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IEEE International Conference on Mechatronics and Automation

作者： Hongjian Yu Zijia Guo Zhenyi Wang Sheji Sun Zhijiang Du State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Four-degrees-of-freedom (4-DoFs) ankle fracture surgery assistant and rehabilitation robot based on 4-RPUR was developed to help the patients recover movement ability of the ankle. Furthermore, to evaluate the performance of the robot, we use a spatial search method to calculate and depict the workspace images, and analyze the sensitivity of the workspace to different parameters; based on screw theory, a singularity evaluation indicator is proposed, and singularity images are drawn; the robot is subjected to stiffness modeling, constructing a stiffness matrix for the mechanism and establishing stiffness evaluation indicators, and creating performance spectra, with further analysis and discussion on the physical variation rules and physical meanings of the spectra.

关键词： Ankle Analytical models Sensitivity systematics Mechatronics Search methods Surgery

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Passive Suspension Design and Dynamics Analysis of Manned Lunar Rover

Passive Suspension Design and Dynamics Analysis of Manned Lu...

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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Junyang Zhang Zhen Liu Zhonghao Qin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Special Robot Equipment Group Harbin Institute of Technology Zhengzhou Research Institute Harbin China

ISBN: (数字)9798350394276

ISBN: (纸本)9798350394283

The lunar surface environment differs significantly from that of Earth, thus necessitating the specialized design of suspension systems for lunar rovers. Within this study, a double wishbone independent suspension system is specifically designed for a manned lunar rover, with its dynamics attributes investigated through theoretical analyses and simulations. Firstly, the structural parameters of the double wishbone suspension are designed. Secondly, the theoretical dynamics model of the suspension is established, the dynamics equations are deduced, and an exploration into the impact of diverse system parameters on the suspension’s dynamics performance is conducted. Finally, the suspension underwent multi-body dynamics analysis using ADAMS to verify compliance with specified requirements for obstacle-crossing performance.

关键词： Space vehicles Suspensions (mechanical systems) Analytical models Mechatronics Moon Mathematical models Shock absorbers

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TRUSTS: A novel treadmill-based multifunctional testing system for performance evaluation of wheeled planetary exploration rover

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robotics and Autonomous systems 2023年 164卷

作者： Yu, Haitao Chen, Jian Pan, Dong Gao, Haibo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Beijing Institute of Spacecraft System Engineering Beijing100094 China

This paper presents a novel treadmill-based multifunctional testing system (TRUSTS) to execute ground testing for wheeled planetary exploration rover (WPER) in both regular and extreme physical conditions before launching. The TRUSTS with specially-made components featuring compact structure and multifunctional testing items comprises a traction loading subsystem (TLS) and a treadmill-based resistance torque loading subsystem (TRTLS). The former offers the working modes including traction loading, position holding, and range limiting. The latter offers working modes including resistance torque loading and leader–follower tracking. By appropriately allocating the working modes of two subsystems, the TRUSTS is capable of conducting diverse testing items. The customized controllers for the TLS and the TRTLS are proposed to guarantee the operation performance of the TRUSTS in all testing items. Extensive experimental results on a Mars rover prototype in both regular and extreme physical conditions demonstrate that the devised TRUSTS could effectively executing trafficability and maneuverability as well as adaptability tests with reliable scenarios and satisfactory precisions of motion tracking and traction/torque loading, which makes the TRUSTS a favorable choice for comprehensive performance assessment of rover in simulant extraterrestrial environment. © 2023 Elsevier B.V.

关键词： Sporting goods

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NNPP: A Learning-Based Heuristic Model for Accelerating Optimal Path Planning on Uneven Terrain

arXiv

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arXiv 2023年

作者： Ji, Yiming Liu, Yang Xie, Guanghu Ma, Boyu Xie, Zongwu Cao, Baoshi State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China

Intelligent autonomous path planning is essential for enhancing the exploration efficiency of mobile robots operating in uneven terrains like planetary surfaces and off-road environments. In this paper, we propose the NNPP model for computing the heuristic region, enabling foundation algorithms like A* to find the optimal path solely within this reduced search space, effectively decreasing the search time. The NNPP model learns semantic information about start and goal locations, as well as map representations, from numerous pre-annotated optimal path demonstrations, and produces a probabilistic distribution over each pixel representing the likelihood of it belonging to an optimal path on the map. More specifically, the paper computes the traversal cost for each grid cell from the slope, roughness and elevation difference obtained from the digital elevation model. Subsequently, the start and goal locations are encoded using a Gaussian distribution and different location encoding parameters are analyzed for their effect on model performance. After training, the NNPP model is able to accelerate path planning on novel maps. Experiments demonstrate that the heuristic region generated by the NNPP model achieves a 3×speedup for optimal path planning under identical hardware conditions. Moreover, the NNPP model’s advantage becomes more pronounced as the size of the map increases. Copyright © 2023, The Authors. All rights reserved.

关键词： Motion planning

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Force Distribution-Based Control Strategy of Landing Gear for the Unmanned Helicopter Landing on the Inclined Surface

Force Distribution-Based Control Strategy of Landing Gear fo...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Tian, Baolin Yu, Haitao Mao, Shihao Cui, Yuxin Yan, Zhen Gao, Haibo Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China College of Electronic Information Engineering Beihang University and the Shanghai Academy of Spaceflight Technology Shanghai China

ISBN: (纸本)9781665481090

The unmanned helicopter plays an important role in the fields of cargo transportation and rescue missions. Due to the limitation of the traditional landing gear structure, the unmanned helicopter has more stringent requirements on the landing terrain. In order to improve the ability to land on the inclined surface for the unmanned helicopter, a novel control strategy of the landing gear based on contact force distribution algorithm is proposed. The overall of landing process includes the desired position tracking stage, the following stage and the attitude adjusting stage. By obtaining the desired acceleration according to the landing and attitude correcting curve of the fuselage, and calculating the desired force based on contact force distribution algorithm, the adaptive motion and trajectory tracking of the landing gear during the landing process has been realized. The simulation results have demonstrated the effectiveness of the strategy when the unmanned helicopter with the initial roll angle of -3 degrees and pitch angle of 3 degrees lands on the inclined surface of 7.07 degrees. In the future, the control strategy can provide a reference for the dynamic landing of the unmanned helicopter while at sea. © 2022 IEEE.

关键词： Acceleration

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Inverse Kinematics of a Reconfigurable Space Manipulator Based on the Closed-Loop Algorithm

Inverse Kinematics of a Reconfigurable Space Manipulator Bas...

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IEEE International Conference on Mechatronics and Automation

作者： Zhiyuan Zhao Xiaohang Yang Zichun Xu Yuntao Li Zhonglai Tian Jingdong Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

This paper investigates a reconfigurable space manipulator’s inverse kinematics (IK) with two lockable passive telescopic links (LPTLs). Depending on these LPTLs’ locking state, the manipulator includes free-space and reconfiguration operation modes. Firstly, we introduce a new ball joint-based solution for the reconfigurable operation mode. Then, we propose an IK simplified method capable of significantly reducing the computational load of the complex inverse differential kinematic (IDK) equations corresponding to the two operation modes. Next, to solve the resulting simplified IDK equations efficiently, we present an IK solution method based on the closed-loop algorithm. This method is developed to resolve the redundancy at the velocity level and can generate highly accurate and smooth trajectory IK solutions that satisfy the joint limit constraints. Finally, we design two typical case studies corresponding to working scenarios of the manipulator during two operation modes. Their simulation results validate the proposed methods’ effectiveness.

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Energy-Consumption Optimization Control for Lunar Rover's Travel with Torque-Distribution-strategy in Rear Wheels

Energy-Consumption Optimization Control for Lunar Rover's Tr...

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IEEE International Conference on Control Science and systems Engineering (CCSSE)

作者： Delun Li Jianfei Cao Yiliang Chen Zongwu Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (数字)9798331517199

ISBN: (纸本)9798331517205

In anticipation of future extensive lunar surface operations, lunar rovers are required to advance towards higher speeds and improved energy conservation. When traveling at high speeds on the lunar surface, the vehicle's energy expenditure is greatly amplified by the influence of the terrain, particularly in conditions where driving and steering are coupled. This paper proposes an energy-saving control strategy for lunar rovers that employs dynamic rear-axle torque distribution, with the goal of optimizing transient energy consumption during travel. To tackle the challenge of non-differentiable functions within the optimization objectives, we suggest using a zeroth-order gradient optimization method for resolution, dynamically constraining the range of control parameters to fulfill the dynamic torque distribution objectives as needed for the task. The energy-saving control effectiveness of the algorithm has been confirmed through simulation, demonstrating a minimum energy-saving ratio of at least 4%, which increases to over 11% as the speed level rises, offering a valuable technical solution for the energy optimization of lunar rovers.

关键词： Space vehicles Energy consumption Torque Distribution strategy Moon Wheels Optimization methods systems engineering and theory Vehicle dynamics Transient analysis

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Design and Experimental Evaluation of WLR-III

Design and Experimental Evaluation of WLR-III

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IEEE International Conference on robotics and Biomimetics

作者： Xu Li Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology and State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Intelligent Robot Research Center Zhejiang Laboratory and State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper introduces the design and experimental evaluation of WLR-III, which stands for the third-generation hydraulic wheel-legged robot. WLR-III is expected to be applied to disaster scenarios where the mobility, adaptability and manipulation capability are required. Based on the development of the previous two generations of wheel-legged robots, this work continuously optimizes the design to achieve higher mobility and stronger adaptability by reducing weight & inertia. The hydraulic power transmission system adopts a hose-less design method to ensure the robustness of the system. What's more prominent is that the successful development of hydraulic power unit (HPU) enables WLR-III to realize hydraulic power autonomy. In addition, to accomplish all kinds of operational tasks in the rescue scene, the electro-hydraulic hybrid drives anthropomorphic arms with heavy load grippers were developed. Finally, the effectiveness and reliability of design optimization have been evaluated through a series of experiments, including grassland movement, load bearing, obstacle-stepping and tool-operating. To the authors' best knowledge, this is the first time that a hydraulic powered autonomous wheel-legged humanoid robot with the ability to operate simple tools has been developed.

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Neural-Network-Driven Reward Prediction as a Heuristic: Advancing Q-Learning for Mobile Robot Path Planning

arXiv

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arXiv 2024年

作者： Ji, Yiming Yun, Kaijie Liu, Yang Xie, Zongwu Liu, Hong State Key Laboratory of Robotics and Systems Harbin Institute of Technology China

Q-learning is a widely used reinforcement learning technique for solving path planning problems. It primarily involves the interaction between an agent and its environment, enabling the agent to learn an optimal strategy that maximizes cumulative rewards. Although many studies have reported the effectiveness of Q-learning, it still faces slow convergence issues in practical applications. To address this issue, we propose the NDR-QL method, which utilizes neural network outputs as heuristic information to accelerate the convergence process of Q-learning. Specifically, we improved the dual-output neural network model by introducing a start-end channel separation mechanism and enhancing the feature fusion process. After training, the proposed NDR model can output a narrowly focused optimal probability distribution, referred to as the guideline, and a broadly distributed suboptimal distribution, referred to as the region. Subsequently, based on the guideline prediction, we calculate the continuous reward function for the Q-learning method, and based on the region prediction, we initialize the Q-table with a bias. We conducted training, validation, and path planning simulation experiments on public datasets. The results indicate that the NDR model outperforms previous methods by up to 5% in prediction accuracy. Furthermore, the proposed NDR-QL method improves the convergence speed of the baseline Q-learning method by 90% and also surpasses the previously improved Q-learning methods in path quality metrics. Copyright © 2024, The Authors. All rights reserved.

关键词： Adversarial machine learning

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NEDS-SLAM: A Neural Explicit Dense Semantic SLAM Framework using 3D Gaussian Splatting

arXiv

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arXiv 2024年

作者： Ji, Yiming Liu, Yang Xie, Guanghu Ma, Boyu Xie, Zongwu Liu, Hong State Key Laboratory of Robotics and Systems Harbin Institute of Technology China

We propose NEDS-SLAM, a dense semantic SLAM system based on 3D Gaussian representation, that enables robust 3D semantic mapping, accurate camera tracking, and high-quality rendering in real-time. In the system, we propose a Spatially Consistent Feature Fusion model to reduce the effect of erroneous estimates from pre-trained segmentation head on semantic reconstruction, achieving robust 3D semantic Gaussian mapping. Additionally, we employ a lightweight encoder-decoder to compress the high-dimensional semantic features into a compact 3D Gaussian representation, mitigating the burden of excessive memory consumption. Furthermore, we leverage the advantage of 3D Gaussian splatting, which enables efficient and differentiable novel view rendering, and propose a Virtual Camera View Pruning method to eliminate outlier gaussians, thereby effectively enhancing the quality of scene representations. Our NEDS-SLAM method demonstrates competitive performance over existing dense semantic SLAM methods in terms of mapping and tracking accuracy on Replica and ScanNet datasets, while also showing excellent capabilities in 3D dense semantic mapping. Index Terms—3D Gaussian Splatting;Dense Semantic Mapping;Neural SLAM;3D Reconstruction. Copyright © 2024, The Authors. All rights reserved.

关键词： Mapping

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