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arXiv 2023年

作者： Zhao, Zhenjie Yu, Hang Wu, Hang Zhang, Xuebo The College of Artificial Intelligence Institute of Robotics and Automatic Information System The Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin300350 China

Robotic grasping aims to detect graspable points and their corresponding gripper configurations in a particular scene, and is fundamental for robot manipulation. Existing research works have demonstrated the potential of using a transformer model for robotic grasping, which can efficiently learn both global and local features. However, such methods are still limited in grasp detection on a 2D plane. In this paper, we extend a transformer model for 6-Degree-of-Freedom (6-DoF) robotic grasping, which makes it more flexible and suitable for tasks that concern safety. The key designs of our method are a serialization module that turns a 3D voxelized space into a sequence of feature tokens that a transformer model can consume and skip-connections that merge multiscale features effectively. In particular, our method takes a Truncated Signed Distance Function (TSDF) as input. After serializing the TSDF, a transformer model is utilized to encode the sequence, which can obtain a set of aggregated hidden feature vectors through multi-head attention. We then decode the hidden features to obtain per-voxel feature vectors through deconvolution and skip-connections. Voxel feature vectors are then used to regress parameters for executing grasping actions. On a recently proposed pile and packed grasping dataset, we showcase that our transformer-based method can surpass existing methods by about 5% in terms of success rates and declutter rates. We further evaluate the running time and generalization ability to demonstrate the superiority of the proposed method. © 2023, CC BY-NC-ND.

关键词： Piles

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TMPU: A Framework for Terrain Traversability Mapping and Planning in Uneven and Unstructured Environments

TMPU: A Framework for Terrain Traversability Mapping and Pla...

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Chinese Control Conference (CCC)

作者： Qingchen Bi Xuebo Zhang Shiyong Zhang Zhangchao Pan Runhua Wang Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin P. R. China

In this paper, we propose an autonomous navigation framework (TMPU) for ground mobile robots in uneven and unstructured environments. The novelty of this framework is twofold: 1) The terrain traversability mapping module is proposed to build a low-resolution 2D (Two-Dimensional) occupancy map by plane analysis based on plane slope and terrain roughness. 2) A multi-resolution motion planning framework is proposed to obtain a high-resolution traversable corridor by A* low-resolution search. Then an improved global planning H-lattice planning is performed on the traversable corridor. Furthermore, extensive experiments are conducted to demonstrate the feasibility and safety of the proposed autonomous navigation framework. All test results show that the computing time consumption is reduced by up to 97.1%, compared with an advanced 3D navigation framework. (Supplemented video link: https://***/rvYoyR3imEk)

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Dynamic analysis and optimization design of in situ skin printing system

Dynamic analysis and optimization design of in situ skin pri...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Zhu, Huixuan Cui, Guangze Li, Song Gao, Feiyang Shenyang University of Technology Shenyang110870 China Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang110169 China

ISBN: (纸本)9798350327182

The treatment of large-skin wounds is an urgent clinical problem. The in situ printing of skin technology is expected to realize the treatment of large-area skin wounds. However, the skin printing system studied by our team in the early stage only has a small printing range and cannot treat large-area skin wounds. To expand of printing range, causing a significant increase in system load. Thus dynamic stability of the system is poor, and it cannot realize the stable injection of the printhead. To solve above problems, this study simulates the dynamics of the new-generation printing system based on the Lagrange method. It sets the simulating boundary conditions according to the actual printing motion process for dynamic analysis. The motion stress data of each component is obtained, and the topology of the critical elements is optimized by simulation analysis. Using the data obtained from the simulation, a set of in situ skin printing systems was built to realize 80cm*10cm skin wound treatment, and the equipment ran smoothly. The system treatment range meets the needs of large-area skin wounds, and the printhead can stably inject, laying the foundation for the large-area skin wound treatment experiment. © 2023 IEEE.

关键词： Topology

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Optimized Design of A Haptic Unit for Vibrotactile Amplitude Modulation

arXiv

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arXiv 2024年

作者： Huang, Jingchen Fang, Yun Guo, Weichao Sheng, Xinjun The State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering The Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

Communicating information to users is a crucial aspect of human-machine interaction. Vibrotactile feedback encodes information into spatiotemporal vibrations, enabling users to perceive tactile sensations. It offers advantages such as lightweight, wearability, and high stability, with broad applications in sensory substitution, virtual reality, education, and healthcare. However, existing haptic unit designs lack amplitude modulation capabilities, which limits their applications. This paper proposed an optimized design of the haptic unit from the perspective of vibration amplitude modulation. A modified elastic model was developed to describe the propagation and attenuation mechanisms of vibration in the skin. Based on the model, two types of hierarchical architectural design were proposed. The design incorporated various materials arranged in multiple layers to amplify or attenuate the vibration amplitude as it traveled through the structure. An experimental platform was built to evaluate the performance of the optimized design. Copyright © 2024, The Authors. All rights reserved.

关键词： Virtual reality

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Nanosecond pulsed laser-assisted modified copper surface structure:Enhanced surface microhardness and microbial corrosion resistance

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Journal of Materials Science & Technology 2022年第12期107卷 111-123页

作者： Boxin Wei Jin Xu Liqun Gao Hui Feng Jiajun Wu Cheng Sun Zhenyao Wang Wei Ke School of Materials Science and Engineering University of Science and Technology of ChinaShenyang 110016China Liaoning Shenyang Soil and Atmosphere Material Corrosion National Observation and Research Station Institute of Metal ResearchChinese Academy of SciencesShenyang 110016China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110169China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China

Microbiologically influenced corrosion(MIC) is an unavoidable problem in several industries. Copper(Cu)and its alloys are widely used engineering materials. However, MIC of Cu remains a persistent challenge to their performance and functional lifetime under aggressive environments. This study investigated nanosecond pulsed laser processing(LP), which may enhance the corrosion resistance of Cu. The microstructural evolution and corrosion behavior of LP-Cu in the presence of sulfate-reducing bacteria(SRB) were evaluated. Typical deformation-induced microstructural features of high-density dislocations were analyzed on the top surface of LP-Cu coupon. Electrochemical measurements suggested that LP-Cu coupons exhibited better corrosion resistance in SRB-inoculated solution compared with their original counterpart. The enhanced corrosion resistance by LP primarily resulted from the combined influences of compressive residual stress and work hardening in the surface. However, overlap percentage played a key role in improving corrosion resistance. LP produced optimal corrosion resistance at 50% overlap. Therefore, this study introduces a unique and an option for anticorrosion control in manufacturing processes and potentially implements it onto other materials to improve its microbial corrosion resistance through LP.

关键词： Pure copper Laser processing Microbiologically influenced corrosion Pitting Severe plastic deformation

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Different Height Stairs Climbing Pattern Generation for Humanoids

Different Height Stairs Climbing Pattern Generation for Huma...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Yang, Ming Tian, Dingkui Xu, Minjia Li, Feng Sun, Jianquan Shang, Weiwei Wu, Xinyu University of Science and Technology of China Hefei230026 China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China Daqing Vocational College Daqing163255 China SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems Shenzhen518055 China

ISBN: (纸本)9798350327182

Climbing stairs has been an indispensable ability for humanoids. This paper presents a novel and practical problem: climbing stairs of varying heights. In this study, the humanoid is modeled as an inverted pendulum and set the pelvis trajectory on the vertical axis, representing the center of mass (CoM), as a quadratic function. We also use a polynomial to design the ZMP and CoM trajectory on the horizontal plane. To generate the CoM trajectory, the sliding mode controller is utilized to track the reference trajectory. To eliminate chattering of the sliding mode controller, the universal approximation property of the radial basis function (RBF) network is leveraged to approximate the switching law. Finally, simulation experiments are performed in CoppeliaSim, and the biped robot is capable of walking stably and quickly. © 2023 IEEE.

关键词： Stairs

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Generating Socially Acceptable Robot Poses for Approaching Conversational Groups with Generative Adversarial Networks

Generating Socially Acceptable Robot Poses for Approaching C...

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Chinese Control Conference (CCC)

作者： Kunxu Zhao Zhengxi Hu Jingtai Liu Tianjin Key Laboratory of Intelligent Robotics Institute of Robotics and Automatic Information System Nankai University Tianjin P. R. China

Service robots should navigate to the conversation group in a safe and socially acceptable way to interact with humans, not only to ensure safety and avoid collisions, but also to take into account human comfort. Therefore, it is crucial for robots to actively generate a target pose that conforms to social rules and satisfies human comfort feelings. At present, most methods focus on human-aware navigation and do not take into account the final pose of robots approaching the group. The target point is still manually selected by human beings, which is not conducive to improving the intelligence of robots. In this paper, we propose a target pose generation architecture based on generative adversarial networks for robots approaching conversational groups. We take into account not only the environmental information in the map, so that the robot?s target pose can avoid obstacles, but also the social etiquette of the human group, so that the robot will not disrupt the human group relationship. Our architecture uses graph convolutional neural networks to extract high-dimensional features from conversation groups, taking into account human location and gaze information. We performed a comparison experiment with a state-of-the-art pose generation model on the Cocktail Party dataset, and the results showed that our model outperformed the baseline.

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A Modified Deeplabv3+ Model Based on Polarized Self-Attention Mechanism

A Modified Deeplabv3+ Model Based on Polarized Self-Attentio...

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Chinese Control Conference (CCC)

作者： Zheng Zhang Rui Song Institute of Robotics and Automatic Information System Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China

In this paper, we propose a modified Deeplabv3+ model based on the combination optimization of atrous convolutions and Polarized Self-Attention module, aiming to enhance the semantic segmentation performance of small-scale objects in various scenarios. The improvements of this paper mainly focus on the following two aspects. Firstly, we optimize the combination of atrous convolutions in the Deeplabv3+ model by using lower atrous rates, so that it can expand the receptive field while enhancing the recognition ability of small-scale targets. Secondly, by introducing the Polarized Self-Attention module, the semantic segmentation of small objects is further optimized, while capturing more global semantic information to ensure overall semantic segmentation. Numerous experimental results demonstrate that, compared with the original Deeplabv3+ network model, the modified model improves the segmentation accuracy by 1.8% and 1.5% on the Cityscapes and Pascal VOC 2012 test datasets.

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Using Zone Inflation and Volume Transfer to Design a Fabric-based Pneumatic Exosuit with both Efficiency and Wearability

arXiv

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arXiv 2024年

作者： Liu, Chendong Yang, Dapeng Chen, Jiachen Dai, Yiming Jiang, Li Xie, Shengquan Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electronic and Electrical Engineering University of Leeds Leeds United Kingdom

Fabric-based pneumatic exosuits have a broad application prospect due to their good human-machine interaction performance, but their structural design paradigm has not yet been finalized and requires in-depth research. This paper proposes the concepts of zone inflation and volume transfer for the design of a fabric-based pneumatic exosuit with both efficiency and wearability. The meaning of zone inflation is to divide the inflation area of pneumatic exosuit into inflation-deflation zone and inflation-holding zone which can reduce the consumption of compressed air and improve efficiency. Volume transfer, a strategic distribution method of inflatable regions inside the garment, can effectively enhance the wearability of the exosuit. Using inexpensive thermoplastic polyurethane film and clothing fabric, the exosuit is made by heat pressing and sewing. The exosuit has a response time of 0.5s, a stress area of 1500mm2, and a profile of only 32mm, which can be hidden inside common clothing. A mathematical model is developed to predict the output torque of the exosuit with an error of 3.6%. Mechanical experiments show that the exosuit outputs a torque of 9.1Nm at a pressure of 100kPa. Surface electromyography experiments show that the exosuit can provide users with a boost from sitting to standing, with an average reduction in electromyography signals of 14.95%. The exosuit designed using these methods synthesizes efficiency and wearability and is expected to be an ideal paradigm for fabric-based pneumatic exosuits. Copyright © 2024, The Authors. All rights reserved.

关键词： Pneumatic actuators

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Bionic Design and Optimization of a Rigid-Soft Hybrid Knee Exoskeleton

Bionic Design and Optimization of a Rigid-Soft Hybrid Knee E...

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2023 International Conference on Design Science, ICDS 2023

作者： Zhang, Jing Guo, Yuantao Zhu, Aibin Wang, Xin Bao, Bingsheng Wang, Na Zhu, Jinliang Institute of Robotics & Intelligent Systems Xi’an Jiaotong University Xi’an China School of Construction Machinery Chang’an University Xi’an China Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System Xi’an China Shaanxi Key Laboratory of Intelligent Robots Xi’an China

ISBN: (纸本)9798350343786

Knee exoskeletons have great potential in gait training and intervention for patients with knee osteoarthritis after surgery. Traditional single-axis rigid exoskeletons suffer from issues such as large joint volume, high inertia, and joint misalignment, significantly reducing wearer comfort. Soft exoskeletons can reduce the size and weight of artificial joints but lose the load support and mechanical limiting capabilities of rigid structures. This paper proposes a novel hybrid rigid-soft knee exoskeleton that employs a cross four-bar mechanism with loaded springs to mimic the multi-rotational center motion of the knee joint, avoiding joint misalignment and reducing the driving energy consumption of the exoskeleton. A genetic algorithm is used to optimize the structural parameters of the links and the stiffness coefficients of the springs by minimizing a weighted cost function composed of the deviation between the exoskeleton's rotation center and the user's knee joint, as well as the total potential energy of the system. Finally, a kinematic simulation is conducted to determine the linear relationship between the knee joint angle and the motor angle. © 2023 IEEE.

关键词： Cost functions

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