Automation

作者： Yixiang Liu Xizhe Zang Xinyu Zhou Yubin Liu State Key Laboratory of Robotics System Harbin Institute of Technology Harbin China

Human walking is quite an efficient and smooth movement involving multiple successive phases. But for biped robots, most current dynamic walking models are simplified to some extent, with some phases neglected. This paper addresses the development of a complete multi-phase dynamics model for a biped robot. To achieve this, both the single support phase and double support phase are divided into two sub-phases by taking into consideration the rotation of stance foot around its toe and the rotation of swing foot around its heel. Therefore, a more human-like robotic gait is achieved, with transitions occurring at toe-off, heel-off, heel-strike, and toe-strike. Comparing the numbers of degrees of freedom with independent actuators of the biped robot, the whole gait cycle can also be represented by fully-actuated phase, under-actuated phase, and over-actuated phase. On this basis, the detailed dynamics model of each phase is derived using Euler-Lagrange method. And the validity of the dynamics model is demonstrated by simulation.

关键词： Biped robot Dynamics model Foot rotation Under actuation Over actuation

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Deep Reinforcement Learning Algorithm for Object Placement Tasks with Manipulator

Deep Reinforcement Learning Algorithm for Object Placement T...

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IEEE International Conference on Intelligence and Safety for robotics (ISR)

作者： Wei Guo Chao Wang Yu Fu Fusheng Zha State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781538655481

To settle the problem that the household robot needs to have the flexibility of object types and target poses when performing object placement tasks, a deep reinforcement learning algorithm is utilized in this paper. By using this algorithm robot can learn the placement method for different object types autonomously under the policy search part, and a convolutional neural network (CNN) policy is trained to make the robot adapt to different target poses. When performing these tasks, the placement error can also be reduced by modifying the sampling method and the weight form of cost function. Finally, the learning ability and flexibility of the deep reinforcement learning algorithm is tested by simulation.

关键词： Manipulators Task analysis Trajectory Sampling methods Convolutional neural networks

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