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2013 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Weiguang Dong Hongguang Wang Zhenhui Li Yong Jiang Jizhong Xiao State Key Laboratory of Robotics University of Chinese Academy of Sciences Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China The City College of New York USA

ISBN: (纸本)9781467363563

This paper presents a wall-climbing robot for reconnaissance in anti-hijacking application. A novel biped-wheel hybrid locomotion mechanism is proposed, which is composed of a planetary gear train, a vacuum adhesion module and a negative pressure adhesion module. The bipedal, wheeled and hybrid locomotion modes are analyzed respectively. A prototype of the wall-climbing robot with compact size and low power consumption has been developed and a lot of performance tests have been conducted. The experimental results demonstrate that the wall-climbing robot has such characteristics as fast moving speed, excellent surface adaptability and obstacle negotiation capability.

关键词： Mobile robots Adhesives Robot kinematics Gears Wheels Vacuum systems

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Performance analysis of a small-scale unmanned helicopter under large wind disturbance

Performance analysis of a small-scale unmanned helicopter un...

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Chinese Control Conference (CCC)

作者： WenWu Zeng XiaoRui Zhu YanJie Li Lei Li State Key Laboratory of Robotics and System (HIT) Harbin 415100 China Harbin Institute of Technology Shenzhen Graduate School 518000 China

Large wind disturbance is harmful to the autonomous helicopters, especially to the small ones because of their low inertia and high cross-coupling effects among the multiple inputs. This paper has analyzed how the large wind disturbance would affect the performance of the small-scale unmanned autonomous helicopter (UAH) under the condition of hovering and forward flight. A group of polynomial functions were identified first according to the experiment data from the wind tunnel tests to estimate the variation of the total forces and moments caused by different large wind disturbances. Then, the wind resistance abilities of UAH are discussed based on further analysis of the wind tunnel experiment data. This paper has provided support to the controller design in order to attenuate large horizontal wind disturbances.

关键词： Force Helicopters Wind speed Electronic mail Performance analysis Laboratories Robots

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An Approach of Animal Detection Based on Generalized Hough Transform

An Approach of Animal Detection Based on Generalized Hough T...

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2013 International Conference on Computer,Networks and Communication Engineering(ICCNCE 2013)

作者： Weimeng Chu Fang Liu State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin University of Commerce

ISBN: (纸本)9781629932170

To detect animal objects under complicated background, a new approach is proposed to detect animal objects using shape feature. At first, a model is built by devising Canny hierarchical structure, then candidate fragments of the back and buttock are extracted using Generalizing Hough Transform, at last the matching task is accomplished based on restricting relationship of relative positions between the back and buttock. The experiment result shows that our approach achieves a promising detection rate under posture variations, scale variations and background clutter.

关键词： Image Processing Object Detection Generalized Hough Transform.

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Tremor suppression strategy of the tremor suppression robot

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Journal of Harbin institute of Technology(New Series) 2012年第1期19卷 1-6页

作者：赵杰李军强樊继壮臧希喆 State Key Laboratory of Robotics and System Harbin Institute of Technology

Based on the development of the performance of magnetorheological damper,the tremor suppression strategy that uses angle displacement sensor and force sensor to sense the information of the tremor and uses the fuzzy neural network as the control algorithm is presented. The information of the maximum tremor torque can be achieved exactly by means fusing the data of displacement sensor and the data of force sensor. Due to the slow change of the maximum tremor torque,the fuzzy neural network with single input variable and single output variable is adopted as the control algorithm,and the mathematic model of fuzzy neural network is worked out. The elbow tremor suppression model is established to provide tremor information for fuzzy neural network training and tremor suppression strategy simulation,then the off-line fuzzy neural network training is finished with the selected training data set,and the tremor suppression strategy is simulated. Simulation results show that the tremor suppression strategy has presented is effectually for the tremor suppression.

关键词： magnetorheological damper fuzzy neural network data fusion tremor suppression strategy

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Localization and Navigation of Intelligent Wheelchair in Dynamic Environments

Localization and Navigation of Intelligent Wheelchair in Dyn...

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2013年中国智能自动化学术会议

作者： Jingchuan Wang Juncheng Wang Weidong Chen Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China State Key Laboratory of Robotics and System(HIT)

An intelligent wheelchair JiaoLong with multi-mode is developed for the handicapped and the *** is designed of two manipulate modes according to the user's disability and the environments for *** on the dynamic localizability matrix,an improved particle filter localization algorithm is proposed in this *** results of experiments show the practicability of the system design and the effectiveness provided by the improved localization method.

关键词： Intelligent Wheelchair Control modes Localization Algorithm

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Path planning for power transmission line inspection robot based on visual obstacle detection

Path planning for power transmission line inspection robot b...

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IEEE International Conference on robotics and Biomimetics

作者： Zhenhui Li Hongguang Wang Yuechao Wang University of the Chinese Academy of Sciencesthe State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China The State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

In this paper an autonomous mobile robot is proposed for inspecting power transmission lines in mountainous regions. After a brief introduction of background and the robot mechanism, the key functionalities of the inspection robot - obstacle detection in traveling, path planning in obstacle crossing and large-angle line climbing, are discussed in detail. Obstacles are detected and recognized efficiently by a visual method. The obstacle description is built based on visual obstacle detection and a feasible obstacle crossing path is found using a visual graph algorithm. Finally, some field experiments are carried out to show that the robot can work well on the power transmission lines in mountainous regions with the aforementioned functionalities.

关键词： Inspection Power transmission lines Grippers Mobile robots Wires Poles and towers

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Preoperative position planning strategy for laparoscopic robot

Preoperative position planning strategy for laparoscopic rob...

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International Conference on Information and Automation (ICIA)

作者： Bo Pan Yili Fu Guojun Niu Dianguo Xu Harbin Institute of Technology School of Electrical Engineering and Automation Harbin China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781479913329

Laparoscopic robot is used to grasp endoscope to output image of focal area for surgeons in minimally invasive surgery (MIS), so it is necessary to set relative position between laparoscopic robot base and patient's focal area to make all focal points locate into robot workspace. For the reasons of surgeons needing to do much work in preoperative process and many surgical instruments occupying much space in operating room, it is impossible to realize position set by repeated trial and error process in operating room. Therefore, the method of off line simulation is a suitable ways to set laparoscopic robot' position in preoperative process. Through the concepts of service sphere and service region, dexterity distribution of laparoscopic robot is illustrated in workspace, then a robot's position planning method using gradient projection for distance search is recommended. By combining with dexterity distribution of laparoscopic robot and gradient projection method for distance search, a preoperative position planning strategy for laparoscopic robot is given. In the end, simulation and experiment are carried out to validate the effectiveness of planning strategy.

关键词： Laparoscopes Robot kinematics Joints Planning Surgery Cost function

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Mobile Robot Map Building in Eigenspace - A PCA-based Approach

Mobile Robot Map Building in Eigenspace - A PCA-based Approa...

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第25届中国控制与决策会议

作者： Ke Wang Lijun Zhao Ruifeng Li State Key Laboratory of Robotics and Systems Harbin Institute of Technology Key Laboratory of Measurement and Control of CSE Ministry of Education

ISBN: (纸本)9781467355339

Detection and compression of the environmental information incrementally is useful when the mobile robot needs to continuously update its perception database online. In this paper, we propose an incremental subspace fusion method for abstract map building of mobile robot. We firstly adopt PCA to preprocess the panoramic images taken from omnidirectional camera at corresponding location, which can optimally extracts the local map features formed in the subspace and reduces the uncorrelated features. This enables robot to memorize the environmental features incrementally when it travels in an unknown environment. Experimental results are shown finally.

关键词： Map Building, Mobile robot, Principle Component Analysis, Incremental Map Fusion, Appearance-based modeling

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A novel grasping force control strategy for multi-fingered prosthetic hand

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Journal of Central South University 2012年第6期19卷 1537-1542页

作者：张庭姜力刘宏 State Key Laboratory of Robotics and System(Harbin Institute of Technology) Institute of Robotics and Mechatronics German Aerospace CenterMunich 82230Germany

A grasping force control strategy is proposed in order to complete various free manipulations by using anthropomorphic prosthetic hand. The position-based impedance control and force-tracking impedance control are used in free and constraint spaces, respectively. The fuzzy observer is adopted in transition in order to switch control mode. Two control modes use one position-based impedance controller. In order to achieve grasping force track, reference force is added to the impedance controller in the constraint space. Trajectory tracking in free space and torque tracking in constrained space are realized, and reliability of mode switch and stability of system are achieved. An adaptive sliding mode friction compensation method is proposed. This method makes use of terminal sliding mode idea to design sliding mode function, which makes the tracking error converge to zero in finite time and avoids the problem of conventional sliding surface that tracking error cannot converge to zero. Based on the characteristic of the exponential form friction, the sliding mode control law including the estimation of friction parameter is obtained through terminal sliding mode idea, and the online parameter update laws are obtained based on Lyapunov stability theorem. The experiments on the HIT Prosthetic Hand IV are carried out to evaluate the grasping force control strategy, and the experiment results verify the effectiveness of this control strategy.

关键词： grasping impedance control force control sliding mode control prosthetic hand

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A method of inverse kinematics of a 7-function underwater hydraulic manipulator

A method of inverse kinematics of a 7-function underwater hy...

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OCEANS

作者： Liangqing Huo Qifeng Zhang Zhuying Zhang State Key Laboratory of Robotics of Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781479913084

The work presented in this paper focus on underwater operation technology, combined with the kinematics structure characteristics of a self-developed 7-function underwater hydraulic manipulator, a method of the manipulator's inverse kinematics is proposed. Using the combined method, in the case of knowing the manipulator end-effector's position and attitude, analytic solution of each joint can be solved quickly. This method is combined with the characteristics of Euler method and geometric method, the former three joint angles are achieved through the Euler method, and the last three joint angles are obtained through geometric method. The effectiveness of the method is verified by simulation and experiment on writing word “SIA”.

关键词： Joints Kinematics Automation End effectors Laplace equations

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