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Learning physical characteristics like animals for legged robots

National Science Review 2023年第5期10卷 22-37页

作者： Peng Xu Liang Ding Zhengyang Li Huaiguang Yang Zhikai Wang Haibo Gao Ruyi Zhou Yang Su Zongquan Deng Yanlong Huang Key Laboratory of Robotics and Systems Harbin Institute of Technology School of Computing University of Leeds

Physical characteristics of terrains,such as softness and friction,provide essential information for legged robots to avoid non-geometric obstacles,like mires and slippery stones,in the *** perception of such characteristics often relies on tactile perception and vision *** tactile perception is more accurate,it is limited to close-range us e;by contrast,establishing a supervised or self-supervised contactless prediction system using computer vision re quires adequate labeled data and lacks the ability to adapt to the dynamic *** this paper,we simulate the behavior of animals and propose an unsupervised learning framework for legged robots to learn the physical characteristics of terrains,which is the first report to manage it online,incrementally and with the ability to solve cognitive *** proposed scheme allows robots to interact with the environment and adjust their cognition in real time,therefore endowing robots with the adaptation *** and outdoor experiments on a hexapod robot are carried out to show that the robot can extract tactile and visual features of terrains to create cognitive networks independently;an associative layer between visual and tactile features is created during the robot's exploration;with the layer,the robot can autonomously generate a physical segmentation model of terrains and solve cognitive conflicts in an ever-changing environment,facilitating its safe navigation.

关键词： legged robot unsupervised learning environmental perception cognitive learning

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Joint Probabilistic Scheduling and Resource Allocation for Wireless Networked Control systems

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 258-260页

作者： Meng Zheng Lei Zhang Wei Liang IEEE the State Key Laboratory of Robotics and the Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences the University of Chinese Academy of Sciences

Dear Editor,This letter presents a joint probabilistic scheduling and resource allocation method(PSRA) for 5G-based wireless networked control systems(WNCSs). As a control-aware optimization method, PSRA minimizes the linear quadratic Gaussian(LQG) control cost of WNCSs by optimizing the activation probability of subsystems, the number of uplink repetitions, and the durations of uplink and downlink phases. Simulation results show that PSRA achieves smaller LQG control costs than existing works.

关键词： Networked control systems

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Towards understanding the surface rippling process by periodic reciprocal nanoscratching

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Friction 2023年第10期11卷 1815-1828页

作者： Zihan LI Yongda YAN Jiqiang WANG Chen LI Yanquan GENG State Key Laboratory of Robotics and Systems Robotics InstituteHarbin Institute of TechnologyHarbin 150080China Center for Precision Engineering Harbin Institute of TechnologyHarbin 150001China

The bundle structure formed perpendicular to the scratching direction is a type of wear-induced structure for *** this study,the formation mechanism of bundle structures on polycarbonate(PC)surfaces is investigated by reciprocal scratching *** on the analysis of the morphologies,friction forces,and height signals,the formation of the bundle structure is *** influence of scratching parameters,including the feed value and scratching direction,on the formation of the bundle structure is also *** is found that the bundle structure is accumulated by the continuous stacking of the sample materials plowed by the tip in stick–slip motion,and that the stick–slip behavior is enhanced with increased scratching *** work reproduces the formation process of bundle structure in experiments for the first time and demonstrates that the stick–slip enhancement mechanism exists in the reciprocal scratching process,providing further insight into the friction behavior of polymers.

关键词： atomic force microscopy(AFM) bundle structures stick-slip friction force

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Watt Linkage–Based Legged Deployable Landing Mechanism for Reusable Launch Vehicle: Principle, Prototype Design, and Experimental Validation

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Engineering 2023年第1期20卷 120-133页

作者： Haitao Yu Baolin Tian Zhen Yan Haibo Gao Hongjian Zhang Huiqiang Wu Yingchao Wang Yuhong Shi Zongquan Deng State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150080China Beijing Institute of Aerospace Systems Engineering Beijing 100076China

The reusable launch vehicle (RLV) presents a new avenue for reducing cost of space transportation. The landing mechanism, which provides landing support and impact absorption, is a vital component of the RLV at final stage of recovery. This study proposes a novel legged deployable landing mechanism (LDLM) for RLV. The Watt-II six-bar mechanism is adopted to obtain the preferred configuration via the application of the linkage variation approach. To endow the proposed LDLM with advantages of large landing support region, lightweight, and reasonable linkage internal forces, a multi-objective optimization paradigm is developed. Furthermore, the optimal scale parameters for guiding the LDLM prototype design is obtained numerically using the non-dominated sorting genetic algorithm-II (NSGA-II) evolutionary algorithm. A fully-functional scaled RLV prototype is developed by integrating the gravity-governed deploying scheme to facilitate unfolding action to avoid full-range actuation, a dual-backup locking mechanism to enhance reliability of structure stiffening as fully deployed, and a shock absorber (SA) with multistage honeycomb to offer reliable shock absorbing performance. The experimental results demonstrate that the proposed LDLM is capable of providing rapid and smooth deployment (duration less than 1.5 s) with mild posture disturbance to the cabin (yaw and pitch fluctuations less than 6°). In addition, it provides satisfactory impact attenuation (acceleration peak less than 10g (g is the gravitational acceleration)) in the 0.2 m freefall test, which makes the proposed LDLM a potential alternative for developing future RLV archetype.

关键词： Reusable launch vehicle(RLV) Deployable mechanism Optimization desi gn

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Soft Resource Slicing for Industrial Mixed Traffic in 5G Networks

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IEEE/CAA Journal of Automatica Sinica 2025年第2期12卷 463-465页

作者： Jingfang Ding Meng Zheng Haibin Yu the State Key Laboratory of Robotics and the Key Laboratory of Networked Control Systems Chinese Academy of Sciences the Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences the University of Chinese Academy of Sciences IEEE

Dear Editor,This letter proposes a dynamic switching soft slicing strategy for industrial mixed traffic in 5G networks. Considering two types of traffic, periodic delay-sensitive (PDS) traffic and sporadic delay-tolerant (SDT) traffic, we design a dynamic switching strategy based on a traffic-Qo S-aware soft slicing (TQASS) scheme and a resource-efficiency-aware soft slicing (REASS) scheme.

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Dynamic compliance of energy-saving legged elastic parallel joints for quadruped robots:design and realization

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Frontiers of Mechanical Engineering 2024年第2期19卷 45-58页

作者： Yaguang ZHU Minghuan ZHANG Xiaoyu ZHANG Haipeng QIN Key Laboratory of Road Construction Technology and Equipment of Ministry of Education School of Engineering MachineryChang’an UniversityXi’an 710064China State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China

Achieving dynamic compliance for energy-efficient legged robot motion is a longstanding *** recent predictive control methods based on single-rigid-body models can generate dynamic motion,they all assume infinite energy,making them unsuitable for prolonged robot *** this issue necessitates a mechanical structure with energy storage and a dynamic control strategy that incorporates feedback to ensure *** work draws inspiration from the efficiency of bio-inspired muscle–tendon networks and proposes a controllable torsion spring leg *** design integrates a spring-loaded inverted pendulum model and adopts feedback delays and yield springs to enhance the delay effects.A leg control model that incorporates motor loads is developed to validate the response and dynamic performance of a leg with elastic *** model provides torque to the knee joint,effectively reducing the robot’s energy consumption through active or passive control *** benefits of the proposed approach in agile maneuvering of quadruped robot legs in a realistic scenario are demonstrated to validate the dynamic motion performance of the leg with elastic joints with the advantage of energy-efficient legs.

关键词： dynamic responsiveness energy dissipation legged locomotion parallel joints quadruped robot

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An efficient self-reconfiguration method to deploy space modular robots

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Science China(Technological Sciences) 2024年第12期67卷 3962-3964页

作者： ZHAO Ning GAO YongSheng QI Jian YANG ZhiYuan ZHAO SiKai SUI Xin HAN Kai ZHAO Jie ZHU YanHe State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Intelligent robots play a crucial role in space exploration,representing a significant trend in space automation *** robots,which can regenerate configurations and functions through self-reconfiguration[1],offer distinct adaptability and versatility[2,3]over traditional robots with fixed structures and single-purpose ***,self-reconfiguration is regarded as a highly promising capability for space exploration and remains a primary motivation for research in this field[4].

关键词： technology functions figuration

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Design and experiments of a small resonant inchworm piezoelectric robot

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Science China(Technological Sciences) 2023年第3期66卷 821-829页

作者： DENG Jie YANG ChengLin LIU YingXiang ZHANG ShiJing LI Jing MA XueFeng XIE Hui State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

A small resonant inchworm piezoelectric robot with six driving feet which are set evenly along the circumference is proposed and tested.A bonded-type structure is adopted to realize a small *** radial bending vibration mode and longitudinal vibration mode are excited at the same *** superposition of these two vibration modes makes the driving feet produce elliptical *** the driving force can be generated by friction coupling between the driving foot and the operating *** structure of the robot is designed by finite element *** geometric parameters are adjusted to make the resonant frequencies of the vibration modes as close as *** elliptical trajectories generated at the driving feet are discussed in *** vibration and motion characteristics of the prototype are tested,and the resonant frequencies of the radial bending mode and the longitudinal vibration mode are degenerated *** optimal working frequency of the prototype is 21.5 *** maximum speed of the prototype is 200 mm/s,and the displacement resolution is 0.71μ*** measured results show that the resonant inchworm piezoelectric robot can be used for fast and high-precision transportation in narrow space.

关键词： piezoelectric robot resonant actuation inchworm movement bending and longitudinal vibration

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A New EMG Decomposition Framework for Upper Limb Prosthetic systems

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Journal of Bionic Engineering 2023年第6期20卷 2646-2660页

作者： Wenhao Wu Li Jiang Bangchu Yang Kening Gong Chunhao Peng Tianbao He State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150080China

Neural interfaces based on surface Electromyography(EMG)decomposition have been widely used in upper limb prosthetic *** the current EMG decomposition framework,most Blind Source Separation(BSS)algorithms require EMG with a large number of channels(generally larger than 64)as input,while users of prosthetic limbs can generally only provide less skin surface for electrode placement than healthy *** performed decomposition tests to demonstrate the performance of the new framework with the simulated EMG *** results show that the new framework identified more Motor Units(MUs)compared to the control group and it is suitable for decomposing EMG signals with low channel *** order to verify the application value of the new framework in the upper limb prosthesis system,we tested its performance in decomposing experimental EMG signals in force fitting experiments as well as pattern recognition *** average Pearson coefficient between the fitted finger forces and the ground truth forces is 0.9079 and the average accuracy of gesture classification is 95.11%.The results show that the decomposition results obtained by the new framework can be used in the control of the upper limb prosthesis while only requiring EMG signals with fewer channels.

关键词： EMG decomposition Peel-off strategy Few channels Upper limb prosthetic system

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Puncture site decision method for venipuncture robot based on near-infrared vision and multiobjective optimization

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Science China(Technological Sciences) 2023年第1期66卷 13-23页

作者： HE TianBao GUO ChuangQiang JIANG Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Venipuncture robots have superior perception and stability to humans and are expected to replace manual ***, their use is greatly restricted because they cannot make decisions regarding the puncture sites. Thus, this study presents a multi-information fusion method for determining puncture sites for venipuncture robots to improve their autonomy in the case of limited resources. Here, numerous images have been gathered and processed to establish an image dataset of human forearms for training the U-Net with the soft attention mechanism(SAU-Net) for vein segmentation. Then, the veins are segmented from the images, feature information is extracted based on near-infrared vision, and a multiobjective optimization model for puncture site decision is provided by considering the depth, diameter, curvature, and length of the vein to determine the optimal puncture site. Experiments demonstrate that the method achieves a segmentation accuracy of 91.2% and a vein extraction rate of 86.7%while achieving the Pareto solution set(average time: 1.458 s) and optimal results for each vessel. Finally, a near-infrared camera is applied to the venipuncture robot to segment veins and determine puncture sites in real time, with the results transmitted back to the robot for an attitude adjustment. Consequently, this method can enhance the autonomy of venipuncture robots if implemented dramatically.

关键词： puncture site decision vein extraction near-infrared vision venipuncture robot

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