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Mechatronics and robotics Engineering (ICMRE), International Conference on

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

ISBN: (数字)9798350394276

ISBN: (纸本)9798350394283

This paper presents an upper limb exosuit for human augmentation. The exosuit utilizes a low-cost air pressure sensing glove based on the principle of air pressure to detect hand grasping states. It achieves assistance in upper limb elbow flexion movements during activities such as pulling and lifting through a driving module and wire rope for power transmission. To verify the effectiveness of the upper limb exosuit, pull-ups and lifting experiments were performed on five healthy participants with and without the exosuit. The surface electromyographic (sEMG) signals were recorded from selected muscles (Brachioradialis (BR), biceps brachii (BB) and latissimus dorsi (LD)) to assess how well the exosuit is helping the body. The results indicate a significant decrease in both the mean and peak value of the average normalized sEMG signals of the selected muscles during the pullup and load-lifting experiments. The finding indicates that the designed upper limb exosuit system can reduce muscle activation during pulling up and lifting tasks, effectively providing assistance. Future research directions include further optimizing the exosuit’s mechanical structure, improving the air pressure sensing glove’s state recognition accuracy and validating the application effectiveness of the exoskeleton suit in specific scenarios such as rock climbing and rope climbing.

关键词： Mechatronics Wires Power transmission Grasping Muscles Robot sensing systems Rocks

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Design and Analysis of Cellular Multidimensional Morphing Linkage of Aircraft Fuselage

Design and Analysis of Cellular Multidimensional Morphing Li...

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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Hualiang Liu Hong Xiao Guang Yang Hongwei Guo Rongqiang Liu Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350394276

ISBN: (纸本)9798350394283

Firstly, this paper proposes two types of variable cross-section morphing for the aircraft fuselage: upper convex and below convex morphing. Secondly, an innovative design of a cellular multidimensional morphing linkage combining planar six-bar linkages and a 6-UPS parallel linkage is proposed. The DOF of the linkage is analyzed, and kinematic simulation analysis of the morphing linkage is carried out. Finally, a prototype of the morphing fuselage is developed, and through morphing capacity test, it is verified that the morphing fuselage can achieve reversible upper convex and below convex morphing, with maximum radial morphing rates of 11.9% and 11.4%, verifying the feasibility of the linkage design.

关键词： Couplings Mechatronics Simulation Prototypes Kinematics Aircraft Robots

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Large Fixture Calibration Method Based on Point Cloud Scanning for Robotic Drilling

Large Fixture Calibration Method Based on Point Cloud Scanni...

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Automation, Control and robotics Engineering (CACRE), International Conference on

作者： Yongzhuo Gao Haibo Gao Dexin Cheng Wei Dong the State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350350302

ISBN: (纸本)9798350350319

The rocket fuel tank requires the splicing of multiple sub-parts, which is difficult to be processed in an integrated manner. Among them, the short shell parts of the storage tank play a linking role and need to be drilled on the surface. Due to the large size of the tooling of the parts, there are problems such as large installation and positioning errors and low precision of robot automatic drilling. Therefore, a robot automatic hole making calibration method is proposed to solve the current problems. In order to achieve automated control, a large-scale robot automatic drilling system must have large-scale flexible tooling, control algorithms, human-computer interaction interfaces, execution units, and integrated tool rooms. It is essential to build effective calibration procedures as a foundation for this automation. The calibration plane is fitted, positioned, and calibrated using the point cloud scanning method. Subsequently, the hand-eye calibration method is employed to establish the relationship between the coordinate systems. Using this approach, the calibration process is ultimately finished, resulting in the successful implementation of automated drilling. The experimental findings demonstrate that, in the designated quadrant, the drilling rate of the robot can achieve 5 holes per minute. Furthermore, the average variance of the hole position is below 0.2mm, and the highest error is 0.5mm. These results align with the requirements of practical production.

关键词： Drilling Point cloud compression Rockets Automation Service robots Robot kinematics Splicing

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Design and Testing of Bio-inspired Flexible Skin Variable Sweep and Flip Wing

Design and Testing of Bio-inspired Flexible Skin Variable Sw...

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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Yue Bai Guang Yang Hong Xiao Hongwei Guo Rongqiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350394276

ISBN: (纸本)9798350394283

Fixed-wing aircraft cannot accommodate different flight conditions. Numerous studies have demonstrated the potential of Bio-inspired morphing wings as a viable solution to tackle this issue. In this paper, a Bio-inspired Flexible Skin Variable Sweep and Flip wing is proposed through the analysis of the deformation and structural forms of seagulls and albatrosses. The bio-inspired morphing wing consists of mechanisms, composite skins, and actuators, which can achieve a sweep angle of 20-70 degrees, a wingtip flip of ± 20 degrees, and a wing area change of $31.4 \%$. The aerodynamic performance and deformation capability of the wing at multiple sweep angles were analyzed. Finally, a prototype was developed, and effectiveness of the design were verified through deformation capability test.

关键词： Actuators Mechatronics Deformation Biomimetics Prototypes Aerodynamics Skin

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A Bioinspired Soft Robot Combining the Growth Adaptability of Vine Plants with a Coordinated Control system

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Research 2021年第1期2021卷 1266-1273页

作者： Pengchun Li Yongchang Zhang Guangyu Zhang Dekai Zhou Longqiu Li State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbinHeilongjiang 150001China

Tip-extending soft robots,taking flexible film or rubber as body material and fluid pressure as input power,exhibit excellent advantages in constrained and cluttered environments for detection and ***,existing soft continuum robots are of great challenges in achieving multiple,mutually independent,and on-demand active steering over a long distance without precise steering *** this paper,we introduce a vine-like soft robot made up of a pressurized thin-walled vessel integrated with the high controllability of a control system with multiple degrees of freedom in three ***,steering and kinematic models to relate the steering angle and robot length to the location of the robot tip are provided,and a dynamic finite element model for analyzing the motion of the spatial consecutive steering is *** demonstrate the abilities of disinfection of the robot moving in a long and tortuous pipeline and detection in a multi-obstacle constrained *** is established that the robot exhibits great advantages in active consecutive steering over a long distance,high controllability in completing more complex path planning,and significant ability of carrying operational tools for ventilation pipeline disinfection and multi-obstacle *** bionic soft robot shows great promise for use in environment sensing,target detecting,and equipment servicing.

关键词： robot Robot obstacle

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A Collision Detection Algorithm of Inspection Robot for Steam Generator Heat Transfer Tubes

A Collision Detection Algorithm of Inspection Robot for Stea...

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IEEE International Conference on Mechatronics and Automation

作者： Xuan Yu Biying Xu Jinghan Lin Kuan Zhang Jizhuang Fan Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Ensuring the operational safety of inspection robot for steam generator heat transfer tubes necessitates continuous internal collision detection to prevent self-collision and external collision detection to avoid contact with the surrounding environment. However, current collision detection algorithms struggle to balance accuracy with computational efficiency and are not fully applicable to the unique conditions of a nuclear power plant. This paper introduces a novel collision detection algorithm specifically tailored for a crawler-type inspection robot for steam generator heat transfer tubes. By translating three-dimensional collision issues into two-dimensional intersection problems, the algorithm simplifies the complexity of collision detection while ensuring accuracy. Simulation results indicate that the algorithm achieves an average computation speed of 0.02 seconds per instance, which is sufficient to meet real-time planning requirements during autonomous operations. Furthermore, even in the presence of motion errors, the algorithm maintains a 100% safety rate, guaranteeing absolute safety of the robot's movement. These findings further validate the feasibility and practicality of the proposed algorithm for use within the nuclear power plant environment.

关键词： Accuracy Inspection Generators Real-time systems Safety Electron tubes Planning

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Analysis of normal force of wheel-sand interaction for planetary rovers with active suspension

Analysis of normal force of wheel-sand interaction for plane...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Wang, Zhengyin Yang, Huaiguang Ding, Liang Lan, Qingning Gao, Haibo Terze, Zdravko Deng, Zongquan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China University of Zagreb Faculty of Mechanical Engineering and Naval Architecture Zagreb10000 Croatia

ISBN: (纸本)9798350325706

The planetary rover with active suspension can climb steeper slopes and cross bigger obstacles in a wheel-step motion mode, which enables the planetary rover to perform more complex exploration tasks. However, wheel-step motion requires coordinated movement of the suspension and the wheels: the suspension can determine the wheel's sinkage depth and translation speed. Matching up with the wheel rotation speed can actively construct the slip ratio. The forces exerted on the wheels by sand during this process are a key index for motion control. This poses new challenges to existing wheel-sand interaction models. In this paper, dynamic normal force tests are carried out. The dynamic variation of wheel normal force with slip ratio is investigated at different sinkage depths. It is found that the normal force exerted on the wheel increases firstly and then decreases with the slip ratio, and reaches the maximum value near s=0. The distributed stresses of the wheel were analysed by discrete element method (DEM) simulation, and the phenomenon of the distribution stress reconstruction of the wheel is found. Further, by analyzing the local particles in contact with the wheel, it is found that the particle movement direction and morphology vary with slip ratio. The analysis of the wheel's normal force and the granular material variation with slip ratio provides the basis for establishing a physics-based wheel-sand interaction model. © 2023 IEEE.

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Development of an Integrated Grapple Chain for a Simultaneous Three-Fingered End-Effector 16th

Development of an Integrated Grapple Chain for a Simultaneou...

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

作者： Wu, Jun He, Yu Wang, He Fan, Shaowei School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu611731 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819965007

This paper presents the development of an integrated grapple chain for a simultaneous three-fingered end-effector. The geometrical constraint with four stages is firstly defined. Then, a grapple finger is presented to fulfill the proposed four stages with an approximately straight line actuation. Then, the actuation chain of linkage is designed by modification, optimization and combination. At last, Simulation indicates that the grapple finger can conduct planar and linear motion, which contributed to restrain the target gradually. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： End effectors

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Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization

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IEEE robotics and Automation Letters 2025年第7期10卷 7460-7467页

作者： Wang, Haoyu Zhou, Ruyi Ding, Liang Liu, Tie Zhang, Zhelin Xu, Peng Gao, Haibo Deng, Zongquan Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin 150001 China

Reinforcement learning (RL) has demonstrated impressive performance in legged locomotion over various challenging environments. However, due to the sim-to-real gap and lack of explainability, unconstrained RL policies deployed in the real world still suffer from inevitable safety issues, such as joint collisions, excessive torque, or foot slippage in low-friction environments. These problems limit its usage in missions with strict safety requirements, such as planetary exploration, nuclear facility inspection, and deep-sea operations. In this paper, we design a hierarchical optimization-based whole-body follower, which integrates both hard and soft constraints into RL framework to make the robot move with better safety guarantees. Leveraging the advantages of model-based control, our approach allows for the definition of various types of hard and soft constraints during training or deployment, which allows for policy fine-tuning and mitigates the challenges of sim-to-real transfer. Meanwhile, it preserves the robustness of RL when dealing with locomotion in complex unstructured environments. The trained policy with introduced constraints was deployed in a hexapod robot and tested in various outdoor environments, including snow-covered slopes and stairs, demonstrating the great traversability and safety of our approach. © 2016 IEEE.

关键词： Robots Safety Legged locomotion Training Foot Torque Adaptation models Stress Dynamics Robustness

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Active Complaint Control for Smooth and Quick Connector Assembly

Active Complaint Control for Smooth and Quick Connector Asse...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Wu, Jun He, Yu Wang, He Wang, Qiyu Fan, Shaowei University of Electronic Science and Technology of China School of Mechanical and Electrical Engineering Chengdu611731 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9798350325706

This paper presents an active complaint control for smooth and quick connector assembly. The application requirement of an end-effector with simultaneous connecters is firstly defined. Then, the hybrid impedance control provides the foundation for active search and passive assembly. After that, a resolution-variant Lissajous search is proposed for smooth motion and earlier connection. At last, simulations and experiments indicate that the proposed controller can guarantee smooth and quick search for connector assembly. © 2023 IEEE.

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