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Assistive robots for Beijing Winter Paralympic torch relay: Accessible technologies to restore human functionality

The Innovation 2024年第1期5卷 19-20页

作者： Bi Zhang Mei Shuai Bicheng Han Shuo Li Lianqing Liu Xingang Zhao State Key Laboratory of Robotics Shenyang Institute of AutomationCASShenyang 110016China Institutes for Robotics and Intelligent Manufacturing CASShenyang 110169China Department of Biomedical Engineering Beihang UniversityBeijing 100191China Beijing AI-Robotics Technology Co. Ltd.Beijing 100176China Zhejiang BrainCo Technology Co. Ltd.Hangzhou 311121China

The success of the Beijing Winter Olympics and Paralympics epitomized the vision of a community with a shared future for *** robots and artificial intelligence technologies were used in various games and events,such as assisting in parades,logistics,and security *** integration of unmanned robotic systems into torch relays was one of the highlights of the Winter Olympics.

关键词： Winter Access artificial

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Comprehensive Performance Optimization of a Novel Anthropomorphic Dexterous Hand

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IEEE robotics and Automation Letters 2025年第7期10卷 6816-6823页

作者： Ma, Yifan Shang, Weiwei Zhang, Fei Pang, Shunxiang Dai, Shuqing Yi, Zhengkun Li, Guotao Cong, Shuang University of Science and Technology of China Department of Automation Jinzhai Road 96 Hefei 230027 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen 518055 China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing 100190 China

Grasp and in-hand manipulation of dexterous hands are essential for daily operational tasks. In this study, an optimized design method for a novel anthropomorphic dexterous hand is proposed, which improves the comprehensive performance of grasp and manipulability of the dexterous hand. The constraints of multi-fingered contact force and kinematics are established with full consideration of the applicability to the objects of different sizes and the shape characteristics of finger contact surface. The performance index of in-hand manipulation ability is proposed, and the optimization problem is constructed through the technique for order preference by similarity to ideal solution (TOPSIS) to achieve multi-objective optimization of precision grasp and in-hand manipulation. Finally, simulation and experiment verify the feasibility of our prototype and optimization method. The results show that the in-hand translation space and in-hand rotation range are increased by 20% and 8.5%, respectively. Our dexterous hand has excellent abilities of multi-fingered interaction and in-hand manipulation, which can perform 33 grasp gestures and two/three-fingered in-hand manipulation. This study provides a valuable reference for the design of dexterous hands with anthropomorphic functions. © 2016 IEEE.

关键词： design optimization Dexterous manipulation multifingered hands precision grasp

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Point Cloud Map Construction Method Based on Ground Constraint and Loop Detection 8

Point Cloud Map Construction Method Based on Ground Constrai...

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8th International Conference on Electronic Technology and Information Science, ICETIS 2023

作者： Niu, Guochen Xiong, Yu Tian, Yibo Robotics Institute Civil Aviation University of China Tianjin300300 China Key Laboratory of Smart Airport Theory and System CAAC Tianjin300300 China

ISBN: (纸本)9781510666535

High-precision point cloud map is critical for Level 3 and above autonomous vehicles to operate effectively. When autonomous vehicles only use LiDAR to construct the point cloud map, drift deviation will occur in the horizontal and vertical directions, which affects the quality of the constructed map. To solve this issue, this paper proposed a Simultaneous Localization and Mapping (SLAM) framework for outdoor autonomous vehicles based on LiDAR. Firstly, the ground constraint was constructed by the extracted ground point cloud and the standard ground normal vector. Secondly, the preliminary pose was generated by the feature point cloud pose constraint and the ground constraint combined with the uniformly accelerated motion model. Finally, the preliminary pose and similar scene pose transformation detected in loop closure detection were added into the pose graph, and an optimized pose was obtained to construct the point cloud map. The proposed method was evaluated on the MulRan dataset and real scene. The results showed that the proposed method can achieve the positioning deviation within 0.86m and 3.1m respectively in the 3.3km and 7.7km motion range. It was superior to the comparison algorithm in local accuracy and global consistency. © 2023 SPIE.

关键词： Autonomous vehicles

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Fixed-time consensus control for heterogeneous multi-agent systems without velocity measurements of neighbors 19th

Fixed-time consensus control for heterogeneous multi-agent s...

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19th Chinese Intelligent systems Conference, CISC 2023

作者： Ao, Yichao Zhang, Qifeng Guangzhou511458 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

ISBN: (纸本)9789819968817

This paper investigates fixed-time consensus control problems for heterogeneous multi-agent systems, which consist of single and double integrators, without using the measurements of neighbors’ velocities. Distributed control protocols are designed for single and double integrators, respectively, based on the ideas of backstepping approach and adding a power integrator method. The convergence performance of the closed-loop systems is analyzed by using Lyapunov theory and fixed-time stability theory. Moreover, numerical examples are provided to show the effectiveness of our results. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Multi agent systems

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Piezoelectric inertial robot for operating in small pipelines based on stick-slip mechanism:modeling and experiment

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Frontiers of Mechanical Engineering 2022年第3期17卷 109-124页

作者： Jichun XING Chao NING Yingxiang LIU Ian HOWARD School of Mechanical Engineering Yanshan UniversityQinhuangdao066004China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China School of Civil and Mechanical Engineering Curtin UniversityPerth6001Australia

Small pipes exist in industrial and biomedical fields,and require microrobots with high operational precision and large load capacity to inspect or perform functional tasks.A piezoelectric inertial pipeline robot using a“stick-slip”mechanism was proposed to address this *** this study,the driving principle of the proposed robot was analyzed,and the strategy of the design scheme was presented.A dynamics model of the stick-slip system was established by combining the dynamics model of the driving foot system and the LuGre friction model,and the simulation analysis of the effect of system parameters on the operating trajectory was *** experimental system was established to examine the output characteristics of the proposed *** results show that the proposed pipeline robot with inertial stick-slip mechanism has a great load capacity of carrying 4.6 times(70 g)its own mass and high positioning *** speed of the pipeline robot can reach up to 3.5 mm/s(3 mm/s)in the forward(backward)direction,with a minimum step distance of 4µ*** potential application for fine operation in the pipe is exhibited by a demonstration of contactless transport.

关键词： pipeline robot piezoelectric inertial drive stick-slip large load capacity dynamics model small pipeline

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Privacy Protection Knowledge Distillation with Parameter Adaptation 14

Privacy Protection Knowledge Distillation with Parameter Ada...

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14th IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems, CYBER 2024

作者： Wang, Yanmei Liu, Baichen Shang, Zhenduo Han, Zhi Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9798331506056

Knowledge distillation(KD), as an implementation of network compression, transfers knowledge from sophisticated networks teacher to lightweight networks student. Due to privacy issues, few-shot and zero-shot KD comes into being. The existing zero-shot or data-free KD methods mostly use the teacher network to synthesize pseudo samples or data impressions to train student networks. However, the generation of pseudo samples is extremely time-consuming, and student network training with pseudo samples does not easily converge, which is usually achieved with a small learning rate over several thousand iterations to realize a satisfactory result. A variety of difficulties raised by zero-shot KD lead us to reconsider the need to use generated datasets to preserve user privacy. In this paper, drawing on the knowledge of privacy protection, we cut off the mapping between images and labels for privacy protection. In addition, we propose utilizing the structural similarity to realize parameter transfer between student and teacher networks. Based on the condition that parameter transfer provides a promising prior for training student networks, the proposed method achieves fast convergence and alleviates the overfitting properties of neural networks. We evaluate our framework on various datasets, and the experimental results demonstrate its effectiveness. © 2024 IEEE.

关键词： Differential privacy

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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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Innovative Design and Validation of an Ultrasound Examination Robot's End Effector with Passive Force Limitation Mechanism 14

Innovative Design and Validation of an Ultrasound Examinatio...

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14th IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems, CYBER 2024

作者： Gao, Ziqi Luo, Yang Jiang, Yunxiang Zhao, Xingang Zhao, Yiwen Li, Ning Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China University of the Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9798331506056

In the field of medical automation, the safety of ultrasound examination robots is crucial for patient experience. Although traditional sensor-based force feedback systems are effective, they carry potential risks of failure. This study proposes an innovative passive maximum force-limited end effector (MFLEE), which relies on a physical mechanism instead of electronic sensing systems to limit force, thereby enhancing system reliability and safety. Initially, a detailed mechanical design was developed, incorporating a spring-ball limiting mechanism, and optimal parameters were selected based on theoretical analysis. Finite element analysis was then utilized to simulate the design, yielding force limits at various operational angles. In the experimental phase, actual measurements were compared with simulation results, confirming the efficacy of the MFLEE in practical applications. The results showed that the actual measured maximum force limit deviated by only 0.5N from theoretical predictions, indicating that the design could reliably control force output, offering a new safety assurance solution for ultrasound examination robots. © 2024 IEEE.

关键词： End effectors

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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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Tool geometry design and microstructure fabrication by micro flat-end milling on soft-brittle LiF surface

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Journal of Manufacturing Processes 2025年 149卷 868-877页

作者： Lei, Hongqin Zhang, Zixiao Chen, Liang Guo, Yanqiu Cheng, Jian Zhao, Linjie Chen, Mingjun Yang, Dinghuai Chen, Guang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

The LiF crystal with the three-layer step microstructure is vital in the laser-driven quasi-isentropic compression experiment. However, due to the high chemical activity and easy deliquescence of soft-brittle LiF crystals, brittle fracture can easily occur during the microstructure preparation achieved by the micro-milling technology. Therefore, it is essential to determine the optimal tool geometry and preferred processing parameters to achieve an ultra-smooth surface. A finite element (FE) model of the tool geometry optimization for LiF crystals is constructed based on dimensional analysis and the stress-strain curve obtained by nanoindentation tests. Micro-slot and microstructure preparation experiments are conducted to verify the cutting performance of the manufactured cutters with optimal geometry. It is found that the optimal negative rake/relief angles of side- and bottom edges are determined to be −35°/9° and − 25°/20° for tool I from the perspectives of the tensile stress, cutting force, and tool surface stress (σ1), respectively. For tool II, optimal negative rake/relief angles of the side- and bottom edges are −60°/15° and − 55°/20°, respectively. The σ1 of tool II is 110.3 MPa, which is 0.74 times and 0.95 times that of tool I (149 MPa) and the CBN tool (116.1 MPa), respectively, indicating that tool II has the most substantial wear resistance under the same processing parameters. Besides, compared with other tool structures, the cutting force and tensile stress are the smallest when using the tool II. The small stress can make the milling process stable, and the vibration and impact generated by the tool are smaller, which helps to make the micro-milled surface smooth. Therefore, the average surface roughness processed by tool II is 0.70 times and 0.47 times that of the CBN tool and tool I, respectively, further illustrating the best cutting performance of tool II. Furthermore, for tool II, the optimal spindle speed and feed per tooth are 40,000 r/min a

关键词： Cutting performance Flat-end milling LiF crystals Microstructure fabrication Tool geometry

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