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Controlling Musculoskeletal System with Spinal Cord-Inspired Constraint Force Field Primitives

无人系统（英文） 2024年第2期12卷 293-304页

作者： Shanlin Zhong Yaxiong Wu Wei Wu Hong Qiao The State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190P.R.China The Beijing Key Laboratory of Research and Application for Robotic Intelligence of Hand-Eye-Brain Interaction Beijing 100190P.R.China The School of Mechanical Engineering University of Science and Technology Beijing Beijing 100083P.R.China The Beijing Key Laboratory of Research and Application for Robotic Intelligence of Hand-Eye-Brain Interaction Beijing 100190P.R.China

Organisms naturally have extraordinary motor *** can autonomously control the highly redundant and nonlinear musculo-skeletal system to complete fast and flexible *** primitive theory proposed that a complex movement can be realized by modular organization of simple movement *** theory provides a convincing theoretical basis for explaining the extraordinary motor ability of organisms,and has been supported by plenty of experimental evidences in *** a kind of typical motor primitive related to the modular regulation of the spinal motor system,convergent force field was thought to be significant for reducing the complexity of controlling numerous muscles and joints *** by the primitive property of convergent force field,in this paper,we proposed a new algorithm to efficiently construct constraint force field on musculoskeletal system with highly redundant actuators by taking optimized parameters of constraint force field as motor *** with previous methods of constructing constraint force field,the proposed algorithm is able to reduce the dimension of the solution space so as to effectively improve the computational efficiency of constructing constraint force field in musculoskeletal system with redundant *** experiments were carried out in a musculoskeletal system with 10 redundant *** number of optimization iterations and computational time required for constructing constraint force field at a new position were significantly *** system can accurately reach the target position using constant *** work may bring in new inspiration for realizing efficient and accurate motion control of musculoskeletal robots with limited feedback accuracy.

关键词： Musculoskeletal robot motor primitive bio-inspired algorithm constraint force field high-precision movement

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Energy-Consumption Optimization Control for Lunar Rover's Travel with Torque-Distribution-strategy in Rear Wheels

Energy-Consumption Optimization Control for Lunar Rover's Tr...

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2024 IEEE International Conference on Control Science and systems Engineering, ICCSSE 2024

作者： Li, Delun Cao, Jianfei Chen, Yiliang Xie, Zongwu Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9798331517199

In anticipation of future extensive lunar surface operations, lunar rovers are required to advance towards higher speeds and improved energy conservation. When traveling at high speeds on the lunar surface, the vehicle's energy expenditure is greatly amplified by the influence of the terrain, particularly in conditions where driving and steering are coupled. This paper proposes an energy-saving control strategy for lunar rovers that employs dynamic rear-axle torque distribution, with the goal of optimizing transient energy consumption during travel. To tackle the challenge of non-differentiable functions within the optimization objectives, we suggest using a zeroth-order gradient optimization method for resolution, dynamically constraining the range of control parameters to fulfill the dynamic torque distribution objectives as needed for the task. The energy-saving control effectiveness of the algorithm has been confirmed through simulation, demonstrating a minimum energy-saving ratio of at least 4%, which increases to over 11% as the speed level rises, offering a valuable technical solution for the energy optimization of lunar rovers. © 2024 IEEE.

关键词： Rovers

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Meter-Scale Thin-Walled Structure with Lattice Infill for Fuel Tank Supporting Component of Satellite:Multiscale Design and Experimental Verification

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Computer Modeling in Engineering & Sciences 2024年第1期138卷 201-220页

作者： Xiaoyu Zhang Huizhong Zeng Shaohui Zhang Yan Zhang Mi Xiao Liping Liu Hao Zhou Hongyou Chai Liang Gao Beijing Key Laboratory of Lightweight Multi-Functional Composite Materials and Structures Beijing Institute of TechnologyBeijing100081China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System EngineeringChina Academy of Space TechnologyBeijing100094China Key Laboratory of Metallurgical Equipment and Control Technology Ministry of EducationWuhan University of Science and TechnologyWuhan430081China State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan430074China

Lightweight thin-walled structures with lattice infill are widely desired in satellite for their high stiffness-to-weight ratio and superior buckling strength resulting fromthe sandwich *** structures can be fabricated bymetallic additive manufacturing technique,such as selective laser melting(SLM).However,the maximum dimensions of actual structures are usually in a sub-meter scale,which results in restrictions on their appliance in aerospace and other *** this work,a meter-scale thin-walled structure with lattice infill is designed for the fuel tank supporting component of the satellite by integrating a self-supporting lattice into the thickness optimization of the *** designed structure is fabricated by SLM of AlSi10Mg and cold metal transfer welding ***-static mechanical tests and vibration tests are both conducted to verify the mechanical strength of the designed large-scale lattice thin-walled *** experimental results indicate that themeter-scale thin-walled structure with lattice infill could meet the dimension and lightweight requirements of most spacecrafts.

关键词： Thin-walled structure lattice infill supporting component selective laser melting satellite

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Data-driven Modeling of Nonlinear Joints in Space Structures 41

Data-driven Modeling of Nonlinear Joints in Space Structures

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第41届中国控制会议

作者： Yonglei Zhang Xiaoyu Wang Xinyuan Li Hao Wen Shidong Xu State Key Laboratory of Mechanics and Control of Mechanical Structures Nanjing University of Aeronautics and Astronautics Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The existence of nonlinear joints has a great influence on the dynamics of large flexible sapce *** a prerequisite of attitude control and vibration suppression of flexible spacecraft,it is of great importance to establish highconfidence models of joints to predict its dynamic characteristics ***,a single-degree-of-freedom model of the nonlinear joint is established based on the describing function method and harmonic balance method(HBM).In particular,the dynamic funtions of the joints with cubic stiffness and freeplay nonlinearity are derived,and the response and external excitation data are used to train surrogate models by a multi-step DNN *** validity of the data-driven modeling approach is further verified by response prediction under a different excition ***,the characteristic of an unknown nonlinearjoint is revealed by the data-driven modeling approach based on the experimental data.

关键词： Nonlinear joints space structures data-driven modeling response prediction

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Sliding mode-based adaptive tube model predictive control for robotic manipulators with model uncertainty and state constraints

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Control Theory and Technology 2023年第3期21卷 334-351页

作者： Erlong Kang Yang Liu Hong Qiao State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Beijing Key Laboratory of Research and Application for Robotic Intelligence of Hand-Eye-Brain Interaction Beijing 100190China The School of Mechanical Engineering University of Science and Technology BeijingBeijing 100083China University of Chinese Academy of Sciences Beijing 100049China CAS Center for Excellence in Brain Science and Intelligence Technology Shanghai 200031China

In this paper,the optimal tracking control for robotic manipulators with state constraints and uncertain dynamics is investigated,and a sliding mode-based adaptive tube model predictive control method is ***,utilizing the high-order fully actuated system approach,the nominal model of the robotic manipulator is constructed as the predictive *** on the nominal model,a nominal model predictive controller with the sliding mode is designed,which relaxes the terminal constraints,and realizes the accurate and stable tracking of the desired trajectory by the nominal ***,an auxiliary controller based on the node-adaptive neural networks is constructed to dynamically compensate nonlinear uncertain dynamics of the robotic ***,the estimation deviation between the nominal and actual states is limited to the tube invariant *** the same time,the recursive feasibility of nominal model predictive control is verified,and the ultimately uniformly boundedness of all variables is proved according to the Lyapunov ***,experiments show that the robotic manipulator can achieve fast and efficient trajectory tracking under the action of the proposed method.

关键词： Tube-based model predictive control-robotic manipulator Sliding mode Node-adaptive neural networks Model uncertainty

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Energy-Consumption Optimization Control for Lunar Rover's Travel with Torque-Distribution-strategy in Rear Wheels

Energy-Consumption Optimization Control for Lunar Rover's Tr...

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IEEE International Conference on Control Science and systems Engineering (CCSSE)

作者： Delun Li Jianfei Cao Yiliang Chen Zongwu Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (数字)9798331517199

ISBN: (纸本)9798331517205

关键词： Space vehicles Energy consumption Torque Distribution strategy Moon Wheels Optimization methods systems engineering and theory Vehicle dynamics Transient analysis

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A New Recursive Composite Adaptive Controller for Robot Manipulators

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Space(Science & Technology) 2021年第1期2021卷 77-83页

作者： Jianfei Li Yaobing Wang Zhiyong Liu Xin Jing Chengwei Hu The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System EngineeringBeijing 100094China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

In this paper,a new recursive implementation of composite adaptive control for robot manipulators is *** investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form,which,to our knowledge,is the first result on this point in the *** proposed algorithm has an amount of computation O(n),which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree *** manipulator of the Chinese Space Station is employed as a simulation example,and the results verify the effectiveness of this proposed recursive algorithm.

关键词： Robot manipulators robot

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Identifying Terrain Physical Parameters from Vision - Towards Physical-Parameter-Aware Locomotion and Navigation

arXiv

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arXiv 2024年

作者： Chen, Jiaqi Frey, Jonas Zhou, Ruyi Miki, Takahiro Martius, Georg Hutter, Marco Robotic Systems Laboratory ETH Zurich Zurich8092 Switzerland Max Planck Institute for Intelligent Systems Tübingen Tübingen72076 Germany State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150080 China University of Tübingen Tübingen72076 Germany

Identifying the physical properties of the surrounding environment is essential for robotic locomotion and navigation to deal with non-geometric hazards, such as slippery and deformable terrains. It would be of great benefit for robots to anticipate these extreme physical properties before contact;however, estimating environmental physical parameters from vision is still an open challenge. Animals can achieve this by using their prior experience and knowledge of what they have seen and how it felt. In this work, we propose a cross-modal selfsupervised learning framework for vision-based environmental physical parameter estimation, which paves the way for future physical-property-aware locomotion and navigation. We bridge the gap between existing policies trained in simulation and identification of physical terrain parameters from vision. We propose to train a physical decoder in simulation to predict friction and stiffness from multi-modal input. The trained network allows the labeling of real-world images with physical parameters in a self-supervised manner to further train a visual network during deployment, which can densely predict the friction and stiffness from image data. We validate our physical decoder in simulation and the real world using a quadruped ANYmal robot, outperforming an existing baseline method. We show that our visual network can predict the physical properties in indoor and outdoor experiments while allowing fast adaptation to new environments. - Project Page https://***/3Xo5AA8 - © 2024, CC BY.

关键词： Robot vision

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Reliability Design of Manipulator Joint for China Space Station 2

Reliability Design of Manipulator Joint for China Space Stat...

引用

2nd International Conference on Artificial Intelligence, Automation, and High-Performance Computing, AIAHPC 2022

作者： Li, Delun Zhu, Chao Zhang, Yun Bai, Mei Huang, Zhipeng Xie, Zongwu Liu, Teng Fu, Hao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering CAST Beijing100094 China Beijing Satellite Manufacturing Co. Ltd. Beijing100094 China Beijing Institute of Space Environment Engineering Beijing100094 China

ISBN: (纸本)9781510657717

The TianHe manipulator is responsible for major tasks such as China Space Station construction, operation, and supporting astronaut's extravehicular operations. The joint is the direct execution part of the manipulator to realize flexible movement, and it is the key component to ensure the core functions and performance of the China Space Station manipulator, The composition of the joint is complex, and the experience of its reliability design is very poor. So the research of reliability design method for the joint is of great significance. Starting from the joint reliability design method, this paper uses various methods such as redundant design, margin design, and environmental adaptability design to complete the joint reliability design comprehensively. The ideas and methods for reliability design for the joint of the China Space Station manipulator introduced in this paper have important reference value for the reliability design for the space complicated electromechanical products. © 2022 SPIE. All rights reserved.

关键词： Space stations

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Compact isolators and waveguides for flexural waves in plates

Compact isolators and waveguides for flexural waves in plate...

引用

第八届国际振动工程会议

作者： Yunhao Zhang Guangyuan Su Hao Zhou Bing Li Yongquan Liu State Key Laboratory for Strength and Vibration of Mechanical Structures School of Aerospace EngineeringXi'an Jiaotong University Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System EngineeringChina Academy of Space Technology School of Aeronautics Northwestern Polytechnical University

Manipulation of flexural waves in plates has attracted extensive attention for vibration isolation and structural health monitoring. However, existing methods are difficult to be applied in practical engineering due to their bulky size, complex structure, and damage to the overall carrying capacity. In this work, we introduce a different way to steer flexural waves in plates to realize arbitrary isolators and waveguides without fabrication limitations and destruction of *** to appropriate impedance mismatch, periodic and sparse array of subwavelength and unitary units are preliminarily devised to isolate flexural waves, in a way of omnidirectional reflection. We then utilize this feature to realize various ultrathin isolators and waveguides. As verification, a circular isolator and a Z-shaped waveguide are designed and tested, respectively. They numerically and experimentally show excellent isolating and waveguiding performance. It opens up a range of opportunities to mitigating and guiding the energy in plate-like bearing structures.

关键词： Compact isolators and waveguides for flexural waves in plates

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