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arXiv 2018年

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

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 available1. Copyright © 2018, The Authors. All rights reserved.

关键词： Machine design

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Experiments on the vibration of particles levitating in a standing wave acoustic field

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Proceedings of Meetings on Acoustics 2019年第1期38卷

作者： Huijuan Dong Yi Wang Yingzi Guan Guanyu Mu Jie Zhao 1State Key Laboratory of Robotics and System Harbin Institude of Technology Harbin Heilongjiang 150001 CHINA dhj@*** wangyiabc@*** guanyz@*** mu-guanyu@*** jzhao@***

Standing wave acoustic levitation and transmission technique has been widely used in many research areas. However, the vibration of particles in an acoustic field restricts their applications. In this work, a kind of mechanism is developed by the authors, in which not only a harmonic linear actuator but also position feedback are used to precisely adjust the distance between the radiator and the reflector with micrometric accuracy. And video computing software is applied to track the motion of the particle. The influence of the factors on the frequencies of the particle both in vertical and horizontal were detailed. Besides, the acceleration field was calculated, which is in good agreement with the model of spring oscillator of an acoustic field.

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Correction to “Dynamic Modeling and Control for a Deployable Grasping Manipulator”

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IEEE Access 2019年 7卷 46135-46135页

作者： Guotao Li Hailin Huang Hongwei Guo Bing Li Department of Mechanical Engineering and Automation Harbin Institute of Technology at Shenzhen Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In the above paper [1] , the second author’s biography was incorrectly listed as:

关键词： Manipulator dynamics Grasping Object recognition Mechanical engineering Automation

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Extraction of Speed-Independent Vibration Features for Terrain Classification in Lugged-Wheel Rovers

Extraction of Speed-Independent Vibration Features for Terra...

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IEEE International Conference on robotics and Biomimetics

作者： Fengtian Lv Haibo Gao Yumeng Bai Nan Li Liang Ding Ruyi Zhou Zongquan Deng Guangjun Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China The High School Remin University of China Beijinz China Department of Aerospace Engineering Ryerson University Toronto Canada

ISBN: (纸本)9781728103785;9781728103778

Vibration characteristics of planetary rovers may contain features that can be effectively used for terrain classification, terrain properties estimation, and terrain traversability assessment. However, the conventional vibration features selected to represent the terrain induced wheel response vary with the wheel speed, which could cause misclassification. In order to extract speed-independent vibration features of wheels, this paper proposes vibration model of wheels traversing different types of terrains with consideration of the dynamics of lug-terrain interaction. Based on the proposed model, low-dimensional vibration features including frequency, amplitude, mean value, and mean square value are extracted from statistical features of vibration acceleration. Nondimensionalization is performed to make them independent on wheel speed. The features can represent the terrain characteristics decoupled from the wheel speed so that they can be used to reduce terrain misclassification in the future. Experimental results show that the vibration features extracted are independent on wheel speed and effective for terrain classification.

关键词： Wheels Vibrations Feature extraction Acceleration Soil Surface waves Robots

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Collision-free kinematics for redundant manipulators in dynamic scenes using optimal reciprocal velocity obstacles

arXiv

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arXiv 2018年

作者： Zhao, Liangliang Zhao, Jingdong Liu, Hong Manocha, Dinesh State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Department of Computer Science and Electrical & Computer Engineering University of Maryland at College Park MD United States

We present a novel algorithm for collision-free kinematics of multiple manipulators in a shared workspace with moving obstacles. Our optimization-based approach simultaneously handles collision-free constraints based on reciprocal velocity obstacles and inverse kinematics constraints for high-DOF manipulators. We present an efficient method based on particle swarm optimization that can generate collision-free configurations for each redundant manipulator. Furthermore, our approach can be used to compute safe and oscillation-free trajectories in a few milli-seconds. We highlight the real-time performance of our algorithm on multiple Baxter robots with 14-DOF manipulators operating in a workspace with dynamic obstacles. Videos are available at https://***/view/collision-free-kinematics. Copyright © 2018, The Authors. All rights reserved.

关键词： Inverse problems

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Investigation of low space harmonic six-phase PMSM with FSCWS for electric vehicle applications

Investigation of low space harmonic six-phase PMSM with FSCW...

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2017 IEEE Transportation Electrification Conference and Expo, Asia-Pacific, ITEC Asia-Pacific 2017

作者： Cheng, Luming Sui, Yi Zheng, Ping Yin, Zuosheng Wang, Chuanze Department of Electrical Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781538628942

A six-phase permanent magnet synchronous machine (PMSM) with a new fractional-slot winding arrangement is proposed for the electric vehicle application. With a 105° electrical angle between the two sets of three-phase windings, the most harmful 5th harmonic in the air-gap magnetomotive force (MMF) can be completely cancelled in a 7-pair-pole machine. To highlight its advantages, a comparative study is performed by Finite element analysis (FEA). When compared with a conventional 12-slot/14pole three-phase machine and a conventional 12-slot/14pole six-phase machine equipped with fractional-slot concentrated winding (FSCW), the machine with the proposed winding arrangement can offer lower losses, high efficiency, lower torque ripple and lower required voltage of battery. © 2017 IEEE.

关键词： Electric vehicles

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Semantic Region Estimation of Assistant Robot for the Elderly Long-Term Operation in Indoor Environment

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China Communications 2016年第5期13卷 1-15页

作者： Guanglei Huo Lijun Zhao Ke Wang Ruifeng Li State Key Laboratory of Robotics and System Harbin Institute of Technology

In this work, in order to improve spatial recognition abilities for the long-term operation tasks of the assistant robot for the elderly, a novel approach of semantic region estimation is proposed. We define a novel graphbased semantic region descriptions, which are estimated in a dynamically fashion. We propose a two-level update algorithm, namely, Symbols update level and Regions update level. The algorithm firstly adopts particle filter to update weights of the symbols, and then use the Viterbi algorithm to estimate the region the robot stays in based on those weights, optimally. Experimental results demonstrate that our proposed approach can solve problems of the long-term operation and kidnapped robot problem.

关键词： service robot semantic region estimation particle filter viterbi algorithm long-term tasks

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Corrigendum to “A critical review on mechanical micro-drilling of glass and carbon fibre reinforced polymer (GFRP and CFRP) composites” [Compos B: Eng 254 (2023) 110589]

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Composites Part B: Engineering 2023年 262卷

作者： Norbert Geier Karali Patra Ravi Shankar Anand Sam Ashworth Barnabás Zoltán Balázs Tamás Lukács Gergely Magyar Péter Tamás-Bényei Jinyang Xu J Paulo Davim Budapest University of Technology and Economics Faculty of Mechanical Engineering Department of Manufacturing Science and Engineering Budapest 1111 Hungary Indian Institute of Technology Patna Department of Mechanical Engineering Patna 801103 India Birla Institute of Technology Department of Mechanical Engineering Patna Campus Patna 800014 India North of England Robotics Innovation Centre The University of Salford Salford Greater Manchester UK Budapest University of Technology and Economics Faculty of Mechanical Engineering Department of Polymer Engineering Műegyetem rkp. 3 Budapest 1111 Hungary ELKH–BME Research Group for Composite Science and Technology Műegyetem rkp. 3 Budapest 1111 Hungary Shanghai Jiao Tong University School of Mechanical Engineering State Key Laboratory of Mechanical System and Vibration Shanghai 200240 PR China University of Aveiro Department of Mechanical Engineering Centre for Mechanical Engineering and Automation (TEMA) Campus Santiago Aveiro 3810-193 Portugal

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Visual Grasping for a Lightweight Aerial Manipulator Based on NSGA-II and Kinematic Compensation

Visual Grasping for a Lightweight Aerial Manipulator Based o...

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IEEE International Conference on robotics and Automation

作者： Linxu Fang Haoyao Chen Yunjiang Lou Yanjie Li Yunhui Liu School of Mechanical Engineering and Automation State Key Laboratory of Robotics and System China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong P. R. China

The grasping control of an aerial manipulator in practical environments is challenging due to its complex kinematics/dynamics and motion constraints. This paper introduces a lightweight aerial manipulator, which is combined with an X8 coaxial octocopter and a 4-DoF manipulator. To address the grasping control problem, we develop an efficient scheme containing trajectory generation, visual trajectory tracking, and kinematic compensation. The NSGA-II method is utilized to implement the multiobjective optimization for trajectory planning. Motion constraints and collision avoidance are also considered in the optimization. A kinematic compensation-based visual trajectory tracking is introduced to address the coupled nature between manipulator and UAV body. No dynamic parameter calibration is needed. Finally, several experiments are performed to verify the stability and feasibility of the proposed approach.

关键词： Manipulator dynamics Trajectory Grasping Kinematics Acceleration Visualization

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Foot terrain impact modeling and motion performance research of hexapod robot based on passive elastic leg

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Journal of Physics: Conference Series 2020年第5期1507卷

作者： Y F Liu B Su L Zhou H B Gao L Ding L Jiang F Q Zou C Y Ma China North Vehicle Research Institute Beijing 100072 China Equipment project management center Beijing 100072 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China MEMS center Harbin Institute of Technology Harbin 150080 China College of Mechanical Engineering Jiamusi University Jiamusi 154007 China

In order to improve the performance of the multi-legged robot, the impact of foot-terrain is an important target to measure the performance of the robot. In order to ensure the compliance contact of foot-terrain for the legged robot, it is essential to add passive spring between the calf and foot. The mechanical structure makes the leg of hexapod robot retractable passive elastic structure. For multi-legged robots with passive elastic legs, the foot-terrain impact model is presented to measure the dynamic performance and provide theoretical support for the low impact force motion planning. The traditional planning method will cause additional impact for the switching case between the swing and stance phase. This paper presents a motion planning method that considers the deformable leg structure and impact performance. The experiments have been carried out, and the results have demonstrated the effectiveness of the foot terrain impact model and motion planning method in comparison with a conventional method.

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