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IEEE International Conference on robotics and Biomimetics

作者： Fengyu Quan Haoyao Chen Yanjie Li Yunjiang Lou Jian Chen Yunhui Liu School of Mechanical Engineering and Automation State Key Laboratory of Robotics and System China State Key Laboratory (SKL) of PhotoVoltaic Science and Technology (PVST) Trinasolar Co. Ltd Changzhou Jiangsu P.R. China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong P. R. China

ISBN: (纸本)9781728103785;9781728103778

Control of aerial manipulation has attracted increasing attention in robotics these years. It is still a challenge to precisely control the manipulator under the influence of dynamical motion coupling between the aerial platform and manipulator. In this paper we develop a hybrid visual servoing approach for aerial manipulators to complete aerial manipulations. The hybrid controller integrates both advantages of the image-based and position-based visual servoing controllers; it ensures the target features staying in the field of view as well as guaranteeing the global convergence of error. Furthermore, to address the singularity problem existing in the flexible aerial manipulator, a SVD-based variant damped least square solution is developed. Experiments are performed on a custom-built aerial manipulator which consists of a 6-DoF serial manipulator and a coaxial octocopter. The experimental results have illustrated the effectiveness of the proposed approach.

关键词： Manipulator dynamics Cameras Visual servoing End effectors Kinematics Convergence

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Multimaterials: Microtopography-Guided Radial Gradient Circle Array Film with Nanoscale Resolution (Small 50/2019)

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Small 2019年第50期15卷

作者： Fengqiang Zhang Changhai Li Jia Zhang Zhenlong Wang Key Laboratory of Microsystems and Microstructures Manufacturing Ministry of Education Harbin Institute of Technology No. 2 Yikuang Street Harbin 150080 China State Key Laboratory of Robotics and System Harbin Institute of Technology No. 2 Yikuang Street Harbin 150080 China

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Transporting trajectory optimization method for large space manipulator system

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Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica 2018年 39卷

作者： Jie, Dangyang Lu, Haoran Wu, Hanling Ni, Fenglei Beijing Institute of Aerospace System Engineering Beijing100076 China State Key Laboratory of Robotics and Systems Harbin150001 China

The large space manipulator which is assembled on the space station will bring attitude reactions to the space station in moving or assembling tens of tons objects process. To resolve this problem, a new Cartesian trajectory optimization method was proposed. The attitude disturbance control of base is realized by using the decomposition and velocity control and optimization algorithm based on the Generalized Jacobian Matrix (GJM). An objective function was established for measuring the variation of the space station attitude. Based on the consideration of the joints angle and the influence of dynamic singularity. By using Particle Swarm Optimization (PSO) method for the objective function, the attitude influence on space station was reduced significantly. The validity of the algorithm was verified by simulation results. © 2018, Press of Chinese Journal of Aeronautics. All right reserved.

关键词： Trajectories

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Effect of head swing motion on hydrodynamic performance of fishlike robot propulsion

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Journal of Hydrodynamics 2016年第4期28卷 637-647页

作者：夏丹陈维山刘军考吴泽 School of Mechanical Engineering Southeast University State Key Laboratory of Robotics and System Harbin Institute of Technology

This paper studies the effect of the head swing motion on the fishlike robot swimming performance numerically. Two critical parameters are employed in describing the kinematics of the head swing： the leading edge amplitude of the head and the trailing edge amplitude of the head. Three-dimensional Navier-Stokes equations are used to compute the viscous flow over the robot. The user-defined functions and the dynamic mesh technology are used to simulate the fishlike swimming with the head swing motion The results reveal that it is of great benefit for the fish to improve the thrust and also the propulsive efficiency by increasing the two amplitudes properly. Superior hydrodynamic performance can be achieved at the leading edge amplitudes of 0.05L （ L is the fish length） and the trailing edge amplitudes of 0.08L. The unsteady flow fields clearly indicate the evolution process of the flow structures along the swimming fish. Thrust-indicative flow structures with two pairs of pressure cores in a uniform mode are generated in the superior performance case with an appropriate head swing, rather than with one pair of pressure cores in the case of no head swing. The findings suggest that the swimming biological device design may improve its hydrodynamic performance through the head swing motion.

关键词： fishlike swimming head swing motion hydrodynamic performance biological device design

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270-degree arc-shaped piezoelectric energy converter in uniflow fluid environment

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IOP Conference Series: Materials Science and Engineering 2019年第1期531卷

作者： Ying Gong Xiaobiao Shan Zhengbao Yang Tao Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Department of Mechanical Engineering (MNE) City University of Hong Kong Tat Chee Avenue Kowloon Hong Kong SAR

Energy harvesting in uniflow fluid environment aims at ambient energy that can be used in water environment for monitor equipment. In this paper, we focus on coupling both bending vibration and torsional vibration to gain better power generation. A novel structure of energy converter(arc-shaped) was designed and manufactured. Meanwhile the influence of vibrator with and without a pelvic fin was tested. Mathematical analyse due to vibration phenomenon and experimental result are reported. The 270-degree arc-shaped ring size piezoelectric ceramic is verified capable of producing an effective voltage over 10 V with the power of 0.5 mW.

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Mechanism design and simulation of a multi-joint foot restraint

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Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica 2018年 39卷

作者： Zhang, Zhicheng Zhang, Peng Gao, Hui Dong, Wei China Academy of Space Technology Beijing100094 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

This paper develops a multi-joint foot restraint, which is connected with the space manipulator for astronauts to fix their body and adjust their posture when they are working in space with microgravity. The device can prevent astronauts from escaping by imposing restriction on the boot of the space suit, and can make possible multi-degree of freedom adjustment of posture in on-orbit servicing. This paper designs the mechanical structure of the restraint, conducts kinematic simulation of some key motion mechanisms, and makes experiments to verify the design. The motion range, kinematic accuracy, and locking ability of the restraint are analyzed. The torque slowly loaded and the torque instantaneously loaded are simulated to verify the motion situation of the load limiting unit using Adams. © 2018, Press of Chinese Journal of Aeronautics. All right reserved.

关键词： Degrees of freedom (mechanics)

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Tracking Control of Wheeled Mobile Robots with Slippage Based on Active Disturbance Rejection Control

Tracking Control of Wheeled Mobile Robots with Slippage Base...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Chao Chen Haibo Gao Liang Ding Zongquan Deng Haitao Yu Zhen Liu Nan Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781538604915

Wheeled mobile robots (WMRs) often suffer from the slipping when moving on the loose soil of the surface of the moon during exploration, which are the main causes of WMRs' delay in path tracking. In this paper, an improved linear active disturbance rejection control (LADRC) is introduced to control a WMR in tracking a desired trajectory based on the kinematic model of WMRs with the longitudinal and lateral slippage. The tracking differentiator and nonlinear feedback combination is employed in improved LARDC in order to improve the efficacy of the controller. Furthermore, the method of defining system parameters is discussed. With ADRC controller, the coupling kinematic system is decoupled to three first-order systems, which can use the same controller with little parameters adjustment. Finally, simulation experiments are carried out and the simulation results demonstrate the effectiveness of the controller, which exhibits a satisfactory tracking performance.

关键词： Kinematics Mobile robots Wheels Robust control Soil Trajectory tracking Robust control kinematics trajectory tracking wheeled mobile robots Wheels Mobile robots Sliding tracking control Controllers parameter adjustment tracking Soil Loose soils visual tracking

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A novel actuation configuration of robotic hand and the mechanical implementation via postural synergies

A novel actuation configuration of robotic hand and the mech...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yuan Liu Li Jiang Shaowei Fan Dapeng Yang Jingdong Zhao Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

How to design a robotic hand for reproducing the move characteristics of human hand joints is a big challenge in robotics. In this paper, we present an approach to determine the actuation configuration based on the statistical results of hand joint angle in different grasps. A relationship between the basic statistical metrics and actuation configuration strategies is built. In this case, a novel actuation configuration is proposed and the joints of four fingers are arranged into five actuation modules. For the mechanical implementation, the motion of human four finger joints is decomposed to proportion motion, differential motion and chain proportion motion, mechanically implemented by pulley, planetary gear differential module and gear transmission chain. Finally, the implemented mechanism is embedded in palm, and the mechanical implementation to the human hand move characteristics is verified by the measured joint angles of the robotic hand when actuators separately move along PC1 and PC2. Meanwhile, the robotic hand can grasp different objects with a versatile grasp function.

关键词： Conferences Automation

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Quantitative dispensing model and experimental study of high viscosity multi-component adhesive

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AIP Conference Proceedings 2019年第1期2154卷

作者： Yifei Bu Yugang Liu Zhanjing Li Weibin Rong Lining Sun 1State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China 2Xi’an Flight Automatic Control Research Institute Aviation Industry Corporation of China Xi’an 710071 China

Aiming at the phenomenon that high-viscosity multi-component adhesives are difficult to control due to viscosity changes, a mechanism using piston to dispense is designed. By analyzing the flow properties of multi-component adhesives, a consistency coefficient related to the mixing time of each component of the glue is introduced to the shear stress of the colloidal by its physical meaning, so the viscosity changes could be characterized during the dispensing process. The model of the dispensing system was established by the viscous fluid mechanics and the estimation function of the flow rate out of needle was given. According to the experimental verification of the specific adhesive, the dispensing system designed in this paper can directly control the amount of dispensing by adjusting the motor pulse frequency and the dispensing time. In the case, the simulation results are basically consistent with the experimental results, and the flow error can be kept within 10−9m3/s to realize the quantitative dispensing of the high-viscosity multi-component adhesive.

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Research on service robots robust relocalization algorithm based on 2D/3D map of indoor environment

Research on service robots robust relocalization algorithm b...

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International Conference on Advanced robotics (ICAR)

作者： Li Wang Ruifeng Li Lijun Zhao Zhenghua Hou Xiaoyu Li Zhenye Sun State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin China

ISBN: (纸本)9781538631584

An indoor service robot can establish a 3D map of the environment by a visual sensor. When the robot uses the established map again, there is a situation that the robot's view is in a new position and the relative position of the map can not be obtained. A relocalization algorithm based on multi-dimensional map information is proposed to solve the problem. Based on the established 3D environment map, the algorithm samples a 2D map and matches the map with the 2D observation information of the current frame based on the particle filter algorithm to obtain the robot's initial position. Then, the target point cloud corresponding to the current frame is segmented in the 3D map, and the exact pose relationship between the current frame cloud and the target point cloud is calculated by the iterative closest point algorithm. The SVD decomposition and g2o optimization are used in the method to improve the computational efficiency and accuracy. Finally, the relocalization experiments under the wide range of robot perspective are carried out in the indoor environment. The results verify the effectiveness and robustness of the algorithm.

关键词： Three-dimensional displays Simultaneous localization and mapping Visualization Robot kinematics Two dimensional displays

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