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

作者： Sun, Junbao Liu, Haopeng Li, Xu Feng, Haibo Fu, Yili Zhang, Songyuan Intelligent Robot Research Center Zhejiang Laboratory Hangzhou311100 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819964796

In order to make the robot have high dynamic motion ability, this paper uses the trajectory optimization method to plan the jumping motion trajectory of the humanoid robot quickly and effectively, and carries out the jumping motion experiment on the HIT-HU humanoid robot platform. In order to improve the solving speed of trajectory optimization problem, simplified centroid dynamics model and single rigid body model are established. Differential dynamic programming (DDP) based on the combination of the centroid dynamic model and the whole body joint kinematic model is used to solve the hopping trajectory optimization problem with high accuracy, and the external penalty function method is used to deal with the relevant constraints. In order to overcome the problem that the solver is sensitive to the initial point selection, a hierarchical trajectory optimization framework is proposed. The framework uses the direct collocation method based on the single rigid body model. The trajectory of the simplified model is used as the initial trajectory guess, and the differential dynamic programming method is introduced to solve the optimal trajectory of the whole joint. The differential dynamic programming algorithm using the direct method of warm start is about twice as fast as the method of manually given initial trajectory. The simulation and experimental verification of the vertical jump trajectories generated by the algorithm on the humanoid robot HIT-HU show that the jump trajectories generated by the algorithm can be effectively transformed into the motion trajectories of humanoid robots, and can be effectively executed on the physical prototype. This further verifies the effectiveness of the algorithm and plays an important role in practical application. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Anthropomorphic robots

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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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Research on Multi-sensor Fusion Localization of Wheel-Legged Robots in Dynamic Scenarios 7

Research on Multi-sensor Fusion Localization of Wheel-Legged...

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7th International Conference on Automation, Control and Robots, ICACR 2023

作者： Li, Xu Fu, Yili Cheng, Zuolun Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China Zhejiang Laboratory Intelligent Robot Research Center Hangzhou311100 China

ISBN: (纸本)9798350302882

With the rapid development of human beings in motion control and localization perception, intelligent mobile robots are widely used in various scenarios, such as industrial production, medical care, logistics and distribution. Among them, wheel-legged robots have both the high mobility of wheeled robots and the high adaptability of legged robots, which can not only move fast on platform terrain, but also adapt to rugged and complex ground with the multiple degrees of freedom of their legs. Wheel-legged robots face the following main problems in high-precision robust localization in multiple scenarios: there are a lot of dynamic factors in daily indoor and outdoor scenarios, such as vehicles, pedestrians, etc., which require specific processing of dynamic environment in the visual front-end part to improve the effect of visual factor constraints;as ground mobile robots, the localization framework of visual inertial fusion (VIO) will show scale degeneration phenomenon, resulting in long-distance localization accuracy decline. In addition, as a two wheeled inverted pendulum robot, the ground constraint form will undergo corresponding changes. Aiming at the above problems, this paper takes the hydraulic-driven wheel-legged robot as the object and proposes a multi-sensor fusion localization method in dynamic scenarios. © 2023 IEEE.

关键词： Degrees of freedom (mechanics)

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Design and manufacturing of micro/nanorobots

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International Journal of Extreme Manufacturing 2024年第6期6卷 169-202页

作者： Junmin Liu Rencheng Zhuang Dekai Zhou Xiaocong Chang Longqiu Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinPeople's Republic of China Key Laboratory of Micro-systems and Micro-structures Manufacturing HarbinPeople's Republic of China Zhengzhou Research Institute of Harbin Institute of Technology ZhengzhouPeople's Republic of China

Micro/nanorobots(MNRs)capable of performing tasks at the micro-and nanoscale hold great promise for applications in cutting-edge fields such as biomedical engineering,environmental engineering,and *** cope with the intricate and dynamic environments encountered in practical applications,the development of high performance MNRs is *** have evolved from single-material,single-function,and simple structure to multi-material,multi-function,and complex ***,the design and manufacturing of high performance MNRs with complex multi-material three-dimensional structures at the micro-and nanoscale pose significant challenges that cannot be addressed by conventional serial design strategies and single-process manufacturing *** material-interface-structure-function/performance coupled design methods and the additive/formative/subtractive composite manufacturing methods offer the opportunity to design and manufacture MNRs with multimaterials and complex structures under multi-factor coupling,thus paving the way for the development of high performance *** this paper,we take the three core capabilities of MNRs—mobility,controllability,and load capability—as the focal point,emphasizing the coupled design methods oriented towards their function/performance and the composite manufacturing methods for their functional *** limitations of current investigation are also discussed,and our envisioned future directions for design and manufacture of MNRs are *** hope that this review will provide a framework template for the design and manufacture of high performance MNRs,serving as a roadmap for researchers interested in this area.

关键词： micro/nanorobots functional structure design manufacturing

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A Trajectory Planning Framework for Experimental Module Manipulator On-Orbit Servicing

A Trajectory Planning Framework for Experimental Module Mani...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Ma, Boyu Cao, Baoshi Liu, Yang Xie, Yuteng Yang, Xiaohang Wang, Wei Hu, Handong Zhou, Xiaokai Ji, Yiming Wang, Zhengpu Li, Mengfei Sun, Haoran Sun, Wandong Xie, Zongwu Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150080 China Northeast Agricultural University School of Resources and Environment Harbin150030 China

ISBN: (纸本)9798350325706

This article proposes a novel trajectory planning framework for the Experimental Module Manipulator (EMM) on-orbit servicing (OOS). For a start, the simulation system of the EMM based on Open Inventor is developed, and the trajectory planning technical route of the EMM for OOS missions is illustrated, including two main phases: large-scale transfer and small-scale approach. Before trajectory planning, the Gilbert-Johnson-Keerthi convex bounding boxes of the CSS and the EMM are modeled. Moreover, we present a Cartesian-space collision-free planning scheme. For the different task requirements in the above two phases, two corresponding collision-free trajectory planning schemes in joint space are proposed. Finally, simulations of the EMM supporting an astronaut extra-vehicular activity verify the effectiveness of our trajectory planning framework and all of the schemes presented in this article. © 2023 IEEE.

关键词： Experimental Module Manipulator (EMM) extra-vehicular activity (EVA) on-orbit servicing (OOS) Trajectory planning

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Improving the Reliability of Gaze Estimation through Cross-dataset Multi-Task Learning 4

Improving the Reliability of Gaze Estimation through Cross-d...

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4th International Conference on High Performance Big Data and Intelligent systems, HDIS 2022

作者： Zhang, Hanlin Wang, Xinming Ren, Weihong Noack, Bernd Rainer Liu, Honghai Harbin Institute of Technology State Key Laboratory of Robotics and System Shenzhen China

ISBN: (数字)9781665491440

ISBN: (纸本)9781665491440

In recent years, gaze estimation has been applied to numerous application scenarios, such as driver monitor systems and autism evaluation, to name a few. However, the current algorithms are based on an assumption: The users eyes are all open in the input images. In practice, this assumption does not always hold since people blink. Images with eyes closed will result in irregular gaze estimation results that will affect the safety of the vehicle driving and the reliability of the evaluation results. Here, we address the problem by leveraging cross-dataset training to train a multi-Task network capable of simultaneously estimating the eye gaze and the blink on the gaze estimation dataset and blink estimation dataset. We further compare our networks results with that of single-Task networks and evaluate our network in a simulated scenario. The experimental results demonstrate that our method is suitable for practical use and can improve the reliability of the gaze estimation results. © 2022 IEEE.

关键词： Reliability

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Wheel's Slip Ratio and Sinkage Estimation for Planetary Rovers Moving on Deformable Terrain

Wheel's Slip Ratio and Sinkage Estimation for Planetary Rove...

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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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Kirigami-inspired continuum soft arm with embedded sensing for non-destructive inspection and sorting

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Science China Materials 2025年第2期68卷 552-560页

作者： Jinsui Xu Boyi Xu Honghao Yue Yifan Lu Zheping Wang Zongquan Deng Fei Yang State Key Laboratory of Robotics and System School of Mechatronics EngineeringHarbin Institute of TechnologyHarbin 150001China Wu Xianming School of Intelligent Engineering South China University of TechnologyGuangzhou 510641China

The sensing capabilities of a soft arm are ofparamount importance to its overall performance as they allow precise control of the soft arm and enhance its interactionwith the surrounding environment. However, the actuationand sensing of a soft arm are not typically integrated into amonolithic structure, which would impede the arm’s movement and restrict its performance and application scope. Toaddress this limitation, this study proposes an innovativemethod for the integrated design of actuator structures andsensing. The proposed method combines the art of kirigamiwith soft robotics technology. In the proposed method, sensorsare embedded in the form of kirigami structures into actuatorsusing laser cutting technology, achieving seamless integrationwith a soft arm. Compared to the traditional amanogawakirigami and fractal-cut kirigami structures, the proposedmiddle-cut kirigami (MCK) structure does not buckle duringstretching and exhibits superior tensile performance. Based onthe MCK structure, an advanced interdigitated capacitivesensor with a high degree of linearity, which can significantlyoutperform traditional kirigami sensors, is developed. Theexperimental results validate the effectiveness of the proposedsoft arm design in actual logistics sorting tasks, demonstratingthat it is capable of accurately sorting objects based on sensorsignals. In addition, the results indicate that the developedcontinuum soft arm and its embedded kirigami sensors havegreat potential in the field of logistics automation *** work provides a promising solution for high-precisionclosed-loop feedback control and environmental interaction ofsoft arms.

关键词： kirigami embedded sensing continuous soft arm non-destructive inspection

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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 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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