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World Congress on Intelligent Control and Automation (WCICA)

作者： Ting Zhang Shaowei Fan Jingdong Zhao Li Jiang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China

A five-fingered, multi-sensory and biomimetic prosthetic hand is presented in this paper. The HIT-Hand is a multisensory and integrated five fingered hand with in total 11 DOFs. The hand has five fingers and each of them can be driven individually by the embedded actuation and control system fitted in the palm. Each finger has 2 DOFs and two joints, the two joints are mechanically coupled by a cable driving. The thumb has an additional DOF to realize the motion relative to the palm. All actuators are integrated in the finger's base or the finger's body directly, the electronics and communication controllers are fully integrated in the fingertip in order to realize modularity of the hand and minimize weight and amount of cables needed for a hand. The Prosthetic Hand is controlled by a multiprocessor controller based on FPGA/DSP, the control system is composed of finger control system and palm control system, and each finger control system is integrated in the fingertip. This anthropomorphic prosthetic hand controlled by means of myoelectric commands, and the hierarchical shared control strategies is used. The impedance control approach allows the fingers to behave as virtual springs. Experiments showed that users were able to successfully operate the device in the hierarchical control strategies, and that the grasp success increased with more interactive control.

关键词： Thumb Prosthetic hand Sensors Control systems Field programmable gate arrays Joints

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Parameter identification and controller design for flexible joint of Chinese space manipulator

Parameter identification and controller design for flexible ...

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IEEE International Conference on robotics and Biomimetics

作者： Tian Zou Fenglei Ni Chuangqiang Guo Weisi Ma Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China DJI Innovations Shenzhen China

ISBN: (纸本)9781479973989

Manipulators with flexible joints are widely used as the space manipulators, whereas the elasticity of flexible joint leads to poor dynamic performance. To solve the influence of elasticity, the paper is to establish the model of flexible joint, identify the parameters, and design the controller. The off-line methods are applied to identify the current coefficient and the parameters of flexible joint model. The controller is designed based on the theory of state feedback and pole assignment. To make the calculation of controller gains easier, more precise and more intuitive, the nominal stiffness is introduced. The simulation results and the experimental results indicate that the proposed controller can improve the dynamic performance and reduce the vibration of the manipulator compared with the traditional PD controller.

关键词： Joints Torque Friction Manipulator dynamics Damping state feedback

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Self-Organized Aggregation Based on Cockroach Behavior in Swarm robotics

Self-Organized Aggregation Based on Cockroach Behavior in Sw...

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International Conference on Intelligent Human-Machine systems and Cybernetics, IHMSC

作者： Dongsheng Hu Ming Zhong Xudong Zhang Yufeng Yao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China

ISBN: (纸本)9781479949540

Aggregation has an important role for swarm robotic system, because it is at the basis of the emergence of various forms of many collective tasks. In this paper, we established the model inspired by the aggregation behavior in swarms of German cockroaches to realize the dynamic aggregation of self-organized and built difference equations to predict the aggregation of the robots. Aggregation emerges solely from local interactions between the individuals without leader and supervisor. The behavior of the individual depends on the probabilities to join or leave the aggregation which is in relation to local message. This model could make all the robots aggregate together and different aggregations can be formed in parallel. A method of improving the performance of aggregation was provided. Our work is based on a real robotic platform that is still under development. We present results and analysis of simulation-based experiments, which show that the model is robust and flexible.

关键词： Robot kinematics Robot sensing systems Convergence Predictive models Collision avoidance

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Multifingered robot hand dynamic grasping control based on fingertip three-axis tactile sensor feedback

Multifingered robot hand dynamic grasping control based on f...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Ting Zhang Shaowei Fan Jingdong Zhao Li Jiang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China

Dynamic grasping force control for a multi-fingered robot hand is proposed and investigated in this paper. The grasping force of the finger is dynamically adjusted according to the three-axis tactile feedback so that each fingertip force always stays inside the friction cone detected by the fingertip three-axis tactile sensor without any undesired slip nor detaching from the object while grasping it. The proposed method allows real-time control of the hand since it requires few numerical calculations. In order to enable the tactile feedback, a finger-shaped fingertip three-axis tactile sensor using Quantum Tunnelling Composite (QTC) capable of detecting the normal and shear force is developed. Finally, the validity of the proposed method is confirmed experimentally using a multi-fingered robot hand with three-axis tactile sensors.

关键词： Force Grasping Tactile sensors Thumb

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Collision detection algorithm for dual-robot system

Collision detection algorithm for dual-robot system

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IEEE International Conference on Mechatronics and Automation

作者： Minxiu Kong Guangdong Yu State Key Laboratory of Robotics and System Harbin Institute of Technology Fine Mechanics and Physics Harbin Institute of Technology

Much more attention has been paid to collision detection for the safety in the complex task of manufacture or physical human-robot interaction. A novel collision detection algorithm is proposed for coordinated industrial robots in this paper. According to the actual situation, the links and the joints of the 6 DOF arc welding robots are simplified as some simple geometries. For its accuracy and effectiveness, we can determine whether the collision occurs through calculating the shortest distance between two geometries. A calculation method is proposed that are based on the most value of the binary function for the calculation of the shortest distance between the coordinated robot geometries. Then we use MATAB to simulate the algorithm. And the effectiveness of the proposed algorithm is verified by simulation in ADAMS.

关键词： Collision avoidance Robot kinematics Joints Geometry Service robots Mathematical model

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Friction identification and control for Chinese large-scale space end-effector

Friction identification and control for Chinese large-scale ...

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International Conference on Information and Automation (ICIA)

作者： Fenglei Ni Qian Zhang Shipeng Xie Hong Liu Dangyang Jie State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China Beijing Institute of Astronautics System Engineering Beijing China

In order to achieve large tolerance capture and high stiffness connection for space payload operations, a Chinese large-scale space end-effector (EER) was developed. Friction is a kind of strong nonlinear factor that severely degrades performance of EER To predict the friction amplitude and compensate the dynamic error, the friction model based Generalized Maxwell-Slip model (GMS) is built. In order to improve the parameters identification accuracy of friction model, and overcome the error effects of the low speed velocity measurement, the full-order speed observer is designed as feedback speed information. Experiments platform has been built and some dragging experiments on the EER have been done. Results of the experiments show that the precision of the position tracking can reach ±0.02mm by GMS compensation, increased more than 30% compared with Stribeck friction model.

关键词： Friction Observers Decision support systems Conferences Automation Abstracts Indexes

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The HITCR-I:Evaluation on a free gait generation method for the hexapod robot on irregular terrain

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High Technology Letters 2013年第4期19卷 406-412页

作者：张赫 Zhao Jie Liu Yubin Chen Fu State Key Laboratory of Robotics and System Harbin Institute of Technology

The purpose of this paper is to present and evaluate a method of free gait generation for HITCRI,a hexapod walking *** HITCR-I is designed as a modularized structure of legs that is based upon a four-bar linkage mechanism and with force sensors in the tip of legs,distributed hardware structure and a modular software structure of the control *** on a set of local rules between adjacent legs,finite state machine(FSM) model is built to control the coordination of *** automatic smooth transition of gait pattern is achieved through deriving the mathematical relation between gait pattern and locomotion *** disordered inter-leg phase sequence is adjusted to a regular state smoothly and quickly by the local rules based FSM,and the gait pattern can transform automatically adapting to irregular *** experiment on HITCR-I has demonstrated that it can walk through irregular terrain reliably and expeditiously with the free gait controller designed in this paper.

关键词： robotics hexapod robot irregular terrain walking tree gait gait pattern transition

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Fuzzy steering control to serpentine tracked robots in unknown environment

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High Technology Letters 2013年第1期19卷 1-6页

作者：赵杰 Han Zhenfeng Liu Gangfeng Liu Gang Zhu Lei State Key Laboratory of Robotics and System Harbin Institute of Technology

To solve the problem of multi-turning attitudes,unknown ground parameters and complex skidsteering control for serpentine tracked robots(STR),a fuzzy control method based on the estimation of track curvature and side slip angles is *** on the track-ground interaction,mathematical models are established for stable turning in the way of recursive homogeneous *** navigation parameters such as rack curvature and side slip angles have approximately linear relationship with the yaw angles of articulate *** attitude models in turning control are studied and *** strategies of attitude models are *** on the strategies,an adjustable fuzzy controller is *** the controller,an estimator is set to solve the problem of unknown and variable *** estimator predicts the track curvature by metabolic linear least squares *** have verified the feasibility and validity of the controller.

关键词： serpentine tracked robot （STR） steering control track curvature side slip angles stable turning modes

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Ontological Modelling of Knowledge Management for Human-Machine Integrated Design of Ultra-Precision Grinding Machine

Ontological Modelling of Knowledge Management for Human-Mach...

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Enterprise systems Conference (ES)

作者： Haibo Hong Yuehong Yin Xing Chen State Key Laboratory of Mechanical System and Vibration Institute of Robotics Shanghai Jiao Tong University Shanghai Shangai China

ISBN: (纸本)9781479955558

Despite of the rapid development of computer science and information technology, human-machine integrated design of complex mechatronic products is still not fully accomplished, partly because of the inharmonious communication among collaborators. Therefore, one challenge in human-machine integration is how to establish an appropriate knowledge management (KM) model to support integration and sharing of heterogeneous product knowledge. Aiming at the diversity of design knowledge, this paper proposes an ontology-based model to reach at an unambiguous and normative representation of the knowledge. Firstly, an ontology-based human-machine integrated design framework is described, then corresponding ontologies and sub-ontologies are established according to different purposes and scopes. Secondly, a similarity calculation-based ontology integration method composed of ontology mapping and ontology merging is introduced. The ontology searching-based knowledge sharing method is then developed. Finally, a case of human-machine integrated design of a large ultra-precision grinding machine is used to demonstrate the effectiveness of the method.

关键词： Ontologies Man machine systems Grinding machines Merging Optimization Semantics Thermal stability

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous robotics systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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