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IEEE International Conference on robotics and Biomimetics

作者： Zhen Yan Haitao Yu Jifeng Xia Baolin Tian Haibo Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665481106

Ground resonance (GR) is a potentially destructive mechanical instability involving the coupling of the regressive rotor mode to the fuselage motion. Vibration can be disastrous if measures are not taken in time to mitigate vibrations. This paper presents a study on the use of adaptive landing gear to eliminate GR in helicopters. A GR model considering adaptive landing gear is established, and the dynamic characteristics of the system are analyzed. In this paper, the Linear Quadratic Regulator (LQR) controller is applied to suppress the GR. The setting of the weighting matrix coefficients directly determines the effect of the control system. Therefore, a design method of LQR weighting matrix based on multi-objective genetic algorithm is proposed, which enables the control system to meet multiple performance indicators concurrently. Numerical simulations of GR suppression were performed for the rotor speed range where GR is most likely to occur. The results show that even if the rotor system is not equipped with any dampers, the suppression of helicopter GR can be achieved by using the control strategy proposed in this paper to control the adaptive landing gear. Therefore, the application of adaptive leg landing gear to helicopters can provide some ideas to eliminate GR.

关键词： Vibrations Legged locomotion Adaptive systems Gears Helicopters Rotors Vibration measurement

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The controller architecture of dexterous hand with switchable coupling mechanism*

The controller architecture of dexterous hand with switchabl...

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IEEE International Conference on robotics and Biomimetics

作者： Ziqi Liu Li Jiang Wangyang Li Ming Cheng Xiaoqiao Wu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665481106

This work investigates the design of the sensor system and control system for the coupled adaptive multi-fingered dexterous hand with actively switchable modalities. Considering the specific mechanical structure characteristics of the dexterous hand, a master-slave distributed control system design approach is adopted to integrate the sensor system and control system inside the finger, which completes the mechatronic integration of the whole hand. It can realize the modularity at the finger level and simplify the system complexity. This paper also introduces a fuzzy adaptive PID control method and develops the control strategy in active switchable mode. The experimental results show that the controller architecture can adapt to the changes in the institutional characteristics of the system when the finger switches between coupled and coupled adaptive states. It can complete the high-precision tracking of the target trajectory, achieve accurate position control, and have superior real-time performance.

关键词： Adaptive systems Target tracking Position control Switches Control systems Sensor systems Real-time systems

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Damage evolution mechanism and low-damage grinding technology of silicon carbide ceramics

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International Journal of Extreme Manufacturing 2025年第2期7卷 551-586页

作者： Chen Li Kechong Wang Oleg Zakharov Hailong Cui Mingtao Wu Tianchen Zhao Yongda Yan Yanquan Geng State Key Laboratory of Robotics and System(HIT) Harbin Institute of TechnologyHarbin 150001People’s Republic of China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001People’s Republic of China Moscow State University of Technology STANKINMoscow 127994Russia Sichuan Precision and Ultra-Precision Machining Engineering Technology Center Chengdu 610200People’s Republic of China College of Mechanical Engineering Quzhou UniversityQuzhou 324000People’s Republic of China Hunan Provincial Key Laboratory of High Efficiency and Precision Machining of Difficult-to-cut Material Hunan University of Science and TechnologyXiangtan 411201People’s Republic of China

Silicon carbide(SiC)ceramics are extensively utilized in aerospace,national defense,and petrochemical industries due to their superior physical and chemical *** processing of bulk SiC ceramics necessitates precise and efficient grinding techniques to produce components with satisfactory ***,the inherent high hardness and brittleness of SiC ceramics present significant challenges during grinding,leading to severe brittle fracture and tool wear that compromise both surface integrity and production *** ductile-regime grinding of SiC ceramics can be achieved by enhancing machine tool accuracy and stiffness while optimizing wheel performance alongside appropriate selection of process parameters,a comprehensive summary of the mechanisms underlying damage evolution during grinding is lacking,and a mature grinding process for SiC ceramics has yet to be *** bridge this gap,the sintering technologies,mechanical properties,and microstructures of SiC ceramics were briefly *** grinding-induced damage mechanism and low-damage grinding technologies of SiC ceramics were *** fundamental science underlying the ductile deformation and removal mechanisms of brittle solids was ***,attention was directed towards the critical role of hybrid energy field grinding in minimizing brittle damages and promoting removal *** review not only elucidates the intrinsic interactions between the work material and abrasives,but also offers valuable insights for optimizing the grinding processes of brittle solids.

关键词： grinding damage evolution low damage high surface integrity silicon carbide ceramics

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Effect of flapping mode on aerodynamic characteristics of bat-like flapping-wing aerial vehicle

Effect of flapping mode on aerodynamic characteristics of ba...

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IEEE International Conference on robotics and Biomimetics

作者： Bosong Duan Tianyou Mao Kening Gong Chuangqiang Guo Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665481106

In this paper, three reciprocating flapping modes of bats are analyzed and studied. According to the flapping structure of bat-like flapping-wing aerial vehicle(FAV), the structural modes corresponding to the three reciprocating flapping modes are established, that is, the symmetric flapping mode(S), the asymmetric flapping mode with the upward flapping angle greater than the downward flapping angle(UR) and the asymmetric flapping mode with the downward flapping angle greater than the upward flapping angle(U). The influence of the three flapping modes on the structural strength is verified by theoretical calculation. The fluid-structure interaction simulation(FSI) is used to verify the influence of three flapping modes on aerodynamic characteristics. Finally, the advantages and disadvantages of three patting methods are compared and analyzed, it is concluded that under the same motion and flow field conditions, the pitching moment and thrust of UR are the smallest, and the lift is the largest, which is suitable for slow and stable flight; U has the largest thrust and pitching moment, and the smallest lift, which is conducive to rapid flight; The pitching moment, thrust and lift of S are moderate, and the performance is balanced, which is suitable for conventional flight. This study is helpful for the structural design of bat-like FAV.

关键词： Biomimetics Aerodynamics Stability analysis Structural engineering Robots

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Semantic Assisted LiDAR Odometry with Loop Closure in Large Scale Urban Environment

Semantic Assisted LiDAR Odometry with Loop Closure in Large ...

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International Conference on systems and Informatics (ICSAI)

作者： Jiaye Lin Yanjie Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665474498

Compared to the vision-based approach, LiDAR-based SLAM has shown a great advantage in depicting geometric characteristics but still suffers from accumulated localization errors during long-term operation in large-scale scenarios. Introducing semantic information to the current system helps to discover higher-level features and establish a stronger association of features in different frames. In this paper, we utilize semantic information to present an integral LiDAR odometry that combines adaptive downsampling feature with label-specified registration to boost the performance of odometry estimation, together with Scan Context as the loop closure module to constrain the amplification of cumulative errors. Experiments are conducted based on the well-known KITTI dataset, which reveals that the proposed framework achieves higher accuracy with an average RTE of 0.97% in real-time and shows great robustness toward various scenarios.

关键词： Location awareness Technological innovation Laser radar Simultaneous localization and mapping Motion estimation Semantics Urban areas

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Prototype Design and Efficiency Analysis of a Novel Robot Drive Based on 3K-H-V Topology

Prototype Design and Efficiency Analysis of a Novel Robot Dr...

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IEEE International Conference on robotics and Biomimetics

作者： Le Qi Dapeng Yang Baoshi Cao Zhiqi Li Yikun Gu Zongwu Xie Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665481106

Robot actuators directly affect the performance of robots, and robot drives directly affect the performance of robot actuators. With the development of robotics, robots have put higher requirements on robot drives, such as high stiffness, high accuracy, high loading, high efficiency, low backlash, compact size, and hollow structure. In order to meet the demand development of robot actuators, this research base proposes a new robot drive based on 3K-H-V topology using involute and cycloidal gear shapes, planetary cycloidal drive, from the perspective of drive topology and through the design idea of decoupling. In this study, the reduction ratio and the efficiency model of the 3K-H-V topology were analyzed, and a prototype planetary cycloidal actuator was designed. The feasibility of the drive is initially verified by experimentally concluding that the PCA has a hollow structure, compact size, and high torque density (69 Nm/kg).

关键词： Actuators Torque Shape Gears Biomimetics Loading Prototypes

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An Efficient and Robust Tightly Coupled Framework for Lidar-IMU Localization and Mapping

An Efficient and Robust Tightly Coupled Framework for Lidar-...

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IEEE International Conference on robotics and Biomimetics

作者： Yanwu Zhai Yili Fu Xu Li Intelligent Robot Research Center Zhejiang Laboratory Hangzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this article, we propose a framework for tightly-coupled lidar inertial odometry, which can achieve highly accuracy in real-time ego-motion estimation and map building of the robot. The estimated motion from inertial measurement unit (IMU) preintegration de-skews point clouds. Then, an initialization method based on MAP estimation is used to align the Lidar frame with the world frame and provide reliable initial values for the system. In order to make the scan matching more accurate, we track the state of each frame, and transform the feature points to the reference frame to build a local map for matching with key frames. To ensure high performance in real-time, an efficient sliding window was used to optimize the keyframes we chose. After obtaining the optimized pose of the keyframe, we further optimize the pose of the normal frame by pose constraints. In addition, loop detection is integrated into our algorithm framework to eliminate accumulated errors, making our algorithm to obtain a globally consistent estimate. The experiment results demonstrate that our method can achieve high accuracy in a variety of indoor and outdoor environments even under fast motion conditions or with insufficient features.

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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An adaptive Kalman filter for physiological tremor suppression in robot-assisted minimally invasive surgery

An adaptive Kalman filter for physiological tremor suppressi...

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IEEE International Conference on robotics and Biomimetics

作者： Daolong Yang Li Jiang Kun Xu Robotics Institute of School of Mechanical Engineering and Automation Beihang University (BUAA) Beijing China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Physiological tremors of surgeons’ hands bring vibration to the tip of surgical instruments, which may severely damage the accuracy of surgical procedures and even put patients’ lives at risk. Thus robot-assisted surgery using a teleoperation system was introduced to solve this problem. Many filter algorithms were implemented into the robot-assisted surgery system to suppress the inevitable tremors, but always overlooking the traits of hand motion. An innovation/residual-based floating forgetting-factor adaptive Kalman filter (IFFAKF) is proposed to address this problem. A floating forgetting-factor is brought into the innovation/residual-based adaptive estimation algorithm to adjust the process noise covariance (Q) and measurement noise covariance (R) of the system, thus generating estimation of voluntary hand movement and suppressing the vibration at the tip of the surgical instrument caused by the physiological tremor during surgeries. The proposed filter has been contrasted with various filters in simulations and experiments. The results confirm that the proposed filter has obvious advantages in terms of time delay, estimation error, and tremor suppression performance.

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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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IEEE International Conference on robotics and Biomimetics

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

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.

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