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IEEE International Conference on robotics and Biomimetics

作者： Baibo Wu Lingyun Zeng Yang Zheng Shu’an Zhang Xiangyang Zhu Kai Xu State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China RII Lab (Lab of Robotics Innovation and Intervention) UM-SJTU Joint Institute Shanghai Jiao Tong University Shanghai China

A cable-driven hyper-redundant manipulator is especially suited for manipulations in confined spaces. In most of the existing approaches, a controller is often designed to actuate the joints by pulling the corresponding cables without the feedback from remote sensors at the joints. The un-modeled elongations of these cables due to unknown tensions often cause a decrease in control precision. To improve the performance of such a manipulator, this paper presents an investigation where miniature potentiometers are integrated into the joints for angle feedback. Furthermore, a puller-follower controller is developed to control the three cables of a universal joint for not only closed- loop joint angle control but also cable tension preservation. Applying the Hooke's Law, the cable tension is represented by its deformation. In this way, the controller is designed to realize both the desired angles and the cable deformations, without force sensing on the cables. Finally, experiments on a single joint and multiple joints were conducted to verify the effectiveness of this proposed controller.

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For Prostate MRI Segmentation: A Prior-shape-based Level Set Model Combined with Gradient and Regional Information

For Prostate MRI Segmentation: A Prior-shape-based Level Set...

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IEEE International Conference on Mechatronics and Automation

作者： Bo Pan Weirong Wang Jiawen Yan Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

The contour extraction of prostate in magnetic resonance imaging (MRI) plays a significant role in clinical diagnosis and related medical research. We propose a level set model, which incorporates shape priors and the gradient information of the image into C-V model which was submitted by Chan T F and Vese L for prostate MRI segmentation, and can segment the prostate contour in MRI with high precision. In our model, prior shape information is used as the external force, and the regional information as well as gradient information is used as internal force to drive curve evolution. Then the evolution curve is modified with the information of the image itself under the constraint of prior shape. Due to the addition of local gradient information, this method can better deal with the situation when there only exists small gray-level difference between the background and target area of medical image. Meanwhile, the accuracy and robustness of segmentation are improved. Finally, the experimental results and quantitative analysis show that the level set algorithm with priori shape information can adapt to different forms of the prostate better, and the addition of gradient information avoids the situation that traditional CV model unable to process the images with intensity inhomogeneity, which demonstrate the potential of the approach proposed in the prostate MRI segmentation.

关键词： Level set Prior shape information Region Gradient Prostate MRI segmentation

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A Deployable End-effector with Caging-Based Grasp Capability for Capturing Free-Floating Objects

A Deployable End-effector with Caging-Based Grasp Capability...

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IEEE International Conference on Mechatronics and Automation

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

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.

关键词： Grippers Shafts Sensors Fasteners Gears Wheels Three-dimensional displays

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A Control system Design for 7-DoF Light-weight Robot based on EtherCAT Bus

A Control System Design for 7-DoF Light-weight Robot based o...

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IEEE International Conference on Mechatronics and Automation

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

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.

关键词： EtherCAT bus Light-weight robot Control system

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Research on Compliance Control for the Single Joint of a Hydraulic Legged Robot

Research on Compliance Control for the Single Joint of a Hyd...

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IEEE International Conference on robotics and Biomimetics

作者： Xu Li Jia He Haibo Feng Haitao Zhou Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781728103785;9781728103778

Compliance controller for the single joint of a hydraulic legged robot is presented in this paper. This method combines the active compliance controller of the impedance controller based on force control with the passive compliance of the Series Elastic Actuator (SEA) to achieve a compliant control function for a wide range of variable impedances and rapid response to load changes. The performance of this controller was assessed on a single joint hydraulic legged robot which has already been modelled. An experiment platform with double hydraulic drive units was designed for testing the force tracking performance of the hydraulic drive units. The experimental results have shown that the control method is reasonable and the system has a good performance of impact resistance and active compliance.

关键词： Hydraulic systems Legged locomotion Hydraulic drives Servomotors Force Mathematical model

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An Adaptive Force Control Method for 7-Dof Space Manipulator Repairing Malfunctioning Satellite

An Adaptive Force Control Method for 7-Dof Space Manipulator...

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IEEE International Conference on robotics and Biomimetics

作者： Guocai Yang Yuanfei Zhang Yechao Liu Minghe Jin Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilong Jiang China

ISBN: (纸本)9781728103785;9781728103778

This paper presents an adaptive force control method for 7-Dof space manipulator repairing malfunctioning satellite. The whole control scheme contains two loops: outer force control and inner motion control. There are two parts in the force controller, position-based impedance control and direct force control. In the impedance controller, translational impedance and rotational impedance based on Euler angles are both achieved, successfully avoiding destructive contact force and adjusting the orientation of the end-effector. And the direct force controller can tracking the desired force. In the inner loop, the robustness to dynamics uncertainty is achieved by an adaptive motion control method. The global stability and the convergence of trajectory tracking error are strictly proved. During the operation, the collision between the manipulator and the chaser is easily arisen due to the wide-range motion of the second joint. An acceleration-level redundancy resolution method of the 7-Dof manipulator is proposed avoiding the ill condition. A set of numerical experiments by MSC ADAMS/SIMULINK co-simulation verify the validity and feasibility of the proposed approach.

关键词： Impedance Force Manipulators Force control Aerospace electronics Motion control Acceleration

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A Reconfigurable Virtual Modeling Method for Robot Simulation

A Reconfigurable Virtual Modeling Method for Robot Simulatio...

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IEEE International Conference on Mechatronics and Automation

作者： Jingdong Zhao Yan Wang Zainan Jiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

Robot simulation is an effective tool in evaluating the performance of robot. In traditional simulation, virtual models of robots are usually determined in advance. To enhance the flexibility and versatility of the simulation, a reconfigurable virtual modeling method for robot simulation is proposed in this paper. Reconfiguration includes addition, removal, and transformation of virtual models, realized with a C++ container. Finally, the reconfiguration simulation result for the typical space manipulator task indicates the effectiveness of the proposed method.

关键词： Reconfiguration Virtual Models Robot Simulation

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Integration of Optimal Experimental Design and Process Optimisation to An Enzyme Reaction system

Integration of Optimal Experimental Design and Process Optim...

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Chinese Automation Congress (CAC)

作者： Hui Yu Jielong Guo Xian Wei Peidong Liang Lijun Zhao Fujian Institute of Research on the Structure of Matter Chinese Academy of Sciences Quanzhou China Fujian (Quanzhou) HIT Research Institute of Engineering and Technology Harbin Institute of Technology Quanzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

A multi-objective experimental design strategy is proposed for a kinetically controlled synthesis process system by considering both the parameter estimation and the desired production yield. The input design is focused on maximising the desired production yield while the observation design is aimed at minimising the parameter estimation uncertainties. This multi-objective experimental design strategy is compared with the integrated experimental design method in which all design factors are optimised to improve parameter estimation quality. The optimal experimental design (OED) problem for observation design is relaxed to a semi-definite programming problem which is solved via interior-point method. Numerical studies demonstrate the efficiency of the proposed OED strategy as well as keeping high production yield. Parameter estimation uncertainties have been reduced significantly and they are near to those from integrated experimental design. The main point of this work is to introduce the idea of combining process optimisation with system identification so that the proposed model is closer to the real operation conditions in chemical processes.

关键词： Parameter estimation Optimization Biological system modeling Process control Production Biochemistry Data models

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Building multi-modal sensory feedback pathways for SRL with the aim of sensory enhancement via BCI

Building multi-modal sensory feedback pathways for SRL with ...

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IEEE International Conference on robotics and Biomimetics

作者： Wenjie Wang Yuan Liu Zhicai Li Zhuang Wang Feng He Dong Ming Dapeng Yang Academy of Medical Engineering and Translational Medicine Tianjin University China College of Precision Instruments and Optoelectronics Engineering Academy of Medical Engineering and Translational Medicine Tianjin University China State Key Laboratory of Robotics and system (HIT) Harbin Institute of Technology Harbin China

Recently, the Supernumerary Robotic Limbs (SRL) have emerged in the field of robotics for enhancing the user's ability without replacing natural limbs. Lots of researches have contributed to the mechanical design and control of SRL. However, building an artificial sensory nerve pathway of SRL has been largely ignored. In this paper, we built a multi-modal sensory feedback pathway for SRL. Three kinds of sensory pathway contained 1) fingertip pressure, 2) slippage and 3) proprioception information are built under the consideration of SRL platform through electrical stimulation. According to the experiment results of event-related potential (ERP) amplitude, establish the relationship between the physical parameters of the stimulus and the sensation. In addition, enhancement potentials of human sensation based on the brain-computer interface (BCI) is found in two aspects contained: 1) improvement of subjective perception resolution; 2) Shorten the time of sensory recognition. This paper can be used to objectively benchmark the human subjective and individualized sensation, and guide researchers to build the SRL sensory feedback pathways.

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C-Balls: A Modular Soft Robot Connected and Driven via Magnet Forced

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Journal of Physics: Conference Series 2019年第1期1207卷

作者： Zhuxiang Chen Chuanwu Zhao Yu Zhang Yanhe Zhu Jizhuang Fan Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper describes a cellular robot(C-Balls) consisting of soft spherical modules with on-board actuation, power, computation and wireless control system. The robot modules maintain connection and realize relative movement by utilizing magnetic force and friction force between driving units inside the soft modules. Preliminary tests of locomotion and deformation of the robot are proposed. The rolling experiment displays the mobility of the robot of two spherical modules. The deforming experiments indicate that the robot with five spherical modules deforms from linear to circular configuration successfully. Further more, a climbing experiment is conducted, which shows the robot can climb on various surfaces including soft materials.

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