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Control of SEA Modular Joint for Rehabilitation Exoskeleton Based on Modified Model Predictive Control 11

Control of SEA Modular Joint for Rehabilitation Exoskeleton ...

11th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2021

作者： Chen, Wanxin Zhang, Bi Yao, Jie Zhao, Xingang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781665425278

The lower limb rigid rehabilitation exoskeleton is research emphasis in lower limb disability assistance and rehabilitation. Modular joints integration in exoskeleton provides high-efficient human-robot interaction. However, it is difficult to achieve miniaturization of structure design. Meanwhile, the lack of constraint design in control makes it difficult to meet the requirements of interaction. A novel SEA modular joint is proposed and the related control problem under constraints are established in this paper. Benefited from interval switching strategy, the proposed SEA modular joint has variable stiffness characteristics while the control complexity introduced by nonlinearity is reduced. On the control of SEA modular joint, the framework of model predictive control (MPC) is applied. The iterative linearization is presented to resolve the nonlinearity of system and the modified cost function in MPC is presented to achieve the prescribed degree of stability. The trajectory tracking and disturbance experiments are conducted. The results show that the proposed method can realize the tracking of reference trajectory while satisfying control constraints. The controller can reject disturbance effectively and modified cost function enhances MPC performance significantly. © 2021 IEEE.

关键词： Model predictive control

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Bionic Vibrotactile Feedback for Stiffness Recognition Towards the Pinch of a Prosthetic Hand

Bionic Vibrotactile Feedback for Stiffness Recognition Towar...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Yun Fang Yujun Wu Weichao Guo Xinjun Sheng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Meta Robotics Institute Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

The prosthetic hand has access to abundant hand-object information with equipped sensors. Nevertheless, there is a gap between high-dimensional sensory signals and effective tactile feedback for functional tasks with intuitive strategies. Here, we proposed a bionic vibrotactile interface providing stiffness feedback during a prosthetic hand pinching. The compact and flexible device consisted of four independently addressable eccentric rotating mass (ERMs). We designed a bionic coding (BC) strategy referenced from the physiological state of the force applied on skin. The proposed interface was evaluated on ten subjects with perceptual experiments, and compared with two traditional coding methods, i.e., circular coding (CC) and intensity coding (IC). The experiment results showed that CC and IC were limited by ERM pitch and the number of patterns for absolute information identification. Behavioral and psycho-physiological assessments demonstrated the superiority of BC in terms of classification accuracy $({85.94}\% \pm\ {3.29}\%)$ and cognitive burden $({4.0167} \pm {1.6376})$ . Specifically, CC with a pitch of 50 mm achieved best performance $({95.47}\% \pm\ {3.57}\%)$ for four-stiffness recognition and performed similarly to BC in psychophysical evaluation, whereas this configuration was not favorable for wearability and extendability. Moreover, subjects indicated that BC was a more natural representation for stiffness which they preferred in practical applications. The outcomes of this study indicated that the proposed vibrotactile interface can be intuitively exploited by subjects for stiffness recognition, proving the potential for extended multi-finger configuration of high-dimensional information feedback.

关键词： Sockets Force Tactile sensors Biomechatronics Encoding Skin Physiology Sensors Object recognition Prosthetic hand

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Few-shot Underwater Acoustic Target Recognition Based on Siamese Network 42

Few-shot Underwater Acoustic Target Recognition Based on Sia...

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42nd Chinese Control Conference, CCC 2023

作者： Yang, Haizhou Liu, Meiqin Zhang, Senlin Zheng, Ronghao Dong, Shanling Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China College of Electrical Engineering Zhejiang University Hangzhou310027 China Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an710049 China

ISBN: (纸本)9789887581543

Underwater acoustic target recognition is a widely investigated issue in the field of underwater acoustics. Many good results have been reported for underwater acoustic target recognition. However, in practical applications, the strong demand for labeled data for underwater acoustic target recognition is a big obstacle. In order to solve this problem, researchers have explored few-shot learning and unsupervised methods in various papers. A Siamese network is proposed which is composed of one-dimensional convolution and Long Short-Term Memory (LSTM) neural networks, called 1DCLSN. A structure for 1DCLSN is designed which combines contrastive information with label information and obtains satisfactory recognition results. In addition, the contrastive loss function with a different clustering term is modified to improve the performance. With only few labeled training samples, the performance of the proposed approach is better than those of other deep learning methods. The experiment shows the great potential of our method. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Underwater acoustics

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Design and Performance Analysis of a Class of Generalized Predictive Controllers

arXiv

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arXiv 2023年

作者： Zhang, Feilong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

The design and structure of generalized predictive control (GPC) are not simple and intuitive. The performance analysis does not deeply analyze how the controller parameters affect the system characteristics and the relationship between the tracking error caused by the noise and the selected controller parameters. This paper proposes a generalized predictive control, and its design is simple and intuitive for unnecessary solving the Diophantine equation. Then the relationship between desired output, disturbance, and system output is analyzed by the characteristic equation and steady-state analysis. Based on this, the study presents research findings on the steady state of the system and verifies them through simulations. Furthermore, this paper introduces GPC with disturbance compensation and incremental generalized minimum variance control (IGMVC) with disturbance compensation. The conditions for the elimination of disturbance are presented in theory and simulation for the first time. © 2023, CC BY.

关键词： Controllers

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Research on High Reliability and Redundancy Design Method of Risk-driven Transformer Internal Inspection Robot

Research on High Reliability and Redundancy Design Method of...

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robotics, Artificial Intelligence and Intelligent Control (RAIIC), International Conference on

作者： Yabiao Wang Yuming Zhao Xianshuai Sun Zhen He Zhigang Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China Key Laboratory of Marine Robotics Shenyang China University of Chinese Academy of Sciences Beijing China

Aiming at the demand for intelligent operation and maintenance of large-scale oil-immersed power transformers with high reliability tasks, the research on risk-driven design methods for power transformer internal inspection robots was carried out. From the perspective of operation and maintenance safety, we reduce the risks of robot operation and put forward a risk-driven robot system-wide high reliability and redundancy design method, which includes the robot structure design, control strategy, backup design and other dimensions. The research results of the article provide reliable theoretical support for the safe, reliable and intelligent operation and maintenance of power transformers, in the areas of robot space vector arrangement propulsion, omni-directional environment sensing vision, high reliability robot control strategy, and redundancy and hot backup system design. The research results of the article provide reliable theoretical support for safe and reliable intelligent operation and maintenance of power transformers.

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Flapping-Wing Robot Achieves Multi-Domain Locomotion Using Transformable Wheel Mechanism

Flapping-Wing Robot Achieves Multi-Domain Locomotion Using T...

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IEEE International Conference on robotics and Biomimetics

作者： Xiangxiao Chai Shihua Wang Erzhen Pan Wenfu Xu School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

The difficulty of moving from aquatic to aerial environment is one of the major challenges limiting the development of trans-medium multi-domain locomotion vehicles. In this paper, the concept of the transformable wheel, a feature commonly found in autonomous land vehicles (AL V s), is introduced into the design. Additionally, a flapping-wing robot equipped with multi-domain locomotion capability, which can not only realize aerial flight and surface navigation on water, but also ascend from water to land for subsequent takeoff is presented. The paper first introduces the system design of the robot and proposes the corresponding multi-domain locomotion strategy. Subsequently, the design of the transformable wheel mechanism is described in detail and the force analysis for the water-exit is conducted. The feasibility of the proposed strategy is experimentally validated, confirming the prototype's multi-domain locomotion performance finally. This research explores the feasibility of introducing the transformable wheel mechanism into trans-medium multi-domain vehicle platforms and provides a design example.

关键词： Legged locomotion Torque Limiting Navigation Propellers Roads Wheels Prototypes Motors system analysis and design

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Human joints estimation system of rescue robot with occlusion

Human joints estimation system of rescue robot with occlusio...

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2022 International Conference on Intelligent Dynamics and Control Technology, IDC 2022

作者： Fang, Zhenghui Wang, Anna Bu, Chunguang Sui, Jin Fan, Xiaoliang College of Information Science and Engineering Northeastern University Shenyang110819 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

The human body is often in a partially visible state during rescue at the disaster site. At the same time, when the human body is grasped, the camera located on the actuator at the end of the robotic arm cannot fully bring the human body into the field of view. The existing human pose estimation algorithms do not perform well in this situation, and a joint detection method that can estimate the complete human pose through partial human body information and can perform data refresh in real time is required. We use the occlusion part classification module to extract the weight vector, re-weight it and the joint features extracted from AlphaPose, and add human body geometric constraints when generating 3D human body joints to obtain more accurate 3D human body joint positions. Finally, the robot is successfully used to complete the human grasping experiment, which verifies the effectiveness of the algorithm. © Published under licence by IOP Publishing Ltd.

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Development of a power line Inspection Robot Capable of automatically crossing Obstacles 5

Development of a power line Inspection Robot Capable of auto...

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5th World Conference on Mechanical Engineering and Intelligent Manufacturing, WCMEIM 2022

作者： Yue, Xiang Liu, Yanhua Wang, Hongguang Feng, Yan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China College of Engineering Shenyang Agricultural University Shenyang110866 China

ISBN: (纸本)9781665473699

According to the characteristics of the transmission line environment and the requirements of the inspection task, a robot mechanism for inspection based on the transformation of the transmission line is proposed. The configuration of the robot and the magnetic online charging device are analyzed. The obstacle surmounting process of typical obstacles is analyzed by using finite state machine. The motion sequence of the robot crossing obstacles is planned and the obstacle crossing test is carried out. The test results show that the mechanism can cross the drainage line, tension clamp and other complex obstacles, which verifies the rationality of the mechanism design and the feasibility of the motion planning. With the transformation of the transmission line environment, the robot can efficiently and quickly cross the typical obstacles. © 2022 IEEE.

关键词： Electric lines

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Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

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Frontiers of Mechanical Engineering 2020年第2期15卷 193-208页

作者： Haitao YU Haibo GAO Liang DING Zongquan DENG State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China

As a well-explored template that captures the essential dynamical behaviors of legged locomotion on sagittal plane,the spring-loaded inverted pendulum(SLIP)model has been extensively employed in both biomechanical study and robotics *** at fully leveraging the merits of the SLIP model to generate the adaptive trajectories of the center of mass(CoM)with maneuverability,this study presents a novel two-layered sagittal SLIP-anchored(SSA)task space control for a monopode robot to deal with terrain *** work begins with an analytical investigation of sagittal SLIP dynamics by deriving an approximate solution with satisfactory apex prediction accuracy,and a two-layered SSA task space controller is subsequently developed for the monopode *** higher layer employs an analytical approximate representation of the sagittal SLIP model to form a deadbeat controller,which generates an adaptive reference trajectory for the *** lower layer enforces the monopode robot to reproduce a generated CoM movement by using a task space controller to transfer the reference CoM commands into joint torques of the multi-degree of freedom monopode ***,an adaptive hopping behavior is exhibited by the robot when traversing irregular *** results have demonstrated the effectiveness of the proposed method.

关键词： legged robots spring-loaded inverted pendulum task space control apex return map deadbeat control irregular terrain negotiation

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A Compliant Traction Method of Manipulator Based on Online Calibration of Force Sensor Zero-Point 6

A Compliant Traction Method of Manipulator Based on Online C...

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6th International Conference on Automation, Control and Robots, ICACR 2022

作者： Xu, Zhilu Wang, Weijun Feng, Wei Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen China Shenzhen Institute of Advanced Technology Cas Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China

ISBN: (数字)9781665498739

ISBN: (纸本)9781665498739

With the increasing number of cooperative robots, it is becoming increasingly important to improve the safety and operability of human-robot interaction. Installing a six-dimensional force sensor at the end of the manipulator can realize the drag of the manipulator in Cartesian space. A compliant traction method of manipulator based on online calibration of force sensor zero-point is proposed in this paper. Aiming at the problem of "zero drift"of force sensor, after calculating the gravity of the end tool, the zero-point of the force sensor is calibrated online by means of mean processing, so as to obtain more accurate external force. Then, the relationship between the end position of the manipulator and the external force, the end moving speed of the manipulator and the external force is established, and the change of the position and speed of the manipulator is controlled by the external force at the same time. Finally, experiments show the effectiveness of this method and ensure the safety and reliability in the traction process. © 2022 IEEE.

关键词： Manipulators

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