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IEEE Conference on robotics, Automation and Mechatronics

作者： Haowei Wang Pengfei Wang Xin Wang Mantian Li Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology China

The study of touchdown angle's impact on quadrupeds such as gait, stability, speed, height is valuable. This paper unifies two common models for quadrupeds-SLIP and planar model, gets a feasible and efficient fixed point search strategy, and proposes a gait classification method based on the event sequence. On this basis, we study the influence of touchdown angle on quadruped robot in a variety of energy levels, and find that the change of touchdown angle would cause cycle bifurcation and chaos phenomena. Meanwhile, we notice in certain energy level and reasonable parameters configuration, different touchdown angles mean different gaits and only change of touchdown angle can make gait transition. In a fixed energy level, the impact of touchdown angle on horizontal speed, apex height and pitch angle is not obvious, but for pitch angular velocity it has obvious effect, and we reveal the importance of pitch angle and related variables such as inertia, mass distribution for quadruped control. Under the meaning of stable fixed points, speed adjust by changing touchdown angle is of little effect; however energy control is a feasible method.

关键词： Energy states Legged locomotion Stability analysis Numerical models Numerical stability Animals

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Kernel based empirical mode decomposition and its application in gait signal de-noise

Kernel based empirical mode decomposition and its applicatio...

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作者： Wen, Shiguang Wang, Fei Wu, Chengdong College of Information Science and Engineering Northeastern University Shenyang 110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9789881725592

Gait signal analysis of quantitative has been a challenging task over the past decades for its non-linear and non-stationary nature. Empirical Mode Decomposition (EMD) is a data-driven signal analysis method developed by Norden. E. Huang, it is especially suitable for non-linear non-stationary signal processing. It has been successfully applied in many problems, but the envelop algorithm using traditional cubic spline interpolation by Norden. E. Huang have border swing problem and extra oscillations, it is because that the cubic spline interpolation couldn't adapt to the nature of the signal envelop, inspired by the ideas from machine learning, a new algorithm which is improved kernel ridge regression to estimate envelop of signal using the extrema is proposed in this paper. The new algorithm can used to recover the corrupted test signal. Numerical simulations show higher performance of the proposed algorithm than the traditional one. © 2011 Chinese Assoc of Automati.

关键词： Empirical mode decomposition

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Robot-assisted PET-CT-MRI image fusion

Robot-assisted PET-CT-MRI image fusion

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IEEE/ICME International Conference on Complex Medical Engineering, CME

作者： Weidong Wang Dongmei Wu Pengfei Sun Zhijiang Du State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin Heilongjiang China

A novel robot-assisted PET/CT/MRI image fusion method is presented. The robot carries the patient from one device to another automatically, securely and precisely. The images obtained in each device are fused by the robot position transformational matrix. First, a 4WD and 4WS mobile robot is introduced. Its design features are super payload capability, precise navigation and positioning, ultrasonic obstacle avoidance and Anti- magnetic. Second, the general kinematics model of the 4WD and 4WS mobile robot is presented. Several special modes are simplified from the general model, Such as ZRT mode, navigation mode and so on. At last several clinical trial of this system is introduced. The comparison result between the result of robot-assisted PET/MRI image fusion and the result of combined machine is presented. The method of the robot-assisted PET/MRI image fusion can make the process of image fusion more automatically, securely and precisely.

关键词： Positron emission tomography Mobile robots Magnetic resonance imaging Biomedical imaging Radiation detectors Navigation

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Virtual space painting system based on transparency haptic interaction

Virtual space painting system based on transparency haptic i...

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International Conference on Consumer Electronics, Communications and Networks

作者： Zhu Yanhe Fan Jizhuang Cui Xindan Zhao Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

The traditional drawing system based on the 2-D mouse can not realize the haptic interaction between operators and virtual environment. This is not available for operator to feel the interaction sensitivity. A virtual space painting system based on transparency haptic interaction is proposed. This system uses the admittance type haptic device as the information interaction interface between operators and virtual environment. This paper presents an implicit force control algorithm to adapt the control of the transparency haptic interaction device. This system use the body contact detection, the virtual force generation and smoothness to build the virtual environment. Finally, a virtual painting experiment is done. The result shows that this system could improve the transparency of the haptic interaction. It means that the real artistic creation could be realized on the computer.

关键词： Haptic interfaces Force Virtual environment Painting Stability analysis Computers Force control

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Dynamic Simulation and Analyzation of Arc Welding Robot

Dynamic Simulation and Analyzation of Arc Welding Robot

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International Workshop on Intelligent systems and Applications, ISA

作者： DianYong Yu Kai Ding State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, we take 6 kg arc welding robot designed by our lab as research object and build a complex virtual prototype model. A fast, intuitive and effective dynamics method which is based on simulink and robotics toolbox is designed to validate the virtual prototype model is right. On this basis we check the select of motor and reducer.

关键词： Torque Mathematical model Prototypes Robot kinematics Gears Acceleration

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Approximating the stance map of a SLIP Monopod: A perturbation approach

Approximating the stance map of a SLIP Monopod: A perturbati...

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IEEE Conference on robotics, Automation and Mechatronics

作者： Haitao Yu Mantian Li Hegao Cai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, a novel method with perturbation technique is proposed to obtain analytic approximate solutions to the SLIP dynamics in stance phase with considering the effect of gravity. The perturbation solution achieves higher accuracy in predicting the apex trajectory and stance locomotion by comparing with other existing analytic approximations. Particularly, our solution is validated for non-symmetric case in a large angle range. Additionally, the approximate apex return map is established, of which the fixed point stability is analyzed base on the approximations.

关键词： Approximation methods Gravity Robots Analytical models Stability analysis Mathematical model Springs

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Frame vibration suppression for wafer transfer system

Frame vibration suppression for wafer transfer system

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Yanjie Liu Mingyue Wu Guobao Xu Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

The rapid development of the Integrated Circuit (IC) manufacturing equipment industry requires greater efficiency for wafer transfer. However, the faster wafer transfer robot moves, the bigger the force applied on its support frame is, and also the bigger vibration aroused on the frame because of the low stiffness of the support frame. Meanwhile, some IC equipment are ultra-high sensitive to the vibration. So the speed of the wafer transfer robot is limited by the vibration of the frame.. In order to improve wafer transmission efficiency and synchronously reduce the vibration to the frame, in this paper, the rigid-flexible coupled dynamic model of wafer transfer robot was built, and then the vibration analysis of the robot on its support frame was discussed. After that the trajectory planning was used to suppress the force applied on the frame to reduce the vibration of the frame. Finally, the experiment system was built. The result shows that the vibration of the frame, while keeping the robot transmission efficiency, was clearly suppressed by using the bi-axis interpolation trajectory control.

关键词： Vibrations Trajectory Robot kinematics Robot sensing systems Force Semiconductor device modeling

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Simulation study on the error of the double parallel-joints coordinate measuring machine

Simulation study on the error of the double parallel-joints ...

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International Workshop on Intelligent systems and Applications

作者： Yu, Lingtao Shuai, Rongbiao Zhao, Jilang Wu, Guoliang Xia, Guisuo Lai, Zhihua Wu, Haiyan State Key Laboratory of Robotics and System HIT Harbin China School of Mechanical and Electrical Engineering Harbin Engineering University Harbin China Jiujiang Precision Measuring Technology Research Institute Jiujiang China

ISBN: (纸本)9781424498574

The double parallel-joints CMM is a new coordinate measuring machine that between the tradion coordinate measuring machine and the multi-joint coordinate measuring machine. To further study of the double parallel-joints CMM , it is necessary to study on the error model of the measuring machine. The kinematics model is constructed by the D-H method and the error model for the double parallel-joints CMM is constructed too. The SimMechanics institutions model and the M-function model verifies that the theoretical analysis is ture ,by the simulation. to verify the correctness of the error model, laying the groundwork for further theoretical research. The theoretic foundation is made for the further study of The double parallel-joints CMM. © 2011 IEEE.

关键词： MATLAB

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A pose measurement system for optical precision operation

A pose measurement system for optical precision operation

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作者： Ma, Li Rong, Weibin Ouyang, Hangkong He, Zhengfeng Sun, Lining Department of Precise Mechanical Engineering School of Mechanical and Electronic Engineering and Automation Shanghai University Shanghai 200072 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

A new 3-DOF pose precision measurement system based on linear variable differential transformer (LVDT) is developed, built and tested. The system is mainly composed of four LVDTs of symmetrical distribution, which is used to detect the pose relations between a spherical mirror and a resonantor in an optical assembly process. Motion pose of the spherical mirror controlled by an optical assembly robot is formulated according to their geometrical relationship. A LVDT processing circuit using integrated signal conditioning chip AD598 is designed as the control system of pose measurement. Calibration experiments illustrate that the LVDT possesses well static and dynamic characteristics. A PID algorithm is used to improve the adjusting efficiency. Experimental results show that the pose measurement system with maximum angle error of 10" and maximum distance error of 0.5 μm can complete pose adjustment between the spherical mirror and the resonator in 25 seconds, which demonstrate the effectiveness of the proposed method for pose measurement. Copyright © 2011 American Scientific Publishers All rights reserved.

关键词： Mirrors

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Improvement of Microchannel Geometry Subject to Lateral Dielectrophoresis Using Numerical Simulations

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Procedia Engineering 2011年 15卷 336-340页

作者： L.N. Sun D.L. Liu L.G. Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Robotics and Microsystems Center Soochow University Suzhou 215021 China

Continuous particles separation device by lateral dielectrophoretic force shows a favorable promise for multiple cell population separation and purification. This paper addresses the effects of micro-channel geometry shape on the electric field distribution and the distribution of the gradient of electric field square which has a direct influence on the magnitude of the dielectrophoretic force. Before this was done, the influence of aspect ratio of micro-channel geometry was investigated first. Numerical method was adopted in this paper to study the electric field distribution and the gradient of the electric field square distribution. Results show that micro-channel geometry shape and its aspect ratio have great influence on the electric field distribution and dielectrophoresis distribution. As a result, this paper proposes novel micro-channel geometry to improve electric field distribution, further more for a better dielectrophoresis separation. The improved micro-channel can generate stronger electric field strength and larger dielectrophoretic force.

关键词： Dielectrophoresis Finite element Continuous separation Multiple cell populations separation

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