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第42届中国控制会议

作者： Haiming Gao Qibo Qiu Shun Zhang Wei Hua Zhiyi Su Xuebo Zhang Research Center for Intelligent transportation Zhejiang Lab Institute of Robotics and Automatic Information System (IRAIS) Tianjin Key Laboratory of Intelligent Robotics (TJKLIR) Nankai University

This paper proposes a Multi-Point Cloud Map Fusion(MPC-MF) approach based on offline global optimization for mobile robots. To realize the effective map fusion of multiple point clouds, an offline global optimization approach is firstly proposed based on self constraint generation and mutual constraint generation. Different from the simple addition of fusing multiple maps to generate final complete map, this work makes use of mutual constraint factors between two adjacent sessions to eliminate inconsistencies in the fused map. Note that the factor generation of mutual constraint and the map fusion of global optimization are main contributions of this work. To evaluate the effectiveness of the proposed map fusion approach, three independent sessions have been collected in a real environment. Experimental results on multi-trajectory fusion and multi-map fusion show superior performance of our proposed approach on eliminating local inconsistencies and realizing effective fusion.

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Research on Database Construction and Assembly Path Planning Method for key Components of Phased Array Antennas 8

Research on Database Construction and Assembly Path Planning...

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8th International Conference on Electrical, Mechanical and Computer Engineering, ICEMCE 2024

作者： Chen, Minghui Jin, Chaoning Xi, Lei Han, Yong Zhou, Bo Nanchang Yanchang Electromechanical Technology Co. Ltd Jiangxi Nanchang330096 China The 39th Research Institute of China Electronics Technology Group Corporation Shaanxi Xi'an710065 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Liaoning Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Liaoning Shenyang110169 China

ISBN: (纸本)9798331506230

Compared with traditional antennas, phased array antennas with key structural components such as multi Vilvadi oscillators and grid plates have advantages such as high gain and high directional ability. Due to the need for a large number of structural components in phased array antennas, this will affect the performance and assembly accuracy of the assembled antenna. How to quickly and reasonably provide an assembly error distribution plan is the key to improving the performance of phased array antennas. This paper proposes a database based on geometric feature extraction of contact surfaces and finite element analysis of contact stress to obtain an optimized assembly plan for key components of phased array antennas, which requires the use of a large number of key components. Considering the real-time updated assembly data, a reasonable assembly path planning method was planned to avoid assembly interference. The simulation results show that this method can significantly improve assembly efficiency and provide a reasonable assembly error distribution scheme. © 2024 IEEE.

关键词： Database systems

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Viia-hand: a Reach-and-grasp Restoration system Integrating Voice interaction, Computer vision and Auditory feedback for Blind Amputees

arXiv

引用

arXiv 2023年

作者： Peng, Chunhao Yang, Dapeng Cheng, Ming Dai, Jinghui Zhao, Deyu Jiang, Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China Artificial Intelligence Laboratory Harbin Institute of Technology Harbin150080 China

Visual feedback plays a crucial role in the process of amputation patients completing grasping in the field of prosthesis control. However, for blind and visually impaired (BVI) amputees, the loss of both visual and grasping abilities makes the "easy" reach-and-grasp task a feasible challenge. In this paper, we propose a novel multi-sensory prosthesis system helping BVI amputees with sensing, navigation and grasp operations. It combines modules of voice interaction, environmental perception, grasp guidance, collaborative control, and auditory/tactile feedback. In particular, the voice interaction module receives user instructions and invokes other functional modules according to the instructions. The environmental perception and grasp guidance module obtains environmental information through computer vision, and feedbacks the information to the user through auditory feedback modules (voice prompts and spatial sound sources) and tactile feedback modules (vibration stimulation). The prosthesis collaborative control module obtains the context information of the grasp guidance process and completes the collaborative control of grasp gestures and wrist angles of prosthesis in conjunction with the user's control intention in order to achieve stable grasp of various objects. This paper details a prototyping design (named viia-hand) and presents its preliminary experimental verification on healthy subjects completing specific reach-and-grasp tasks. Our results showed that, with the help of our new design, the subjects were able to achieve a precise reach and reliable grasp of the target objects in a relatively cluttered environment. Additionally, the system is extremely user-friendly, as users can quickly adapt to it with minimal training. Copyright © 2023, The Authors. All rights reserved.

关键词： Computer vision

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An experiment study for unmanned aerial manipulator systems with L1 adaptive augmentation of geometric control

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Control Engineering Practice 2025年 164卷

作者： Cai, Kexin Yu, Hai Zhang, Zhaopeng Liang, Xiao Fang, Yongchun Han, Jianda Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Nankai University Tianjin China

Unmanned aerial manipulators, integrating multi-rotor unmanned aerial vehicles (UAVs) and multi-link manipulators, are extending the capabilities of UAVs to interact with the environment and demonstrating vast potential for diverse applications. However, the dynamic coupling between the UAV and the manipulator, along with the unmodeled nonlinear disturbances exerting on the aerial platform, pose challenges for high-performance control of the aerial manipulator. To this end, this paper proposes an L1 adaptive augmentation control method for the aerial manipulator to compensate the disturbances brought by manipulator motion and unmodeled uncertainties. Specifically, a baseline geometric controller is constructed to directly compensate the measurable wrench disturbances exerted on the UAV by the manipulator motion, while an L1 adaptive controller is designed to compensate the residual unknown wrench disturbances. By Lyapunov techniques, it is proven that the error signals of the closed-loop system are uniformly ultimately bounded, which demonstrates the theoretical effectiveness of the proposed method. Finally, the feasibility and robustness of the proposed control method are validated through three groups of hardware experiments. © 2025 Elsevier Ltd

关键词： Drones

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HG-CBS Planner: Heuristic Group-based Motion Planning for Multi-robot 18

HG-CBS Planner: Heuristic Group-based Motion Planning for Mu...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Liu, Weilong Wang, Jin Zhang, Kewen Yu, Huan Zheng, Zhi Lu, Guodong State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310027 China Robotics Research Center of Yuyao City Ningbo315400 China College of Mechanical Engineering Zhejiang University of Technology Hangzhou310023 China Robotics Institute of Zhejiang University Hangzhou310027 China

ISBN: (纸本)9798350312201

Multi-Agent Path Finding (MAPF) has been widely studied in the field of artificial intelligence and multi-agent path search, and researchers have made improvements to make such algorithms applicable to actual nonholonomic constrained robots. In this paper, the collision detection is improved by body-occupied collision detection, which improves the efficiency of collision detection. In addition, to solve the problem of low efficiency in centralized search for multi-robot solutions, reasonable grouping is performed to reduce the number of collision nodes expanded in the centralized Conflict-based search(CBS), and feasible results are obtained faster. At the same time, the heuristic multi-robot search based on collision frequency is improved to reduce the search time. Finally, we constructed the trajectory smoothing problem based on the multi-robot path search results and applied the solution to real robot trajectory tracking. Our research provides valuable insights into solving trajectory planning problems for nonholonomic constrained mobile robots in practical scenarios. © 2023 IEEE.

关键词： Motion planning

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Unscented Kalman-filter-based sliding mode control for an underwater gliding snake-like robot

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Science China(Information Sciences) 2020年第1期63卷 213-225页

作者： Jingge TANG Bin LI Jian CHANG Aiqun ZHANG State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences

With its strong endurance and high maneuverability, an underwater gliding snake-like robot(UGSR) is a strong potential candidate for aquatic exploration and monitoring. The major feature of the UGSR, which distinguishes it from other snake-like robots, is long range and long operation duration by gliding. This study establishes a gliding motion control system for the UGSR based on a sliding mode controller(SMC). The control system stabilizes the system and suppresses the uncertainties and unknown disturbances. In this strategy, chattering is reduced based on the reaching law method. To circumvent the difficulty of velocity measurements, a nonlinear observer based on an unscented Kalman filter(UKF) is employed for state estimation and random noise handling. The effectiveness of the proposed controller and observer is verified by simulating the UKF-based SMC closed-loop system.

关键词： underwater gliding snake-like robot sliding mode control reaching law nonlinear observer unscented Kalman filter robustness

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Long-Term LiDAR Place Recognition Based on Phase Congruency in Changing Environments 42

Long-Term LiDAR Place Recognition Based on Phase Congruency ...

引用

42nd Chinese Control Conference, CCC 2023

作者： Cao, Fengkui Li, Chi Wang, Ting State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China College of Information Engineering Dalian University Dalian China Faculty of Robot Science and Engineering Northeastern University Shenyang China

ISBN: (纸本)9789887581543

Robust Place recognition is an open challenging problem under various perceptual conditions, e.g., all weather, times-of-day and seasons shifts. Although LiDAR sensors do not suffer from illumination problem of visual appearance, they are dramatically affected by structural changes across seasons. In this paper, a simple yet effective place recognition method is proposed based on phase congruency to achieve long-term robust localization under severe seasonal changes. To improve the efficiency while retaining geometric information of scene layouts in 3D space, a compact cylindrical description is designed to convert 3D point clouds to 2D images, in which the pixel values are computed based on geometric information rather than heights or numbers of points. Then the histogram of orientated phase congruency are encoded as global descriptor for place retrieval. Extensive real experiments on across-season Oxford RobotCar dataset show that the proposed system outperforms baseline methods, verifying its robust performance in challenging scenarios. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Image enhancement

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RINGO: Real-time Navigation with a Guiding Trajectory for Aerial Manipulators in Unknown Environments

arXiv

引用

arXiv 2025年

作者： Zhang, Zhaopeng Wu, Shizhen Guo, Chenfeng Fang, Yongchun Han, Jianda Liang, Xiao Institute of Robotics and Automatic Information System College of Artificial Intelligence Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

Motion planning for aerial manipulators in constrained environments has typically been limited to known environments or simplified to that of multi-rotors, which leads to poor adaptability and overly conservative trajectories. This paper presents RINGO: Real-time Navigation with a Guiding Trajectory, a novel planning framework that enables aerial manipulators to navigate unknown environments in real time. The proposed method simultaneously considers the positions of both the multi-rotor and the end-effector. A pre-obtained multi-rotor trajectory serves as a guiding reference, allowing the end-effector to generate a smooth, collision-free, and workspace-compatible trajectory. Leveraging the convex hull property of B-spline curves, we theoretically guarantee that the trajectory remains within the reachable workspace. To the best of our knowledge, this is the first work that enables real-time navigation of aerial manipulators in unknown environments. The simulation and experimental results show the effectiveness of the proposed method. The proposed method generates less conservative trajectories than approaches that consider only the multi-rotor. © 2025, CC BY.

关键词： Manipulators

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A New Workspace and Structural Parameter Optimization Method of Parallel Robot 18

A New Workspace and Structural Parameter Optimization Method...

引用

18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Zhang, Haiyun Hu, Weijun Zhang, Renge Wang, Jin Lu, Guodong School of Robotics Ningbo University of Technology Ningbo315211 China Robotics Institute of Zhejiang University Hangzhou310027 China Zhejiang Qiantang Robot and Intelligent Equipment Reserch Co. Ltd Hangzhou310018 China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310027 China Robotics Research Center of Yuyao City Ningbo315400 China

ISBN: (纸本)9798350312201

The parallel robot workspace refers to the set of points and boundary that can be reached by the parallel mechanism. With the continuous development and industrial application of parallel robots, the workspace analysis and optimization becomes a critical link in this process. In this paper, a workspace solution approach based on seed space segmentation and principal component analysis is proposed. In order to improve the working performance of parallel robots, a flexible workspace evaluation method based on quadratic fourth moment is proposed, and a relationship model between flexible workspace and structural parameters is established. Furthermore, based on the multi-objective genetic algorithm, the structure parameters of the parallel robot are optimized by the workspace and flexible workspace indexes. Finally, the advantage and effectiveness of proposed method are verified by experiment and comparison with traditional methods. © 2023 IEEE.

关键词： Principal component analysis

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A kinematic calibration method for robots based on the PGTF error model and Levenberg-Marquardt algorithm 18

A kinematic calibration method for robots based on the PGTF ...

引用

18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Zheng, Zhi Wang, Jin Zhu, Jun Liu, Luan Zhang, Haiyun Lu, Guodong State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310027 China Robotics Research Center of Yuyao City Ningbo315400 China School of Robotics Ningbo University of Technology Ningbo315211 China Robotics Institute of Zhejiang University Hangzhou310027 China Zhejiang Qiantang Robot and Intelligent Equipment Research Co. Ltd Hangzhou310018 China

ISBN: (纸本)9798350312201

Robots use motors for power output and realize joint motion through reducers and mechanical transmissions, which affect the absolute positioning accuracy. In view of this problem, an error model based on Preprocessing-Geometric-Transmission-Flexibility (PGTF) is proposed and solved by Levenberg-Marquardt algorithm. First, the theoretical kinematic model is established by MD-H model method. Second, the data was pre-processed in dimension upgrade and the robot error identification model was established for geometric error, transmission error and flexible error. Third, Levenberg-Marquardt algorithm was used to find the global convergence solution to realize the identification of error parameters, and the actual robot kinematic model was compensated. Finally, the experiment is carried out on the real robot machine. Through theoretical analysis and verification of real machine data, the average error of kenbei-5kg robot is reduced from 6.8787 mm to 0.1267 mm, the positioning accuracy is improved by 98.16%, the accuracy compensation algorithm is accurate, and the compensation effect is remarkable. © 2023 IEEE.

关键词： Robots

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