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Enhancing trajectory tracking accuracy of industrial robots through temporal–spatial mapping and multi-measurement alignment

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robotics and Computer-Integrated Manufacturing 2025年 96卷

作者： Wang, Chengzhi Zheng, Tianjiao Xu, Tian Zhao, Shize Yang, Ziyuan Zhao, Sikai Cai, Hegao Zhao, Jie Zhu, Yanhe State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150001 China School of Materials Science and Engineering Harbin Institute of Technology Harbin150001 China

Robotic machining and automatic offline programming has been developing rapidly over the last decade, yet the absolute accuracy of industrial robots significantly impacts the processing performance, limiting their application in high-precision manufacturing fields. For dynamic non-contact continuous robotic machining tasks, such as laser cutting, precise trajectory tracking performance is especially critical. In this paper, a parallel tracking error compensation framework is proposed to improve the tracking performance of industrial robots, based on temporal–spatial mapping and multi-measurement alignment (TSM-MMA). Major tracking errors originate from nonlinear motor control lag and non-geometric motion transmission errors. The proposed method incorporates both servomotor encoder feedback and laser tracker measurements, enabling parallel distinction and compensation of these errors across trials. Typical linear and circular trajectories are analyzed using TSM to normalize multi-sensor data. Gaussian process regression (GPR) is employed in the MMA process to model the regularity of repetitive measurements, facilitating targeted error compensation. Physical experiments are conducted with an EFORT ER14-1400 robot and a Leica AT960 laser tracker to validate the effectiveness of the proposed framework. © 2025 Elsevier Ltd

关键词： Industrial robots

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DP4AuSu: Autonomous Surgical Framework for Suturing Manipulation Using Diffusion Policy With Dynamic Time Wrapping-Based Locally Weighted Regression

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The International Journal of Medical robotics and Computer Assisted Surgery 2025年第3期21卷 e70072页

作者： Wenda Xu Zhihang Tan Zexin Cao Haofei Ma Gongcheng Wang Han Wang Weidong Wang Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Department of Industrial and Systems Engineering The Hong Kong Polytechnic University Hong Kong China

Background Emerging imitation learning (IL) approaches have provided innovative solutions for completing surgical robotic suturing autonomously, significantly aiding surgeons in their manipulations. Methods We introduce Diffusion Policy for Autonomous Suturing (DP4AuSu), a novel framework that leverages diffusion policy (DP) and dynamic time wrapping-based locally weighted regression to achieve autonomous robotic suturing. Results In simulation, DP4AuSu achieved a 94% success rate for insertion subtasks over 50 trials. In a real-world setting, it achieves 85% success rate over 20 trials for suturing manipulations in 390.55–41.59s faster than conventional diffusion policy. Conclusions Our novel framework can capture the multimodality in demonstrations and successfully learn the suturing policy and reduce the suturing time. To the best of our knowledge, this work represents the first application of diffusion policy for robotic suturing. We hope this research paves the way for the automation of more complex surgical tasks.

关键词： autonomous suturing dynamic time wrapping imitation learning locally weighted regression robot learning surgical robot

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A Humanoid Robot to Assess the Affective Imitative Expression Abilities of Children with Autism Spectrum Disorder

A Humanoid Robot to Assess the Affective Imitative Expressio...

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2023 International Conference on Machine Learning and Cybernetics, ICMLC 2023

作者： Ji, Hao-Yu Chen, Bo-Wen Wang, Zhi-Yong Ma, Han-Wei Lin, Rui-Han Sheng, Yi-Xuan Liu, Hong-Hai State Key Laboratory of Robotics and Systems Shenzhen518055 China

ISBN: (纸本)9798350303780

Autism Spectrum Disorder (ASD) is a neurodevelopmental disorder characterized by impairments in social interaction and communication, repetitive behaviors and restricted interests. Assessments and interventions targeting affective expression are crucial for supporting the development of children with ASD. However, existing approaches face challenges related to complex interventions, lack of unified metrics, and inadequate immersion and guidance in providing effective affective assessment. In this paper, an innovative humanoid robot is designed and evaluated to address specific challenges and assess the ability of children with ASD in affective imitative expression. The robot, with its meticulously designed mechanical and hardware structure, incorporates an assessment protocol for affective imitative expression and algorithms for assessing affective expression abilities. It utilizes several specially designed assessment metrics to generate a uniquely tailored assessment scale for affective imitative expression. A preliminary experiment involving ten neurotypical adults has been conducted to validate the feasibility and accuracy of the proposed system. The results demonstrate potential in supporting rehabilitation planning and research for ASD assessments. © 2023 IEEE.

关键词： Anthropomorphic robots

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Simulation and experiment research of non-contact micro-liquid reagent dispensing

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Advance Journal of Food Science and Technology 2013年第5期5卷 514-521页

作者： Yufeng, Yao Shizhou, Lu Yaxin, Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China State Key Laboratory for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an 710049 China

With the development of biological analytical techniques and high throughput screening techniques, a large number of automated biological agents dispensing systems are widely used in the field of life science research. Non-contact dispensing method characterizedby its small dispensing volume, high dispensing precision and quick service speed which satisfies the requirements of biological agent's distribution, becomes the mainstream dispensing method used in reagent dispensing systems. However, the difficult control way, complex system of non-contact dispensing method and its vulnerable dispensing process, which can be easily affected by characteristics of the agent, have hindered the application and development of the method. In this study, simulation model of the separation process ofmicro scale biological reagent are constructed in order to solve the above problems. The prerequisites of the non-contact dispensing method, the relationship between dispensing volume and precision and characteristics of reagents, formation of system and control parameters are researched through theoretical analysis and numerical simulations. The experiment results are quite consistent with the simulation results;therefore it well verifies the reliability of the modeling and simulation method and also lays a firm theoretical foundation for the system design of non-contact micro-liquid reagent distribution and control optimization © Maxwell Scientific Organization, 2013.

关键词： Numerical methods

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EndoMamba: An Efficient Foundation Model for Endoscopic Videos via Hierarchical Pre-training

arXiv

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arXiv 2025年

作者： Tian, Qingyao Liao, Huai Huang, Xinyan Yang, Bingyu Lei, Dongdong Ourselin, Sebastien Liu, Hongbin State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Dept. of Radiology The First Affiliated Hospital Sun Yat-sen University Guangzhou China Centre for Artificial Intelligence and Robotics Chinese Academy of Sciences Hong Kong School of Engineering and Imaging Sciences King’s College London United Kingdom

Endoscopic video-based tasks, such as visual navigation and surgical phase recognition, play a crucial role in minimally invasive surgeries by providing real-time assistance. While recent video foundation models have shown promise, their applications are hindered by (1) computational inefficiencies and (2) suboptimal performance caused by limited data for pre-training in endoscopy. To address these issues, we present EndoMamba, a foundation model designed for real-time inference while learning generalized spatiotemporal representations. First, to mitigate computational inefficiencies, we propose the EndoMamba backbone, optimized for real-time inference. Inspired by recent advancements in state space models, EndoMamba integrates Bidirectional Mamba blocks for spatial modeling within individual frames and vanilla Mamba blocks for past-to-present reasoning across the temporal domain. This design enables both strong spatiotemporal modeling and efficient inference in online video streams. Second, we propose a self-supervised hierarchical pre-training diagram to enhance EndoMamba’s representation learning using endoscopic videos and incorporating general video domain knowledge. Specifically, our approach combines masked reconstruction with auxiliary supervision, leveraging low-level reconstruction to capture spatial-temporal structures and high-level alignment to transfer broader knowledge from a pretrained general-video domain foundation model. Extensive experiments on four downstream tasks—classification, segmentation, surgical phase recognition, and localization—demonstrate that EndoMamba outperforms existing foundation models and task-specific methods while maintaining real-time inference speed. The source code will be released upon acceptance. Copyright © 2025, The Authors. All rights reserved.

关键词： Endoscopy

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Active Control of Free Paraboloidal Membrane Shells Using Photostrictive Actuators

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Transactions of Tianjin University 2011年第1期17卷 6-12页

作者：王新杰岳洪浩邓宗全 State Key Laboratory of Robotics and Systems Harbin Institute of Technology Research Center of Aerospace Mechanism and Control Harbin Institute of Technology

The paraboloidal membrane shell with free boundary condition is actively controlled using photostrictive actuators which can provide contactless actuation under the illumination of ultraviolet light. The governing equations of the paraboloidal shell laminated with paired photostrictive actuators are established based on membrane approximation. The modal control actions of meridional/circumferential actuators are respectively formulated and evaluated by case studies. Constant light intensity related to the velocity of the shell is adopted, and then the governing equations are written in a closed-loop form which can be solved with Newmark-β method. Considering the multi-field coupling behavior of photostrictive actuators, time histories of transverse displacement and control light intensity are simulated and evaluated. The results show that photostrictive actuators can effectively control the vibration of the paraboloidal membrane shell, and the photostrictive actuators oriented along circumferential direction can give better control effect than photostrictive actuators placed along the meridional direction.

关键词： photostrictive actuator paraboloidal shell active control membrane approximation

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Configuration Synthesis and Performance Evaluation Metrics of Lunar Rover Locomotion systems

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Transactions of Tianjin University 2009年第3期15卷 193-200页

作者：邓宗全张朋高海波胡明 State Key Laboratory of Robotics and Systems Harbin Institute of Technology Research Center of Aerospace Mechanism and Control Harbin Institute of Technology

A method of topology synthesis based on graph theory and mechanism combination theory was applied to the configuration design of locomotion systems of lunar exploration rovers(LER).Through topology combination of wheel structural unit,suspension unit,and connecting device unit between suspension and load platform,some new locomotion system configurations were proposed and the metrics and indexes to evaluate the performance of the new locomotion system were *** evaluation and comparison between two LER with locomotion systems of different configurations were *** analysis results indicate that the new locomotion system configuration has good trafficability performance.

关键词： configuration synthesis evaluation metrics locomotion system lunar rover

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Vibration suppression for wafer transfer robot during trajectory tracking

Vibration suppression for wafer transfer robot during trajec...

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International Conference on Mechatronics and Automation

作者： Liu, Yanjie Cao, Yumei Sun, Lining Zheng, Xiaofei State Key Laboratory of Robotics and Systems Robotics Institute Harbin Institute of Technology Harbin 150080 China

ISBN: (纸本)9781424451418

In order to solve the vibration during the process of transferring wafers and achieve the purpose of transferring wafers accurately and stably, the wafer transfer robot dynamic model was modelled and the strategy of vibration suppression based on input shaping was proposed. Based on the characteristics of wafer transfer robot, ZV input shaper and skewed shaper was designed to solve the single axis's vibration caused by timing belt and harmonic reducer, and most importantly, the vibration of end effector during trajectory tracking was suppressed with input shapers using multi-modal system cascade method in the Cartesian space. Through comparison of different effects during the straight-line trajectory tracking in different spaces, the experiments demonstrated that the input shaping in Cartesian space suppressed vibration of end effector and improved the accuracy of trajectory tracking. © 2010 IEEE.

关键词： End effectors

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Dynamic compliance of energy-saving legged elastic parallel joints for quadruped robots:design and realization

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Frontiers of Mechanical Engineering 2024年第2期19卷 45-58页

作者： Yaguang ZHU Minghuan ZHANG Xiaoyu ZHANG Haipeng QIN Key Laboratory of Road Construction Technology and Equipment of Ministry of Education School of Engineering MachineryChang’an UniversityXi’an 710064China State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China

Achieving dynamic compliance for energy-efficient legged robot motion is a longstanding *** recent predictive control methods based on single-rigid-body models can generate dynamic motion,they all assume infinite energy,making them unsuitable for prolonged robot *** this issue necessitates a mechanical structure with energy storage and a dynamic control strategy that incorporates feedback to ensure *** work draws inspiration from the efficiency of bio-inspired muscle–tendon networks and proposes a controllable torsion spring leg *** design integrates a spring-loaded inverted pendulum model and adopts feedback delays and yield springs to enhance the delay effects.A leg control model that incorporates motor loads is developed to validate the response and dynamic performance of a leg with elastic *** model provides torque to the knee joint,effectively reducing the robot’s energy consumption through active or passive control *** benefits of the proposed approach in agile maneuvering of quadruped robot legs in a realistic scenario are demonstrated to validate the dynamic motion performance of the leg with elastic joints with the advantage of energy-efficient legs.

关键词： dynamic responsiveness energy dissipation legged locomotion parallel joints quadruped robot

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A Real-Time Hardware-Accelerator-Aided MJ-EKF SLAM Algorithm for Large-Scale Map Based on Heterogeneous Multi-Core SoC 49

A Real-Time Hardware-Accelerator-Aided MJ-EKF SLAM Algorithm...

引用

49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Fan, Zhendong Wang, Ke Bao, Minjie Li, Ruifeng Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China

ISBN: (纸本)9798350331820

As a classic SLAM algorithm, LIDAR-based EKF SLAM still remains a problem. An open issue is high computational complexity, which leading a very limited map size to sufficient real-time requirements. To address this problem, in this paper, we propose an MJ-EKF SLAM system that is fully implemented on a Heterogeneous Multi-Core SoC(HMS). To limit the EKF SLAM computation complexity, the Map Joining algorithm participates in the framework. The most computation cost step in EKF SLAM and Map Joining algorithms is implemented on an MJ-EKF dedicated accelerator. Meanwhile, several hardware optimization methods are proposed to save logic resources, avoid redundant computation and reduce data communication between on-chip memory and off-chip main memory. Field experiments demonstrate the HMS-based MJ-EKF algorithm achieved high real-time performance (over 30Hz) in a large-scale map with 500 landmarks. © 2023 IEEE.

关键词： System-on-chip

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