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IEEE International Conference on Mechatronics and Automation

作者： Chen Guodong Ming Xie Zeyang Xia Lining Sun Junhong Ji Zhijiang Du Wang Lei State Key Laboratory of Robotics and System Harbin Institute of Technology China Nanyang Technological University Singapore School of mechanical and aeroSpace engineering Nanyang Technological University Singapore Harbin Institute of Technology China

Stair-climbing and moving object grasping both require high precision information feedback of the feature coordinate. This manuscript mainly describes how to process the information acquired from the stereovision system in a fast and accurate way and how to use the data to compensate the progressive error caused by the humanoid robot. From camera calibration to image processing to stereo match, every step in the whole vision information processing process plays an important role in getting high precision. Less time consuming can make the robot adapt to the changes of environment quickly, especially in dynamic environment. In this paper, two humanoid robot common tasks are chosen as experiments to verify the effectiveness of the proposed methods. Stair climbing experiment verifies the high precision in long distances and also by using the image information to compensate the progressive error caused by long distance walking and moving object grasping experiment verifies the less time consuming.

关键词： Humanoid robots Navigation Feedback Robot vision systems Cameras Calibration Image processing Information processing Robot kinematics Legged locomotion

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Flexible FPGA-Based Controller Architecture for Five-fingered Dexterous Robot Hand with Effective Impedance Control

Flexible FPGA-Based Controller Architecture for Five-fingere...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Z.P. Chen N.Y. Lii K. Wu H. Liu Z.X. Xue S.W. Fan M.H.Jin Y.W. Liu T. Lan Institute of Robotics and Mechatronics German Aerospace CenterDLR 82234 WesslingGermany Forschungszentrum Informatik (FZI) Haid-und-Neu-Str.10-14 76137 Karlsruhe Germany State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Harbin China

ISBN: (纸本)9781424447749

Several practical issues associated with achieving effective impedance performance in the finger joint space and stable grasping on a five-fingered dexterous hand are investigated in this work. A Multiprocessor structure based on field programming gate array (FPGA) is proposed to realize the high-level hand impedance controller. The key feature of the hardware system is a dual-processor architecture based controller, one of which is used for data communication control and the other for joint and object level control. High speed (200μs cycle time) multipoint low-voltage differential signaling (LVDS) serial data bus communication between each finger and the controller, Ethernet communication between monitor PC and controller, are all implemented on a single FPGA chip. Experimental results and simulation with a five-figered dexterous robot hand demonstrate that the controller architecture is able to achieve the desired robot hand impedance control performance and effective stable grasping.

关键词： dexterous hand FPGA flexible communication system impedance control grasping

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Capillary Interactions between a Probe Tip and a Nanoparticle

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Chinese Physics Letters 2008年第5期25卷 1795-1798页

作者：孙立宁王乐锋荣伟彬 State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080

To understand capillary interactions between probe tips and nanoparticles under ambient conditions, a theoretical model of capillary forces between them is developed based on the geometric relations. It is found that the contribution of surface tension force to the total capillary force attains to similar order of magnitude as the capillary pressure force in many cases. It is also shown that the tip shape and the radial distance of the meniscus have great influence on the capillary force. The capillary force decreases with the increasing separation distances, and the variance of the contact angles may change the magnitudes of capillary forces several times at large radial distances. The applicability of the symmetric meniscus approximation is discussed.

关键词： ATOMIC-FORCE MICROSCOPE SURFACE NANOMANIPULATION STICTION MEMS

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Simultaneous localization and mapping for mobile robot based on an improved particle filter algorithm

Simultaneous localization and mapping for mobile robot based...

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IEEE International Conference on Mechatronics and Automation

作者： Zhong Min Wang De Hua Miao Zhi Jiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China College of Mechanical Engineering Tianjin University of Technology and Education Tianjin China College of Mechanical Engineering Tianjin University of Technology and Education 300222 China

Simultaneous localization and mapping (SLAM) is an important topic in the autonomous mobile robot research. An improved Rao-Blackwellised particle filter (IRBPF) algorithm is proposed for the mobile robot to SLAM, which can simultaneously localize the robot and build up the map in the structured indoor environment. Firstly, IRBPF respectively uses particle filters (PF) to estimate the posterior probability distributions of robot postures and landmarks in the environment map. Secondly, an adaptive re-sampling technique is used to reduce the times of re-sampling so as to maintain a reasonable speed of samples, thus it reduce the risk of sample depletion. Finally, a robust motion model and an observation model with only ranging sensor and odometer are constructed. Experiment results indicate that the IRBPF algorithm builds the consistent map and modified the precision and real-time performance of localization and mapping, the SLAM results show the efficiency of this IRBPF algorithm.

关键词： Simultaneous localization and mapping Mobile robots Particle filters state estimation Frequency estimation Mechatronics robotics and automation Laboratories Indoor environments Probability distribution

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Research on the mechanics of the HIT/DLR Hand II anthropomorphic five-finger dexterous hand

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Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University 2009年第2期30卷 171-177页

作者： Fan, Shao-Wei Liu, Yi-Wei Jin, Ming-He Lan, Tian Chen, Zhao-Peng Liu, Hong Zhao, Da-Wei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China German Aerospace Center Institute of Robotics and Mechatronic Munich 82230 Germany College of Automation Harbin Engineering University Harbin 150001 China

A new anthropomorphic robot with a five-finger dexterous hand-named HIT/DLR Hand II-was developed to make hand appearance and structural functions more anthropomorphic. The hand is composed of an independent palm and five identical modular fingers, and each finger has three degrees of freedom (DOF) and four joints. To meet the mechatronic idea, all actuators, drivers, and electronics were integrated in the fingers and the palm. By using a steel coupling mechanism, the distal phalanx transmission ratio was kept exactly 1:1 over the whole movement range. The packing mechanism which was implemented in the fingers and palm not only reduces the size of whole hand but also makes it more anthropomorphic. The finger size is about one third of the former finger in this innovative design. In additional, the newly designed force/torque and position sensors are well integrated with the hand. It was verified by experiments that the dexterous hand not only met design goals, but also exhibits great grasping capacity.

关键词： Anthropomorphic robots

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Configuration information acquisition and matching in self-reconfiguring process of modular self-reconfigurable robots

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高技术通讯（英文版） 2008年第4期14卷 411-417页

作者： Ren Zongwei Zang Xizhe Zhu Yanhe Zhang Yuhua Zhao Jie State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

Configuration information acquisition and matching are two important steps in the self-reconfiguring process of self-reconfigurable robots. The process of configuration information acquisition was introduced, and a self-reconfiguring configuration matching strategy based on graded optimization mechanism was proposed. The first-grade optimization was to search common connection between matching scheme and goal configuration. The second-grade optimization, whose object function was constructed in terms of configuration connectivity, was to search common topology according to the results of the first-grade optimization. The entire process of configuration information acquisition and matching was verified by an experiment and genetic algorithm (GA). The result shows the accuracy of the configuration information acquisition and the effectiveness of the configuration matching method.

关键词： self-reconfigurable robot genetic algorithm (GA) information acquisition configuration matching graded optimization

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Vision-based system for satellite on-orbit self-servicing

Vision-based system for satellite on-orbit self-servicing

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2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008

作者： Guoliang, Zhang Hong, Liu Jie, Wang Zainan, Jiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781424424955

The paper puts forward a new concept of the Satellite On-Orbit Self-Servicing using vision. In order to verify this concept, a prototype vision system has been presented by integrating vision techniques. Cooperative object recognition has been designed and implemented based on polygonal approximation. To realize real-time visual servoing control, part of recognition module has been optimized to increase process speed. Instead of time-consuming 3D pose estimation, a simple redundant feature based visual servoing method is presented. A new quantitive sensitive measure is used to select the feature points so as to minimize the joint error and increase the response speed. Finally, in a representative laboratory environment, a typical satellite servicing experiment is carried out based on shared control concept. The results of the experiment demonstrate the effectiveness of the system. © 2008 IEEE.

关键词： Satellites

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Mobility performance analysis of lunar rover based on terramechanics

Mobility performance analysis of lunar rover based on terram...

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2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008

作者： Zhang, Peng Deng, Zongquan Hu, Ming Gao, Haibo State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781424424955

In order to analyze the performance of lunar rover, drawbar pull and motion resistance are analyzed in this paper based on terramechanics. The relationships between configuration parameters (like wheel width, wheel bases et al.) and mobility performance parameters are obtained from the analysis. Meanwhile, the sensitive factors of the motion resistance are found. Then main performance evaluation metrics and indexes of mobility performance are presented, based on which performance comparison of LER-1 and ALR (a new configuration lunar rover) locomotion systems is performed. The method of evaluating mobility performance of lunar rover by simulation is introduced. The analysis results indicate that the new locomotion system configuration ALR has good mobility performance. The study results can apply to the design of planetary exploration rovers for reference. © 2008 IEEE.

关键词： Wheels

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An extraction method of frog jumping trajectory for biomimetic robot design

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Beijing Youdian Daxue Xuebao/Journal of Beijing University of Posts and Telecommunications 2008年第4期31卷 37-41+52页

作者： Wang, Meng Zang, Xi-Zhe Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

Considering that the trajectory and the stance of frog jumping movement are the basis of the research on the biological jumping mechanism of biomimetic robot design, a new method of trajectory extraction from animal's movement is presented. With the help of the proposal, views from both sides or from the top of the frog moving can be captured simultaneously. And the 3D information was obtained after the correction for the perspective effect and the reduction of error produced by coefficient. To overcome the shortcoming of large amount of calculation, a program is designed to deal with the video images. And finally the curve of the position, the velocity and the acceleration of each point and the angle of each joint of frog are exported. The results of experiment and analysis show that the new method could be employed to develop and control a jumping robot.

关键词： Trajectories

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Three-dimensional profile detection system based on machine vision

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Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2008年第SUPPL. 1期36卷 87-89+93页

作者： Lu, Weixin Yin, Liying State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

A set of three-dimensional profile detection system based on machine vision is designed for profile detection of parts on product line. This system mainly consists of a data acquisition module based on CCD (charge coupled device), an embedded data processing module based on FPGA (field programmable gate array), a data transmitting module based on USB (universal serial bus), and an image display module based on OpenGL. The structure of this system is very compact, and it can reach higher resolution for parts moving in high speed on product line. Data processing module can run many arithmetics in it, therefore we can choose better. USB data transmitting interface offers faster data transmitting speed, and allows plugging and pulling device when the computer is powered on, so it avoids disadvantages of PCI (peripheral component interconnection) interface which is based on slot, and needs opening of the chassis. Display module based on VC shows detection result in graphic mode, it is more direct and conveniently realizes intercommunication between people and computer.

关键词： Field programmable gate arrays (FPGA)

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