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IEEE International Conference on robotics and Biomimetics

作者： Le Qi Dapeng Yang Baoshi Cao Zhiqi Li Yikun Gu Zongwu Xie Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665481106

Robot actuators directly affect the performance of robots, and robot drives directly affect the performance of robot actuators. With the development of robotics, robots have put higher requirements on robot drives, such as high stiffness, high accuracy, high loading, high efficiency, low backlash, compact size, and hollow structure. In order to meet the demand development of robot actuators, this research base proposes a new robot drive based on 3K-H-V topology using involute and cycloidal gear shapes, planetary cycloidal drive, from the perspective of drive topology and through the design idea of decoupling. In this study, the reduction ratio and the efficiency model of the 3K-H-V topology were analyzed, and a prototype planetary cycloidal actuator was designed. The feasibility of the drive is initially verified by experimentally concluding that the PCA has a hollow structure, compact size, and high torque density (69 Nm/kg).

关键词： Actuators Torque Shape Gears Biomimetics Loading Prototypes

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Distributed Event-Triggered Formation Control for a Multi-robotic Fish system

Distributed Event-Triggered Formation Control for a Multi-ro...

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International Conference on Guidance, Navigation and Control, ICGNC 2022

作者： Dai, Shijie Wu, Zhengxing Tan, Min Yu, Junzhi School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9789811966125

This paper investigates the formation control problem for a multi-robotic fish system and a distributed event-triggered-based formation control framework is proposed. The framework consists of a communication topology, a distributed formation control law, and a dynamic event-triggered communication mechanism. In particular, a position-based formation control law is presented to drive the multi-robotic fish system to an anticipated configuration based on local measurements while keeping pace with a moving target. Meanwhile, a dynamic event-triggered mechanism is utilized to measure importance of the interactive information and decide the communication timing. The proposed formation control method shows its merits to greatly reduce communication consumption with a limited loss of formation control performance. Finally, simulations with quantitative comparisons are presented to verify the effectiveness of the proposed framework. This formation control framework provides a solid foundation for future marine cooperative control of the multi-robotic fish system. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Discovering Syntactic Interaction Clues for Human-Object Interaction Detection

Discovering Syntactic Interaction Clues for Human-Object Int...

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Jinguo Luo Weihong Ren Weibo Jiang Xi'ai Chen Qiang Wang Zhi Han Honghai Liu Harbin Institute of Technology Shenzhen State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang University

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

Recently, Vision-Language Model (VLM) has greatly ad-vanced the Human-Object Interaction (HOI) detection. The existing VLM-based HOI detectors typically adopt a hand-crafted template (e.g., a photo of a person [action] a/an [object]) to acquire text knowledge through the VLM text encoder. However, such approaches, only encoding the action-specific text prompts in vocabulary level, may suffer from learning ambiguity without exploring the fine-grained clues from the perspective of interaction context. In this paper, we propose a novel method to discover Syntactic Interaction Clues for HOI detection (SICHOI) by using VLM. Specifically, we first investigate what are the essen-tial elements for an interaction context, and then establish a syntactic interaction bank from three levels: spatial relationship, action-oriented posture and situational condition. Further, to align visual features with the syntactic interaction bank, we adopt a multi-view extractor to jointly aggre-gate visual features from instance, interaction, and image levels accordingly. In addition, we also introduce a dual cross-attention decoder to perform context propagation be-tween text knowledge and visual features, thereby enhancing the HOI detection. Experimental results demonstrate that our proposed method achieves state-of-the-art performance on HICO-DET and V-COCO.

关键词： Visualization Vocabulary Computer vision Aggregates Detectors Syntactics Feature extraction

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A novel piezoelectric actuated micro-tweezer with force sensing for optical fiber manipulation

A novel piezoelectric actuated micro-tweezer with force sens...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Haoxiang Zhao Haoran Rong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Heilongjiang University of Science and Technology Harbin China

With the development of micro-electromechanical systems, micro-manipulation robots are extensively used in micro-nano manufacturing due to their high precision. As the core component of the MEMS, the micro-tweezers which are driven by PZT, ultrasonic motors to grasp millimeter and micron objects have developed rapidly. However, it is pretty tough for these tweezers to attain bendy gripping of objects due to the lack of sensors at the cease of the tweezer. Therefore, a force-sensing micro-tweezer with micro-operating device is designed in this paper, which is appropriate for the clamping of optical fibers of different diameters and controlled with the aid of a single-chip microcomputer. The working principle is that the certain opening at the end of the micro-tweezer is closed when the PZT outputs a tiny displacement which is amplified through the two-stage displacement amplifying mechanism, at some stage in which the PWM sign generated by using the controller and amplified by means of the signal amplifier is transmitted in this device and used to control the PZT. To enforce the function of the pressure feedback grasping of optical fibers of distinctive diameters, the sign generated by the pressure sensor at the end of the micro-tweezer is despatched to the controller after the fiber is being clamped. In this paper, the design, simulation and evaluation of the micro-tweezer, the setup and calibration of the system, and the experiments and performance assessments of the micro-tweezer are carried out. The results exhibit that the micro-tweezer can clamp the fiber with diameter of 100-300μm precisely with its output displacement at 360μm, force-sensing resolution accuracy at 9.8mN, and the clamping force at 0.392N. The force-sensing device now not only has a small volume, but also realizes the speedy replacement of a number of components, which advantage it to be widely-used in future micro-tweezers application scenario.

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Design and Analysis of a Novel Soft Bending Actuator Based on Eccentric Structure 11

Design and Analysis of a Novel Soft Bending Actuator Based o...

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11th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2021

作者： Li, Kai Zhang, Daohui Zhao, Xingang Chu, Yaqi State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institute for Robotics and Intelligent Manufacturing Shenyang110016 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

ISBN: (纸本)9781665425278

Due to safe interaction and intrinsic compliance, soft actuators have been developed in robotics around the world, and robots composed of soft actuators have been widely used in many fields such as grasping. However, for the fiber-reinforced actuators (FRAs), the non-circular design of cavity structure causes the problem of stress concentration, which can impact the performance of the soft actuators. In this paper, the eccentric soft bending actuators (ESBAs) with circular cavities were proposed to solve the problem and improve the performance. Particularly, the proposed actuators can be fabricated and assembled modularly with customized design of molds and terminal connectors, which can increase the repeatability and consistency of the actuators. To quantify the performance of the ESBAs, the bending angles and output forces are measured. Experimental results show that the maximum bending angle and output force of the proposed ESBAs could reach 131.6° and 1.5N at 190kPa, respectively. Additionally, comparative experiments on the performance of the ESBAs designed of cavity structure with different parameters were carried out to obtain the optimal ESBAs structure. Furthermore, a three-jaw soft gripper consisted of the ESBAs was developed and its grasping performance was also tested. The results showed that the proposed actuators had potential application in the manipulation of the soft gripper. © 2021 IEEE.

关键词： Actuators

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MorphoSys Bridges Morphogenesis in Swarms of Cells and Robots 12

MorphoSys Bridges Morphogenesis in Swarms of Cells and Robot...

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12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Yang, Yongliang Pan, Mengyun Cui, Long Liu, Lianqing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Morphogenesis, a concept of developmental biology, means forming patterns of tissues and organs during embryo development. Its regulatory mechanisms provide an inspiring storehouse for swarm robotics. Though many swarm robot platforms and controlling methods have been developed, a reliable engineering methodology is still missing, which hinders the advances of swarm robotics. To address this problem, we present the MorphoSys, a platform integrating the research and development of morphogenesis in both swarms of cells and robots. MorphoSys includes three components: MorphoCell, MorphoSim, and MorphoBot. This MorphoSys enables us to quantitively investigate the governing principles of morphogenesis of cells and to translate these principles into controlling methods of robot swarms. Meanwhile, the robot swarms could serve as a physical model to study morphogenesis in cell swarms. Via enabling quantitative bio-mimicking, MorphoSys has the potential to develop a reliable engineering methodology for swarm robotics. © 2022 IEEE.

关键词： Cells

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Intracellular Strain Measurement of Oocyte Based on Inclusion Appearance Using Neural Network 36

Intracellular Strain Measurement of Oocyte Based on Inclusio...

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36th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2021

作者： Zhang, Yujie Zhang, Yidi Zhao, Xiangfei Sun, Mingzhu Liu, Yaowei Zhao, Xin Cui, Maosheng Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Institute of Animal Sciences Tianjin300350 China

ISBN: (纸本)9781665437127

Somatic cell nuclear transfer(SCNT) involves many important procedures, of which enucleation is a critical one. During the extraction step of enucleation, oocytes undergo large deformation. Because of the similarity of appearance throughout the oocytes and the 3D spatial property of oocytes, traditional deformation measurement methods can hardly be used in full-field strain measurement during this process, especially for realtime control. Neural networks have the properties of large-scale parallel processing, high redundancy, and nonlinear operations. They can achieve high computing speed while maintaining high accuracy and strong fault tolerance. But lack of labeled data in different situations is the main problem. In this paper, a2D dataset for training Recurrent All-Pairs Field Transforms (RAFT) network was constructed. The dataset simulates the characteristics of oocytes. By fine-Tuning a pre-Trained model on the dataset, the resulting network outperforms the pre-Trained model and traditional optical flow methods. At the same time, with GPU acceleration, it can deal with 640∗480 resolution images at a speed of 4fps, which is comparable to traditional methods. © 2021 IEEE.

关键词： Deformation

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IVR-SSM: Industrial Vehicular Robot Safe & Smart Move Using Wheel-Encoder and Inertial-RGB-Depth Measurements 30

IVR-SSM: Industrial Vehicular Robot Safe & Smart Move Using ...

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30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024

作者： Liu, Yuanhao Liang, Wei Wang, Chu Zhang, Xin Gao, Huanbing Zhang, Yinlong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China School of Information and Electrical Engineering Shandong Jianzhu University Jinan China Shandong Key Laboratory of Intelligent Buildings Technology Jinan China

ISBN: (纸本)9798350391916

Safe & smart move (SSM) aims to help industrial vehicular robot (IVR), such as warehousing robots, running safely and smartly by detecting the obstacles in front and maintaining a safe distance & attitude. However, the traditional SSM methods suffer the drawbacks of limited ranges, inaccurate regression of safety distance & orientation between the robot and the forward unexpected obstacles, and the inappropriate IVR control strategies. To solve these issues, this paper designs an innovative real-time safety-aware framework using the complementary Wheel-Encoder and Inertial-RGB-Depth measurements to ensure the IVR running safely, reasonably and reliably. To estimate the robot running states, we take advantages of the complementary wheel encoder, monocular RGB images and inertial measurements to obtain the robot positions, orientations, angular and linear velocities in a tightly-coupled manner. To improve the safety relative distance & attitude estimation accuracy, we exploit the RGB and depth measurements in a task-oriented fashion. The forward obstacles with the specific contours are detected using the Mask-RCNN model, followed by the Gaussian Mixture Model to obtain the forward obstacle depth. Eventually, an IVR control strategy is designed to maintain the robot safety distance and orientation, and to keep the minimum damage to the robot mechanical system. The presented method has been evaluated on the developed industrial vehicular robot safety perception platform. The experimental results prove the competitiveness against the state-of-the-art methods. © 2024 IEEE.

关键词： Industrial robots

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Cam Profile Optimization for a Piezoelectric-Based Sole Energy Harvester

Cam Profile Optimization for a Piezoelectric-Based Sole Ener...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Liao, Haisu Ren, Zhongliang Wang, Yidi Wu, Xinyu Gao, Fei Southern University of Science and Technology Shenzhen518005 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China

ISBN: (纸本)9781665481090

Harvesting energy from the human body to extend the operational time for low-power has gained significant attention. Recently, researchers have focused on biomechanical energy harvesting from human feet while walking. This paper presents an optimization of the cam profile for a piezoelectric-based sole energy harvester designed to be worn on the bottom of shoes to power electronic devices. Specifically, cams with linear polynomial and exponential functions were designed to actuate the piezoelectric transducers (PZTs). Force analysis revealed that the exponential function cam induces more significant deformation in the PZTs than the linear polynomial cam. Preliminary tests on a healthy subject validated this design, showing that the exponential function cam produced an average output power of 0.16mW at a walking speed of 5.5 km/h, indicating a 78% improvement over the linear polynomial cam. Moreover, the optimization rate increased with the growing walking speed. © 2024 IEEE.

关键词： Piezoelectric transducers

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An Aerial Manipulator for Robot-to-robot Torch Relay Task: system Design and Control Scheme

arXiv

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arXiv 2024年

作者： Zhang, Guangyu He, Yuqing Yang, Liying Huang, Chaoxiong Chang, Yanchun Li, Siliang The State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China The Institute for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China

Torch relay is an important tradition of the Olympics and heralds the start of the Games. Robots applied in the torch relay activity can not only demonstrate the technological capability of humans to the world but also provide a sight of human lives with robots in the future. This article presents an aerial manipulator designed for the robot-to-robot torch relay task of the Beijing 2022 Winter Olympics. This aerial manipulator system is composed of a quadrotor, a 3 DoF (Degree of Freedom) manipulator, and a monocular camera. This article primarily describes the system design and system control scheme of the aerial manipulator. The experimental results demonstrate that it can complete robot-to-robot torch relay task under the guidance of vision in the ice and snow field. © 2024, CC BY.

关键词： Robots

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