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2021 International Conference on robotics Automation and Intelligent Control, ICRAIC 2021

作者： Yang, Huaiguang Ding, Liang Gao, Haibo Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China

Planetary rover plays a significant role in the lunar and Mars exploration missions and wheel's move status such as sinkage and slip ratio are the critical Factor to estimate the moving ability of the Mars rover. A method is proposed to estimate wheel's sinkage and skid angle based on terramechanic model and estimate slip ratio based on rover's dynamic model using Extended Kalman Filter algorithm. The proposed method can avoid the errors caused by Visual Odometry and improves the estimation accuracy of rover state through the fusion with other sensors' data. The effectiveness of the estimation method for planetary rovers is verified by comparing with the results obtained from dynamic simulation of Mars rovers. © 2022 Institute of Physics Publishing. All rights reserved.

关键词： Rovers

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Hydrodynamics study of dolphin’s self-yaw motion realized by spanwise flexibility of caudal fin

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Journal of Ocean Engineering and Science 2022年第3期7卷 213-224页

作者： Zhihan Li Dan Xia Jiabo Cao Weishan Chen Xingsong Wang School of Mechanical Engineering Southeast UniversityNanjingJiangsu 211189China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China

The hydrodynamic performance of the virtual underwater vehicle under self-yaw is investigated numerically in this paper,we aim to explore the fluid laws behind this plane motion achieved by the bionic flexibility,especially the spanwise flexibility of the caudal *** kinematics of the chordwise flexible body and the spanwise flexible caudal fin are explored through dynamic mesh technology and user-defined functions(UDF).The 3-D Navier-Stokes equations are applied to simulate the viscid fluid surrounding the bionic *** study focuses on quantitative problems about the fluid dynamics behind the specific motion law,including speed of movement,energy loss and working *** current results show that the self-yaw can be composed of two motions,autonomous propulsion and active *** addition,the degree of the flexible caudal fin can produce different yaw *** chordwise phase differenceФis dominant in the propulsion function,while the spanwise phase differenceδhas a more noticeable effect on the steering *** pressure distribution on the surface of the dolphin and the wake vortex generated in the flow field reasonably reveal the evolution of *** properly turns out that the dolphin can combine the spanwise flexible caudal fin and the chordwise flexible body to achieve self-yaw motion.

关键词： Self-yaw dolphin Spanwise flexibility Caudal fin Numerical simulation Hydrodynamic performance

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Design and Experiment of A Hybrid Wave Energy Harvester Based on Tapered Rollers 21

Design and Experiment of A Hybrid Wave Energy Harvester Base...

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21st International Conference on Micro and Nanotechnology for Power Generation and Energy Conversion Applications, PowerMEMS 2022

作者： Li, Yunfei Tang, Tianyi Fang, Yan Huang, Manjuan Hou, Cheng Liu, Huicong Sun, Lining State Key Laboratory of Robotics and System Harbin150001 China Soochow University School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics China

ISBN: (纸本)9781665493062

This paper presents a hybrid energy harvester based on tapered rollers with an electromagnetic generator (EMG) component and a triboelectric nanogenerator (TENG) component for ultra-low frequency wave energy harvesting. The chaotic pendulum is adjusted to adapt the wave excitation under different sea conditions, ensuring that the device achieves optimal output performance. At excitation frequency of 1Hz and the tilt angle of 60°, the open-circuit voltage peaks of 8.4 and 132 V can be achieved by the EMG and TENG, respectively, corresponding to the power outputs of 4.38 and 0.078 mW, respectively. It was demonstrated that the device can easily light up over 360 red light-emitting diodes. © 2022 IEEE.

关键词： Wave energy conversion

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Real-time Trajectory Planning for Redundant 7-dof Space Manipulators with Unknown Link Lengths

Real-time Trajectory Planning for Redundant 7-dof Space Mani...

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robotics, Control and Automation (ICRCA), International Conference on

作者： Jian Liu Zhiqi Li Shicai Shi Minghe Jin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331544577

ISBN: (纸本)9798331544584

Trajectory planning for redundant space manipulators in complex spatial environments is critical for ensuring successful on-orbit task execution, especially when the manipulator’s link lengths are unknown. Traditional algorithms struggle to establish the transformation between task space and joint space under such conditions, posing significant challenges to autonomous trajectory planning. This study proposes a novel trajectory planning method for a seven-degree-of-freedom redundant space manipulator with a shoulder-wrist offset. The method utilizes a trained pose control decision system to generate continuous, smooth, and singularity-free trajectories in real time, satisfying positional and orientational accuracy requirements for target capture. A neural network with strong nonlinear fitting capabilities is employed as the position control decision module for joints 1-4, trained using a "cautious exploration, greedy exploitation" strategy for efficient and safe trajectory optimization. For joints 5-7, an analytical orientation control decision module adjusts the end-effector’s attitude. Together, these modules form a pose control decision system that adheres to constraints on joint angular velocity, acceleration, and singularity avoidance. The proposed approach is validated through simulations in both static and dynamic scenarios, with simulation results confirming its effectiveness.

关键词： Accuracy Trajectory planning Simulation Position control Aerospace electronics Manipulators Control systems Real-time systems Angular velocity Manipulator dynamics

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A Study of Prototypical Network techniques for Cross-Subject EEG Analysis 27

A Study of Prototypical Network Techniques for Cross-Subject...

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27th European Conference on Artificial Intelligence, ECAI 2024

作者： Liu, Wenchao Wang, Guagnyu He, Yuhong Bo, Hongjian Ma, Lin Li, Haifeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Faculty of Computing Harbin Institute of Technology Harbin China Shenzhen Academy of Aerospace Technology Shenzhen China

ISBN: (纸本)9781643685489

Electroencephalography (EEG), a technique that uses electrodes on the scalp to record changes in cerebral electrical potentials, plays a key role in various brain-computer interface applications. However, due to the large differences in EEG distribution across subjects, how to accurately classify cross-subject EEG is still a challenge. In practice, it is unavoidable to collect data for each subject to perform calibration, which is cumbersome and expensive. In this paper, we propose a Cross Subject EEG Prototypical Network (CS-EEGPNet) for accurate few-shot EEG classification. To the best of our knowledge, we are the first to eliminate inter-subject distribution shift in few-shot EEG classification through multiple feature layers computation. Specifically, to avoid the effect of individual differences, we propose a few-shot feature normalization (FSFN) method, which uses the mean and variance of the same subject’s support set features to normalize the query set features. Meanwhile, we design a prototypical module based on auxiliary factors. This module utilizes learnable vectors to store category-related information for assisting the construction of prototypes, thus mitigating the effects of EEG’s randomness and non-stationary characteristics on cross-subject few shot classification. To validate the effectiveness of the method, we selecte the motor imagery paradigm, which is relatively complex in brain-computer interfaces, and test our method on the BCIC IV 2a and HGD datasets. The results demonstrate that our method significantly enhances EEG classification performance, achieving the state-of-the-art accuracies. © 2024 The Authors.

关键词： Electroencephalography

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A Lower Limb Exosuit for Assisting Knee Joint in Rehabilitation During Walking

A Lower Limb Exosuit for Assisting Knee Joint in Rehabilitat...

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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Yao Huang Haotian Ju Songhao Guo Tianjiao Zheng Jie Zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509293

ISBN: (纸本)9798331509309

For knee rehabilitation patients, it is difficult to maintain balance while walking, and completing a normal gait cycle is challenging. Therefore, we propose a lower limb exosuit tailored for the knee rehabilitation patients to assist in normal walking, and experimentally evaluated the assistance effect of the lower limb exosuit. We mimic the mechanism of the skeletal muscles near the knee joint, by contracting and relaxing the length of the flexible Bowden cable between the thigh and calf, generating assistive torque on the knee joint periodically. We use Inertial Measurement Unit (IMU) to measure lower limb motion parameters, identify gait cycle states, and calculate corresponding plantar pressure and knee joint torque for each phase. We compared surface electromyography (sEMG) signals of three muscle groups (biceps femoris (BF), quadriceps femoris (QF), and gastrocnemius (G)) under conditions of wearing and not wearing the exosuit. The experimental results show that compared to not wearing the exosuit, the mean normalized sEMG signals of the three muscle groups decreased by 4.61 %, 2.41 %, and 3.97% respectively while wearing it, the peak values decreased by 11.60%, 25.69%, and 14.99% respectively, with the quadriceps femoris receiving the highest degree of assistance.

关键词： Knee Legged locomotion Limbs Torque Measurement units Thigh Muscles Pressure measurement Torque measurement Robots

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A Microgravity Simulation Experimental Platform For Small Space Robots In Orbit

arXiv

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arXiv 2025年

作者： Luo, Hang Zhou, Nanlin Zhang, Haoxiang Han, Kai Zhao, Ning Yang, Zhiyuan Qi, Jian Zhao, Sikai Zhao, Jie Zhu, Yanhe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This study describes the development and validation of a novel microgravity experimental platform that is mainly applied to small robots such as modular self-reconfigurable robots. This platform mainly consists of an air supply system, a microporous platform and glass. By supplying air to the microporous platform to form an air film, the influence of the weight of the air foot and the ventilation hose of traditional air-float platforms on microgravity experiments is solved. The contribution of this work is to provide a platform with less external interference for microgravity simulation experiments on small robots. Copyright © 2025, The Authors. All rights reserved.

关键词： Microgravity processing

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Towards semi-supervised myoelectric finger motion recognition based on spatial motor units activation

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Science China(Technological Sciences) 2022年第6期65卷 1232-1242页

作者： GUO WeiChao WANG Mian SHENG XinJun ZHU XiangYang State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Meta Robotics Institute Shanghai Jiao Tong UniversityShanghai 200240China

It is vital to recognize the intention of finger motions for human-machine interaction(HMI).The latest research focuses on fine myoelectric control through the decoding of neural motor unit action potential trains(MUAPt) from high-density surface electromyographic(sEMG) ***,the existing EMG decoding algorithms rarely obtain the spatial matching relationship between decoded motion units(MU) and designated muscles,and the control interface can only recognize the trained hand *** this study,a semi-supervised HMI based on MU-muscle matching(MMM) is proposed to recognize individual finger motions and even the untrained combined multi-finger *** automatic channel selection from high-density s EMG signals,the optimal spatial positions to monitor the MU activation of finger muscles are *** tapping experiment is carried out on ten subjects,and the experimental results show that the proposed s EMG decomposition algorithm based on MMM can accurately identify single finger motions with an accuracy of 93.1%±1.4%,which is comparable to that of state-of-the-art pattern recognition ***,the MMM allows unsupervised recognizing the untrained combined multi-finger motions with an accuracy of 73%±3.8%.The outcomes of this study benefit the practical applications of HMI,such as controlling prosthetic hand and virtual keyboard.

关键词： myoelectric control semi-supervised motor units activation channel selection template matching

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A Lower Limb Exosuit for Assisting Knee Joint in Rehabilitation During Walking 11

A Lower Limb Exosuit for Assisting Knee Joint in Rehabilitat...

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11th International Conference on Mechatronics and robotics Engineering, ICMRE 2025

作者： Huang, Yao Ju, Haotian Guo, Songhao Zheng, Tianjiao Zhao, Jie Zhu, Yanhe Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798331509293

关键词： Neuromuscular rehabilitation

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Full Resolution Repetition Counting 16th

Full Resolution Repetition Counting

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Li, Jianing Chen, Bowen Wang, Zhiyong Liu, Honghai School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9789819964826

Given an untrimmed video, repetitive actions counting aims to estimate the number of repetitions of class-agnostic actions. To handle the various length of videos and repetitive actions, also optimization challenges in end-to-end video model training, down-sampling is commonly utilized in recent state-of-the-art methods, leading to ignorance of several repetitive samples. In this paper, we attempt to understand repetitive actions from a full temporal resolution view, by combining offline feature extraction and temporal convolution networks. The former step enables us to train repetition counting network without down-sampling while preserving all repetitions regardless of the video length and action frequency, and the later network models all frames in a flexible and dynamically expanding temporal receptive field to retrieve all repetitions with a global aspect. Besides, temporal self-similarity matrix is used in our model to represent the correlation of action, which contains much cycle information in time series. We experimentally demonstrate that our method achieves better or comparable performance in three public datasets, i.e., TransRAC, UCFRep and QUVA. We expect this work will encourage our community to think about the importance of full temporal resolution. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Convolution

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