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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Zheng, Ruoyin Li, Jiting State Key Laboratory of Virtual Reality Technology and Systems Robotics Institute Beihang University Beijing China

ISBN: (纸本)9781424493173

For the human hand rehabilitation, the palmar opposition is an important function to evaluate the recovery of hand motor capabilities. This paper proposes an exoskeleton-type hand rehabilitation assistive device which is able to be applied to index finger as well as thumb. The kinematics and workspace of index fingertip and thumb-tip are analyzed. The 'opposition space' is defined as the intersection of the workspace of thumb-tip and the index fingertip. A metric, what we call 'opposition degree', which is defined as the ratio of volume of opposition space to that of the index fingertip workspace, is proposed to present the available degree of opposition. As an example, the opposition degree of a human hand model is determined. This metric can also used to rate the ergonomic performance of the hand rehabilitation assistive device. This method can be applied to other fingers as well. The opposition simulation experiment is conducted to verify the kinematics of the proposed exoskeleton. © 2010 IEEE.

关键词： Kinematics

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DSP ＆ FPGA-based control architecture for a highly integrated robot hand with enhanced impedance performance

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High Technology Letters 2010年第2期16卷 178-183页

作者：吴克 Lan Tian Chen Yangbin Liu Yiwei Jin Minghe Fan Shaowei Chen Zhaopeng Liu Hong State Key Labomtory of Robotics and System Harbin Institute of Technology Harbin 150001 P.R. China Ningbo GQY Video ＆ Telecom Stock Joint Co. Ltd Shanghai 201206 P.R. China Institute of Robotics and Mechatronics German Aerospace Center Wessling DLR 82234 Germany

A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level control of a highly integrated robot hand. At flint, a real time controller with DSP＆FPGA-based multilevel control architecture is built. Then a current sensor of the single direct current （DC） link is used to measure and reconstruct the three phase currents, and a stable current signal is measured by optimizing sample instant. The experimental results of the joint impedance control show that the proposed method not only improves the effectiveness of contact environment performance, but also provides compliant interaction of robot hand with a person, which is very important for the development of friendly human robot of the next generation.

关键词： impedance control DSP ＆ FPGA direct current （DC） link current sensor robot hand control system

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Multi-objective optimization on dynamic performance for a planar parallel mechanism with NSGA-II algorithm

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Jiqiren/Robot 2010年第2期32卷 271-277页

作者： Kong, Minxiu Chen, Lin Du, Zhijiang Sun, Lining Harbin Institute of Technology Harbin 150080 China State Key Laboratory of Robotics and System Harbin 150080 China

For a high-speed and high-acceleration planar parallel mechanism, a design for control (DFC) approach is proposed for the optimization of the mechanism structure. Several evaluation indexes of kinematics and dynamics performance are established for the object functions and constraints, and then a standard multi-objective optimization problem can be formed. The dimension synthesis is carried out by solving the multi-objective optimization with NSGA-II (non-dominated sorting genetic algorithm-II) algorithm. The final result shows that the mechanism with the optimized parameters can eliminate the systematic coupling and enhance the dynamic performance greatly, which provides a solid mechanism hardware platform for designing the high-speed control system.

关键词： Multiobjective optimization

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A novel ant-based clustering algorithm with an attractive force field

A novel ant-based clustering algorithm with an attractive fo...

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International Conference on Artificial Intelligence and Computational Intelligence

作者： Zhang, Lei Cao, Qixin State Key Lab of Mechanical System and Vibration Research Institute of Robotics Shanghai Jiao Tong University Shanghai 200240 China

ISBN: (纸本)9780769542256

This paper presents a novel ant-based clustering algorithm. Different from conventional ant-based clustering algorithms in which the objects are picked up or dropped down by virtual ants, our propose algorithm looks each object as an ant. The objects are first projected to a plane randomly. Then an attractive force field is created. The object (ant) is attracted by the similar ones in its local surrounding and moves to a certain place. The moving direction and moving range are determined by the composite of all attractive forces. The clusters are created by this attractiveness after many iterative cycles. The paper gives the detailed process of the algorithm. The performance of the algorithm is compared with other classic algorithms on several simulated and real datasets. The results are very encouraging in terms of the computation efficiency and clustering quality. © 2010 IEEE.

关键词： Swarm intelligence

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An immune genetic algorithm for AUV local path planning

An immune genetic algorithm for AUV local path planning

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20th International Offshore and Polar Engineering Conference, ISOPE-2010

作者： Xu, Hongli Li, Yiping State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning Province China

ISBN: (纸本)9781880653777

This paper proposes a new immune genetic algorithm and applies it to generate local paths for an autonomous underwater vehicle (AUV) when it fails to avoid abrupt obstacles by reactive behaviors. The algorithm mixes both immune algorithm and genetic algorithm through introducing niche technology based on path segment number, maintaining population's diversity by population clustering, enhancing local search capability and convergence velocity through cell clone operation and immune memory mechanisms. The simulation results verify that the proposed algorithm is not only more efficient than immune algorithm and genetic algorithm, but also feasible and effective in a typical semi-closed obstacle scenario. Copyright © 2010 by The International Society of Offshore and Polar Engineers (ISOPE).

关键词： Autonomous underwater vehicles

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An equivalent electrical model for numerical analyses of ODEP manipulation

An equivalent electrical model for numerical analyses of ODE...

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IEEE International Conference on Nano/Micro Engineered and Molecular systems (NEMS)

作者： Wenfeng Liang Shue Wang Yanli Qu Zaili Dong Gwo-Bin Lee Wen J. Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences China Chinese Academy and Sciences China Chinese Academy of Sciences Beijing Beijing CN Center of Micro Nano Technology Research National Cheng Kung University Taiwan Centre of Micro and Nano Systems Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong China

Opticaldielectrophoresis(ODEP)has been explored experimentally with success in manipulating microscale objects in the last 5 years. However, not much theoretical analyses have been performed to understand its operating principles in depth and also determine its limitations as a tool to manipulate micro- and nano-scale objects. In this paper, we present our work on establishing an equivalent electrical model to analyze the important physical interactions when optically induced dielectrophoretic force is used to manipulate micron-sized polystyrene beads. Simulation results show that the ODEP manipulation of microbeads is frequency-dependent and that the electrothermal effect is negligible. Furthermore, the relationship between the frequency of the applied voltage and the maximum manipulation velocity of the microbeads obtained from simulation is consistent with our experimental measurements. In addition, simulation results also show that the minimum radius of a bead that can be manipulated exponentially decreases with respect to the size of the illuminated spot. For instance, when the illuminated spot size is 1 μm, ODEP can theoretically manipulate 100 nm beads - indicating that ODEP can be extended to manipulate nano-scale objects if the illuminated spot size can be significantly reduced.

关键词： Force Conductivity Electric fields Drag Simulation Nanobioscience

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Local shape patch based object detection

Local shape patch based object detection

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Du, Zhijiang Chen, Guodong Sun, Lining Ji, Junhong Xie, Ming State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore 637553 Singapore

ISBN: (纸本)9781424457021

We present a novel object detection framework that uses the local shape patches features combining the interclass global features information. A supervised local model learning architecture is proposed: a novel interest point descriptor is proposed and applied to detect the local shape patches, the local shape patches are formed by chains of several connected contour segments. Then the object local contour parts model are learned from a small set of training images. In order to make the local contour patch model is invariant to rotation and translation, the local contour patch descriptor is represented by modified shape context. By adding the edge orientation information and interclass global information, the power of differentiating mismatches is increased, especially detecting the objects existing similar parts. Both experiments on image feature point matching and object detection comparing with other feature descriptors are carried out in order to validate the proposed method. ©2010 IEEE.

关键词： Object detection

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Dynamic surface control-backstepping based impedance control for 5-DOF flexible joint robots

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Journal of Central South University of Technology 2010年第4期17卷 807-815页

作者： Gen-liang Xiong Zong-wu Xie Jian-bin Huang Hong Liu Zai-nan Jiang Kui Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany

A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented. Comparing with the traditional backstepping method that has “explosion of terms” problem, the new proposed control system is a combination of the dynamic surface control technique and the backstepping. The dynamic surface control (DSC) technique can resolve the “explosion of terms” problem that is caused by differential coefficient calculation in the model, and the problem can bring a complexity that will cause the backstepping method hardly to be applied to the practical application, especially to the multi-joint robot. Finally, the validity of the method was proved in the laboratory environment that was set up on the 5-DOF (degree of freedom) flexible joint robot. Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance control which were 3.5 and 2.5 mm in directions X, Y in free space, respectively. And the anticipant Cartesian impedance behavior and compliant behavior were achieved successfully as depicted theoretically.

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Laser range finder based moving object tracking and avoidance in dynamic environment

Laser range finder based moving object tracking and avoidanc...

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： He, Fujun Du, Zhijiang Liu, Xiaolei Ta, Yueyue State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Department of Mechanical Science and Technology Daqing Petroleum Institute Daqing Heilongjiang Province China

ISBN: (纸本)9781424457021

The mobile robot that works in dynamic environment must have strong ability of avoiding obstacles especially moving objects and move to it original goal. To achieve the goal, the dynamic polar coordinate environment model based on laser range finder is set up, which can not only simplify the environment description but also improve the responding ability. Based on these data a moving object tracking model is also set up, which take into account the influence of moving platform, may obtain better tracking effect. The robot may anticipate the collision possibility, collision time and position from tracking algorithm, and then three obstacle avoiding policy is presented for robot to choose according to the collision estimation. The experiment shows good moving object avoiding result. ©2010 IEEE.

关键词： Mobile robots

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Research on ODMM obstacle avoidance fuzzy navigation based on ultrasonic-absolute-positioning

Research on ODMM obstacle avoidance fuzzy navigation based o...

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International Conference on Electrical and Control Engineering, ICECE 2010

作者： Lin, Jiang Baiyan, Liu Xinyuan, Chen Hui, Zhao Jie, Zhao Jihong, Yan Key Laboratory of Metallurgical Equipment and its Control of Ministry of Education Wuhan University of Science and Technology Wuhan 430081 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

ISBN: (纸本)9780769540313

The obstacle avoidance fuzzy navigation strategy based on ultrasonic absolute position was proposed to improve the navigation efficiency and precision of the omni-directional mobile manipulator (ODMM). Comparing with the conventional navigation strategies, the superiority of this strategy is that it can momently get the accuracy positioning of robot and it can adjust posture and speed. The method of fusion redundancy ultrasonic information (FRUI) can improve the absolute positioning accuracy of ODMM. Absolute position based on fusion redundancy ultrasonic information(FRUI) and fuzzy navigation based on driving experience were all applied to the ODMM navigation. This strategies include the move-to-goal behavior based on absolute position and obstacle avoidance fuzzy navigation based on absolute positioning. Finally the experiment had been performed, the experimental result proved that the obstacle avoidance fuzzy navigation algorithm based on ultrasonic absolute positioning was effective and the navigation efficiency and precision of ODMM were greatly improved. © 2010 IEEE.

关键词： Navigation

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