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PMM-Net: Single-Stage Multi-Agent Trajectory Prediction with Patching-Based Embedding and Explicit Modal Modulation

IEEE robotics and Automation Letters 2025年第7期10卷 6664-6671页

作者： Huajian, Liu Wei, Dong Kunpeng, Fan Chao, Wang Yongzhuo, Gao Harbin Institute of Technology State Key Laboratory of Robotics and System China

Analyzing and forecasting trajectories of agents like pedestrians plays a pivotal role for embodied intelligent applications. The inherent indeterminacy of human behavior and complex social interaction among a rich variety of agents makes this task more challenging than common time-series forecasting. In this letter, we aim to explore a distinct formulation for multi-agent trajectory prediction framework. Specifically, we propose a patching-based temporal feature extraction module and a graph-based social feature extraction module, enabling effective feature extraction and cross-scenario generalization. Moreover, we reassess the role of social interaction and present a novel method based on explicit modality modulation to integrate temporal and social features, thereby constructing an efficient single-stage inference pipeline. Results on public benchmark datasets demonstrate the superior performance of our model compared with the state-of-the-art methods. The code is available at: https://***/TIB-K330/pmm-net. © 2016 IEEE.

关键词： Signal modulation

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Puncture site decision method for venipuncture robot based on near-infrared vision and multiobjective optimization

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Science China(Technological Sciences) 2023年第1期66卷 13-23页

作者： HE TianBao GUO ChuangQiang JIANG Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Venipuncture robots have superior perception and stability to humans and are expected to replace manual ***, their use is greatly restricted because they cannot make decisions regarding the puncture sites. Thus, this study presents a multi-information fusion method for determining puncture sites for venipuncture robots to improve their autonomy in the case of limited resources. Here, numerous images have been gathered and processed to establish an image dataset of human forearms for training the U-Net with the soft attention mechanism(SAU-Net) for vein segmentation. Then, the veins are segmented from the images, feature information is extracted based on near-infrared vision, and a multiobjective optimization model for puncture site decision is provided by considering the depth, diameter, curvature, and length of the vein to determine the optimal puncture site. Experiments demonstrate that the method achieves a segmentation accuracy of 91.2% and a vein extraction rate of 86.7%while achieving the Pareto solution set(average time: 1.458 s) and optimal results for each vessel. Finally, a near-infrared camera is applied to the venipuncture robot to segment veins and determine puncture sites in real time, with the results transmitted back to the robot for an attitude adjustment. Consequently, this method can enhance the autonomy of venipuncture robots if implemented dramatically.

关键词： puncture site decision vein extraction near-infrared vision venipuncture robot

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A New EMG Decomposition Framework for Upper Limb Prosthetic systems

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Journal of Bionic Engineering 2023年第6期20卷 2646-2660页

作者： Wenhao Wu Li Jiang Bangchu Yang Kening Gong Chunhao Peng Tianbao He State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150080China

Neural interfaces based on surface Electromyography(EMG)decomposition have been widely used in upper limb prosthetic *** the current EMG decomposition framework,most Blind Source Separation(BSS)algorithms require EMG with a large number of channels(generally larger than 64)as input,while users of prosthetic limbs can generally only provide less skin surface for electrode placement than healthy *** performed decomposition tests to demonstrate the performance of the new framework with the simulated EMG *** results show that the new framework identified more Motor Units(MUs)compared to the control group and it is suitable for decomposing EMG signals with low channel *** order to verify the application value of the new framework in the upper limb prosthesis system,we tested its performance in decomposing experimental EMG signals in force fitting experiments as well as pattern recognition *** average Pearson coefficient between the fitted finger forces and the ground truth forces is 0.9079 and the average accuracy of gesture classification is 95.11%.The results show that the decomposition results obtained by the new framework can be used in the control of the upper limb prosthesis while only requiring EMG signals with fewer channels.

关键词： EMG decomposition Peel-off strategy Few channels Upper limb prosthetic system

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Simulation and analysis of asteroid force closure anchoring performance based on discrete element method

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Chinese Journal of Aeronautics 2023年第8期36卷 381-394页

作者： Tingzhang WANG Qiquan QUAN Hongshuai GAO Mengxue LI Dewei TANG Zongquan DENG State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Asteroid exploration is significant for studying the origin of the solar system,establishing planetary defenses,and alleviating the resource crisis of the *** anchoring is the basis of in-situ exploration and resource development and ***,the performance of asteroid force-closure anchoring is investigated using the discrete element *** micro parameters of the simulated materials are calibrated with angle of repose and uniaxial compression experiments,based on which the regional modeling method is adopted to establish the anchoring discrete element *** anchoring experiments are conducted on a self-developed microgravity simulation platform to verify the accuracy of the simulation *** asteroid anchoring simulations are performed to investigate the influence of external force on the anchoring *** analysis of anchoring force varying with time and the interaction between the anchor and regolith particles reveals the influence mechanism of external force direction on the anchoring *** external force direction affects the critical anchoring force by influencing the failure of the force-closure *** comprehensive analysis of simulation results clarifies the variation of the critical anchoring force with the external ***,a stable anchoring region is established,beneficial for asteroid anchoring device design.

关键词： Anchoringforce Asteroid exploration Discrete element method Force closureanchoring Simulationverification

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A policy iteration method for improving robot assembly trajectory efficiency

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Chinese Journal of Aeronautics 2023年第3期36卷 436-448页

作者： Qi ZHANG Zongwu XIE Baoshi CAO Yang LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Bolt assembly by robots is a vital and difficult task for replacing astronauts in extravehicular activities(EVA),but the trajectory efficiency still needs to be improved during the wrench insertion into hex hole of *** this paper,a policy iteration method based on reinforcement learning(RL)is proposed,by which the problem of trajectory efficiency improvement is constructed as an issue of RL-based objective ***,the projection relation between raw data and state-action space is established,and then a policy iteration initialization method is designed based on the projection to provide the initialization policy for *** iteration based on the protective policy is applied to continuously evaluating and optimizing the action-value function of all state-action pairs till the convergence is *** verify the feasibility and effectiveness of the proposed method,a noncontact demonstration experiment with human supervision is *** results show that the initialization policy and the generated policy can be obtained by the policy iteration method in a limited number of demonstrations.A comparison between the experiments with two different assembly tolerances shows that the convergent generated policy possesses higher trajectory efficiency than the conservative *** addition,this method can ensure safety during the training process and improve utilization efficiency of demonstration data.

关键词： Bolt assembly Policy initialization Policy iteration Reinforcement learning(RL) Robotic assembly Trajectory efficiency

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Hybrid Static-dynamic Sensation Electrotactile Feedback for Hand Prosthesis Tactile and Proprioception Feedback

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Journal of Bionic Engineering 2023年第1期20卷 267-277页

作者： Bin Yang Li Jiang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

Tactile and proprioception feedback are essential to myoelectric hand prostheses control for regaining functionality of lost hands of *** studies focus on tactile feedback,while the lack of appropriate multisensory feedback,especially proprioception feedback,limits the grasping ***,a typical non-invasive stimulation scheme for sensation feedback uses stimulation on the stationary site of the skin continuously,which can lead to fatigue and adaptation of sensation,further reduces the feedback consistency,and increases the cognitive burden for the *** the sensitivity and modality matching of sensation,this study presented a multimodal sensations feedback scheme based on hybrid static-dynamic sensation elicited by multisite Transcutaneous Electrical Nerve Stimulation(TENS)to deliver grasping force and joint position *** the proposed scheme,stimulation of single electrode produced only in-loco tactile sensation under the electrode,and the sensation intensity was adjusted according to grasping force;sequential activation of multi-electrodes produced an illusion dynamic sensation of a stimulus moving,and the velocity and direction of movement were adjusted according to finger joint *** test results demonstrated the identifiability of stimulus in the proposed ***,prosthetic hand closed-loop grasping tasks evaluate the effectiveness of the proposed feedback *** results showed that the proposed feedback scheme could substantially improve the grasping accuracy and *** addition,the study outcomes also demonstrated the benefit of artificial proprioception feedback in grasping rapidity and security.

关键词： TENS-Prosthetic hand control-Bioinspired sensation-Multimodal sensations Proprioception feedback Tactilefeedback Myoelectric control

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Light weight design and integrated method for manufacturing hydraulic wheel-legged robots

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第9期25卷 701-715页

作者： Xu LI Haoyang YU Huaizhi ZONG Haibo FENG Yili FU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058China

Design and manufacturing play pivotal roles in hydraulic-driven robotic ***,previous studies have emphasized mainly results and performance,often overlooking the specifics of the design and manufacturing *** paper introduces a novel approach known as light weight design and integrated manufacturing(LD&IM)for hydraulic wheel-legged *** LD&IM method leverages topology optimization and generative design techniques to achieve a substantial 45%weight reduction,enhancing the robot’s dynamic motion *** innovative design method not only streamlines the design process but also upholds the crucial attributes of light weight construction and high strength essential for hydraulic wheel-legged ***,the integrated manufacturing method,incorporating selective laser melting(SLM)and high-precision subtractive manufacturing(SM)processes,expedites the fabrication of high-quality *** the LD&IM approach,a hydraulic-driven single wheel-legged robot,denoted as WLR-IV,has been successfully *** robot boasts low mass and inertia,high strength,and a simplified component *** assess its dynamic jumping capabilities,the control loop integrates a linear quadratic regulator(LQR)and zero dynamic-based controller,while trajectory planning uses the spring-loaded inverted pendulum(SLIP)*** jumping results confirm the WLR-IV single-legged robot’s exceptional dynamic performance,validating both the effectiveness of the LD&IM method and the rationale behind the control strategy.

关键词： Wheel-legged robot Hydraulic driven Topology optimization Wheel-legged robot Hydraulic driven Topology optimization Additive manufacturing(AM) Jump control

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Reinforcement Learning Navigation for Robots Based on Hippocampus Episode Cognition

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Journal of Bionic Engineering 2024年第1期21卷 288-302页

作者： Jinsheng Yuan Wei Guo Zhiyuan Hou Fusheng Zha Mantian Li Pengfei Wang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin 150001China Shenzhen Academy of Aerospace Technology Shenzhen 518057China School of Mechanical and Electrical Engineering Lanzhou University of TechnologyLanzhou 730050China

Artificial intelligence is currently achieving impressive success in all ***,autonomous navigation remains a major challenge for *** learning is used for target navigation to simulate the interaction between the brain and the environment at the behavioral level,but the Artificial Neural Network trained by reinforcement learning cannot match the autonomous mobility of humans and *** hippocampus–striatum circuits are considered as key circuits for target navigation planning and *** paper aims to construct a bionic navigation model of reinforcement learning corresponding to the nervous system to improve the autonomous navigation performance of the *** ventral striatum is considered to be the behavioral evaluation region,and the hippocampal–striatum circuit constitutes the position–reward *** this paper,a set of episode cognition and reinforcement learning system simulating the mechanism of hippocampus and ventral striatum is constructed,which is used to provide target guidance for the robot to perform autonomous *** with traditional methods,this system reflects the high efficiency of learning and better Environmental *** research is an exploration of the intersection and fusion of artificial intelligence and neuroscience,which is conducive to the development of artificial intelligence and the understanding of the nervous system.

关键词： Episode cognition Reinforcement learning Hippocampus Robot navigation

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Torque Ripple Suppression Under Open-Circuit Fault for DTPPMSM Considering Back EMF Harmonics

Torque Ripple Suppression Under Open-Circuit Fault for DTPPM...

引用

2023 IEEE International Conference on Applied Superconductivity and Electromagnetic Devices, ASEMD 2023

作者： Liu, Chengsi Zou, Jibin Harbin Institute of Technology Hit State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350301571

This paper analyzed the impact of phase back electromotive force (back EMF) harmonics on torque of dual three phase permanent magnet synchronous motor (DTPPMSM) from the view of electromagnetic power, and proposed a torque ripple suppression fault-tolerant method for open-circuit fault of DTPPMSM. The proposed method can consider the phase back EMF harmonics, thus achieveing both minimum torque ripple and maximum average torque. The proposed method is verified by both finite element analysis (FEA) and prototype experiment. © 2023 IEEE.

关键词： Dual three phase permanent magnet synchronous motor (DTPPMSM) fault-tolerant finite element analysis (FEA) open circuit

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Characteristic model-based control of aerial manipulator for improved interaction stability

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Science China(Technological Sciences) 2025年第4期68卷 166-178页

作者： Bingkai XIU Zhan LI Yipeng YANG Huijun GAO Research Institute of Intelligent Control and Systems Harbin Institute of TechnologyHarbin150001China State Key Laboratory of Robotics and Systems(HIT) Harbin Institute of TechnologyHarbin150001China

Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve the contact stability of the aerial manipulator. First, only position measurements of the aerial manipulator are introduced to design the practical finite-time command filter-based force observer. Second, an attitude control architecture including characteristic modeling and controller design is presented. In the modeling part, input-output data is utilized to build the characteristic model with fewer parameters and a simpler structure than the traditional dynamic model. Different from conventional control methods, fewer feedback values,namely only angle information, are required for designing the controller in the controller part. In addition, the convergence of force estimation and the stability of the attitude control system are proved by the Lyapunov analysis. Numerical simulation comparisons are conducted to validate the effectiveness of the attitude controller and force observer. The comparative results demonstrate that the tracking error of x and θ channels decreases at least 10.62% and 10.53% under disturbances and the force estimation precision increases at least 45.19% in the different environmental stiffness. Finally, physical flight experiments are conducted to validate the effectiveness of the proposed framework by a self-built aerial manipulator platform.

关键词： aerial manipulator interaction stability contact force observer characteristic model

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