This paper presents a novel visibility-based asymptotically optimal random search tree trajectory planning algorithm (Visible RRT∗), which is dedicated to addressing the visual servoing tasks under the FOV constraint....
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Achieving dynamic compliance for energy-efficient legged robot motion is a longstanding *** recent predictive control methods based on single-rigid-body models can generate dynamic motion,they all assume infinite ener...
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Achieving dynamic compliance for energy-efficient legged robot motion is a longstanding *** recent predictive control methods based on single-rigid-body models can generate dynamic motion,they all assume infinite energy,making them unsuitable for prolonged robot *** this issue necessitates a mechanical structure with energy storage and a dynamic control strategy that incorporates feedback to ensure *** work draws inspiration from the efficiency of bio-inspired muscle–tendon networks and proposes a controllable torsion spring leg *** design integrates a spring-loaded inverted pendulum model and adopts feedback delays and yield springs to enhance the delay effects.A leg control model that incorporates motor loads is developed to validate the response and dynamic performance of a leg with elastic *** model provides torque to the knee joint,effectively reducing the robot’s energy consumption through active or passive control *** benefits of the proposed approach in agile maneuvering of quadruped robot legs in a realistic scenario are demonstrated to validate the dynamic motion performance of the leg with elastic joints with the advantage of energy-efficient legs.
Gaze estimation, which involves perceiving human gaze directions, is the foundation of gaze analysis. It provides crucial clues for understanding human attention and intention. However, most existing methods are desig...
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Robotic-assisted surgical system has introduced a powerful platform through dexterous instrument and hand-eye coordination intuitive *** knowledge of laparoscopic vision is a crucial piece of information for robot-ass...
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Robotic-assisted surgical system has introduced a powerful platform through dexterous instrument and hand-eye coordination intuitive *** knowledge of laparoscopic vision is a crucial piece of information for robot-assisted minimally invasive surgery focusing on improved surgical *** the transformation with respect to the laparoscope and robot slave arm frames using hand-eye calibration is essential,which is a key component for developing intuitive control *** proposed a novel two-step modified dual quaternion for hand-eye calibration in this *** dual quaternion was exploited to solve the hand-eye calibration simultaneously and powered by an iteratively separate *** obtained hand-eye calibration result was applied to the intuitive control by using the hand-eye coordination *** simulations and experimental studies were conducted to evaluate the proposed method on our surgical robot *** extensively compared the proposed method with state-of-the-art *** demonstrate this method can improve the calibration *** effectiveness of the intuitive control algorithm was quantitatively evaluated,and an improved hand-eye calibration method was *** relationship between laparoscope and robot kinematics can be established for intuitive control.
Grasping occluded objects is a large challenge for hand amputees because of the hand's perception loss. This paper proposed an alternative approach based on artificial vision and augmented reality technology, term...
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Dynamic structuralcolors can change in response todifferent environmental *** ability remains effectiveeven when the size of the speciesresponsible for the structural coloris reduced to a few micrometers,providing a p...
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Dynamic structuralcolors can change in response todifferent environmental *** ability remains effectiveeven when the size of the speciesresponsible for the structural coloris reduced to a few micrometers,providing a promising sensingmechanism for solving microenvironmentalsensing problems inmicro-robotics and ***, the lack of dynamicstructural colors that can encoderapidly, easily integrate, and accuratelyreflect changes in physical quantities hinders their use in microscale sensing applications. Herein, we present a 2.5-dimensionaldynamic structural color based on nanogratings of heterogeneous materials, which were obtained by interweaving a pH-responsive hydrogelwith an IP-L photoresist. Transverse gratings printed with pH-responsive hydrogels elongated the period of longitudinal grating in the swollenstate, resulting in pH-tuned structural colors at a 45° incidence. Moreover, the patterned encoding and array printing of dynamic structuralcolors were achieved using grayscale stripe images to accurately encode the periods and heights of the nanogrid structures. Overall, dynamicstructural color networks exhibit promising potential for applications in information encryption and in situ sensing for microfluidic chips.
作者：
Li, XuFu, YiliZhejiang University
State Key Laboratory of Robotics and System Harbin Institute of Technology State Key Laboratory of Fluid Power and Mechatronic Systems China Harbin Institute of Technology
Intelligent Robot Research Center Zhejiang Laboratory State Key Laboratory of Robotics and System Heilongjiang Province Harbin150001 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, ...
Wedge-shaped microstructures have the ability to reproduce the excellent adhesive properties of geckos’feet because of their unique anisotropic *** particular,the controllability of the wedge-shaped microstructures o...
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Wedge-shaped microstructures have the ability to reproduce the excellent adhesive properties of geckos’feet because of their unique anisotropic *** particular,the controllability of the wedge-shaped microstructures on adhesion is beneficial to the undisturbed grasp or the capture of space ***,the problem currently remains of how to process it efficiently and with high *** a strategy called ultraprecision multistep and layered scribing is proposed for the manufacture of the biomimetic controllable adhesive *** results show that the metal master mold prepared based on the manufacturing strategy has not only good surface topography but also high reliability and ***,the controllable adhesive surface of 1.96 cm2,fabricated by the proposed manufacturing strategy,has a normal adhesion of 1.012 N,and the corresponding shear friction and adhesion coefficient are 3.105 N and 4.82,***,the controllable adhesive surface has been shown to be approximately superhydrophobic and also to possess the properties of controllable adhesion and dynamic ***,after 250 adhesion-detachment cycles,the normal adhesion and shear friction only decrease by 5%and 3%,*** research realizes an environmentally friendly and efficient method by which to manufacture a durable metal mold for fabricating a biomimetic controllable adhesive surface,laying a foundation for its effective application in the adherence of space-floating targets.
Inspired by bacterial flagella in nature,magnetic helical microswimmer is an ideal model to perform complex task in a low Reynolds number *** Memory Polymers(SMPs)with desirable properties are considered as one of the...
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Inspired by bacterial flagella in nature,magnetic helical microswimmer is an ideal model to perform complex task in a low Reynolds number *** Memory Polymers(SMPs)with desirable properties are considered as one of the most preferred options for the development of small-scale ***,fabricating and programming strategies are still ***,we report an approach to fabricate helical microswimmers based on thermoplastic SMP(polylactic acid).Melt-spun polylactic acid fibers containing magnetic particles were enwound to form helical *** shape recovery behaviors were programmed by annealing and *** forms of helical microswimmers(constant-helix-angle conical helix,constant-pitch conical helix,and straight helix)with controlled morphological parameters were *** obtained microswimmers showed 3D locomotion capability under rotating magnetic *** maximum swimming velocity of microswimmers was nearly six body lengths per second,and the near-wall swimming of conical helixes along their sharp end exhibited a smaller ***,we demonstrated programmed shape-switching processes(spring-like contraction and elongation,coiling and uncoiling)and self-repairing of the *** demonstrations of potential applications,tasks of mobile microstent,cargo delivery,and minimally invasive injection were carried *** multifunctional shape-memory microswimmers have immense potential in a variety of applications.
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