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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Wang, Jinrong Li, Ruixuan Xu, Yaoyuan Li, Shishi Meng, Xianghe Xie, Hui State key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9781665481090

This paper presents a novel magnetic-field-assisted LCD stereolithography technique for fabricating centipede-inspired magnetic soft robots. Unlike previous DLP-based methods, our approach leverages Liquid Crystal Display (LCD) technology, offering a simpler optical path, comparable resolution, and cost-effectiveness. The method integrates LCD photo-polymerization with a permanent magnet orienting system possessing 5-DOF in motion, enabling precise control over the direction of magnetization patterns during manufacturing. We demonstrate the technique by designing and fabricating a biomimetic centipede robot with programmable deformation capabilities. Finite element analysis was used to simulate the robot's deformation behavior, which was subsequently validated through experimental locomotion tests. The fabricated robot exhibited complex deformation and efficient locomotion in response to external magnetic fields. This approach advances the creation of intricate magnetic arrangements for planar soft robots, potentially expanding their application in fields such as biomedicine and microfluidics. The proposed method provides a new pathway for manufacturing biologically inspired magnetic soft robots with complex programmable behaviors. © 2024 IEEE.

关键词： Liquid crystal displays

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Preparation,with graphene,of novel biomimetic selfhealing microcapsules with high thermal stability and conductivity

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Frontiers of Structural and Civil Engineering 2023年第8期17卷 1188-1198页

作者： Ying-Yuan WANG Yi-Qiu TAN School of Transportation Science and Engineering Harbin Institute of TechnologyHarbin 150090China State Key Laboratory of Urban Water Resource and Environment Harbin Institute of TechnologyHarbin 150090China

This paper reports a comparative study of microcapsules with enhanced thermal stability and electrical conductivity inspired by the bionic thermal insulation of birds’feathers for self-healing aged *** work is based on an in situ polymerization with composite shell components of graphene and hexamethoxymethylmelamine *** using graphene,microcapsules with rough surfaces are achieved,improving the interface between microcapsules and *** addition,the microcapsules’initial thermal decomposition temperature is appropriately high,so that the stability of the microcapsule in the asphalt highway system is *** proportion of graphene in the microcapsule shell can regulate the microcapsule’s heat resistance because graphene modifies the shell’s structural ***,the microcapsules’electrical conductivity is relatively *** self-healing capability of bitumen sharply increases,providing benefit to the effect of microcapsules on the properties of aged asphalt.

关键词： graphene microcapsule bitumen heat insulation conductivity

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Deep Learning-Enhanced Super-Resolution Ultrasound for Efficient Brain Vascular Mapping

Deep Learning-Enhanced Super-Resolution Ultrasound for Effic...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Sun, Andi Shen, Xingjian Meng, Xianghe Xie, Hui Harbin Institute of Technology State key Laboratory of Robotics and Systems Harbin150080 China

ISBN: (纸本)9781665481090

Robotic implantation of neural electrodes for in-vasive brain-computer interface(BCI) requires precise vascular mapping to avoid major blood vessels. While super-resolution ultrasound imaging offers superior resolution compared to traditional methods, it typically requires probes with numer-ous elements, demanding substantial hardware resources. This paper presents a novel approach combining deep learning with reduced-element probes for high-resolution vascular imaging. The proposed method employs a transformer-based neural network to accurately localize high-density microbubbles while reducing the required number of probe elements. Simulations reveal that a 32-element linear probe with deep learning outper-forms a 64-element probe using 2D normalized cross-correlation for microbubble concentrations below 1.95 microbubbles/mm2. The overall localization precision and Jaccard index demon-strate superior performance of the deep learning approach, particularly at lower microbubble densities. In vivo experiments on a mouse brain model using a 64-element probe (15 MHz) and deep learning achieved vascular network reconstruction with 21 um resolution, distinguishing vessels 26 um apart. This technique significantly lowers the hardware requirements for constructing high-resolution vascular networks, thereby providing detailed cerebrovascular distribution maps. These maps have the potential to enable more precise planning and safer execution of neural electrode implantation for BCI research, while reducing overall system complexity. © 2024 IEEE.

关键词： Brain mapping

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Inverse Kinematics of a Reconfigurable Space Manipulator Based on the Closed-Loop Algorithm 20

Inverse Kinematics of a Reconfigurable Space Manipulator Bas...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Zhao, Zhiyuan Yang, Xiaohang Xu, Zichun Li, Yuntao Tian, Zhonglai Zhao, Jingdong State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Province Harbin China

ISBN: (纸本)9798350320831

This paper investigates a reconfigurable space manipulator's inverse kinematics (IK) with two lockable passive telescopic links (LPTLs). Depending on these LPTLs' locking state, the manipulator includes free-space and reconfiguration operation modes. Firstly, we introduce a new ball joint-based solution for the reconfigurable operation mode. Then, we propose an IK simplified method capable of significantly reducing the computational load of the complex inverse differential kinematic (IDK) equations corresponding to the two operation modes. Next, to solve the resulting simplified IDK equations efficiently, we present an IK solution method based on the closed-loop algorithm. This method is developed to resolve the redundancy at the velocity level and can generate highly accurate and smooth trajectory IK solutions that satisfy the joint limit constraints. Finally, we design two typical case studies corresponding to working scenarios of the manipulator during two operation modes. Their simulation results validate the proposed methods' effectiveness. © 2023 IEEE.

关键词： Inverse kinematics

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Versatile Jumping of Humanoid Robots via Curriculum-Assisted Reinforcement Learning

Versatile Jumping of Humanoid Robots via Curriculum-Assisted...

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2024 China Automation Congress, CAC 2024

作者： Tan, Ruiyu Li, Xueai Ni, Fenglei Zhou, Dong Ji, Yi Shao, Xiangyu Key Laboratory of Autonomous Intelligent Unmanned Systems Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9798350368604

Versatile jumping is crucial for agile and adaptive behavior of humanoid robots in complex environments. However, humanoid robots have to manage impact forces while maintaining balance and stability throughout the take-off, flight, and landing phases, which imposes significant challenges for motion planning and controller design. This paper proposes a curriculum-assisted reinforcement learning framework for the humanoid robot to achieve various jumping tasks. The curriculum learning divides the jump training process into multi-stages and design different episodes in each stage to guarantee the training feasibility and generalize learned skills. Simulations on a 28 DOFs humanoid robot verify the excellent diverse jumping capability of the proposed policy. This exploration of different tasks also proves the policy’s robustness, allowing the robot quickly recover from perturbations using a variety of learned maneuvers. © 2024 IEEE.

关键词： Anthropomorphic robots

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Robustness and Push Recovery of Humanoid Robots Using Predictive and Whole-Body Control

Robustness and Push Recovery of Humanoid Robots Using Predic...

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2024 IEEE International Conference on Unmanned systems, ICUS 2024

作者： Zhang, Shaojie Ni, Fenglei Li, Xueai Li, Xu Ji, Yi Shao, Xiangyu State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Key Laboratory of Autonomous Intelligent Unmanned Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9798350384185

Robustness walking and recovery ability in uneven terrains and unexpected collisions are crucial for the practical application of humanoid ***, existing methods struggle to effectively balance stability, motion safety and walking *** paper proposes a hybrid control strategy combing Nonlinear Model Predictive Control (NMPC) and Whole-Body Control (WBC) to improve the robot's walking stability and reaction safety in collisions *** NMPC generates long-term and macroscopic movements, with capture point theory being utilized for foot placements determination under external *** this foundation, the WBC regulates the robot refinedly in real-time based on task priorities and *** verify the effectiveness of the proposed method, involving uneven terrain walking and external impacts rejection. © 2024 IEEE.

关键词： Anthropomorphic robots

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Hybrid Joint-space Control Strategies Analysis for One-redundant Cable Suspended Parallel Robots 1

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Qin, Zhiwei Liu, Zhen Gao, Haibo State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150000 China

ISBN: (数字)9789811993985

ISBN: (纸本)9789811993978

Hybrid joint-space control strategy, where some redundant cables are force control, while other cables perform the length control, has the ability to control the robots with small pose errors, and maintain all cables tensioned at the same time. In the cable-driven parallel robots with redundant drives, all the cable tensions have a predicable range, we called cable adjustable force (CAF) in this study. This work aims at investigating the relationships between the CAF of target force-controlled cables, and the pose errors under the hybrid joint-space control strategy. A simulation framework, considering interfering cable length and cable forces, is developed to analysis the characters of hybrid-input control strategy, based on a cable suspended with one redundant layout. We found that the CAF is related to the pose control error of the end-effector, and can be regard as a selection criteria for the target cable for the force control in the hybrid joint-space control strategy. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Cables

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General Dynamics Modeling and Simulation Analysis of Multi-degree of Freedom Flexible Manipulators 23rd

General Dynamics Modeling and Simulation Analysis of Multi-d...

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Jin, Xichen Tong, Zhizhong Gao, Haibo State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150000 China

ISBN: (纸本)9789811993978

This paper presents a general method for dynamic modeling of three-dimensional flexible manipulator with multiple degrees of freedom based on Lagrange’s second kind of dynamic equation. Firstly, the dynamic model of flexible joint considering joint stiffness, joint damping, joint friction and joint clearance is deduced, and the dynamic model of flexible rod considering internal structural damping of flexible rod is deduced by using hypothetical modal method. Secondly, the overall dynamic model of flexible manipulator is obtained by comprehensively considering the flexibility of joint and rod. The joint pair has two settings: rotating pair and moving pair. Finally, the simulation experiment of five degree of freedom series flexible manipulator is carried out to verify the correctness of the dynamic modeling method of multi degree of freedom flexible manipulator. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Flexible manipulators

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Power Consumption Characteristics Research on Mobile system of Electrically Driven Large-Load-Ratio Six-Legged Robot

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Chinese Journal of Mechanical Engineering 2023年第1期36卷 237-267页

作者： Hongchao Zhuang Ning Wang Haibo Gao Zongquan Deng School of Mechanical Engineering Tianjin University of Technology and EducationTianjin300222China School of Information Technology Engineering Tianjin University of Technology and EducationTianjin300222China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

The electrically driven large-load-ratio six-legged robot with engineering capability can be widely used in outdoor and planetary ***,due to the particularity of its parallel structure,the effective utilization rate of energy is not high,which has become an important obstacle to its practical *** research the power consumption characteristics of robot mobile system is beneficial to speed up it toward *** on the configuration and walking modes of robot,the mathematical model of the power consumption of mobile system is set *** view of the tripod gait is often selected for the six-legged robots,the simplified power consumption model of mobile system under the tripod gait is established by means of reducing the dimension of the robot’s statically indeterminate problem and constructing the equal force ***,the power consumption of robot mobile system is solved under different working *** variable tendencies of the power consumption of robot mobile system are respectively obtained with changes in the rotational angles of hip joint and knee joint,body height,and *** articulated rotational zones and the ranges of body height and span are determined under the lowest power *** to the walking experiments of prototype,the variable tendencies of the average power consumption of robot mobile system are respectively acquired with changes in duty ratio,body height,and ***,the feasibility and correctness of theory analysis are verified in the power consumption of robot mobile *** proposed analysis method in this paper can provide a reference on the lower power research of the large-load-ratio multi-legged robots.

关键词： Electrically driven Large-load-ratio six-legged robot Power consumption Mobile system

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Vision Based Surface Defect Detection of Long-Distance and Steep-Slope FAST Cable

Vision Based Surface Defect Detection of Long-Distance and S...

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International Conference on Wireless Communications, Networking and Applications (WCNA 2022)

作者： Tong, Xin Zhang, Xuehe Liu, Gangfeng Li, Changle Zhao, Jie Harbin Institute of Technology Heilongjiang Harbin15000 China State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9789819939503

Aiming at problems of long-distance and steep-slope FAST (Five-hundred-meter Aperture Spherical radio Telescope) cable detection, a set of vision system and its processing method based YOLOX are proposed. This system overcomes many difficulties such as collecting high-altitude samples and complex background environment in FAST cable detection tasks, and It achieves the accurate positioning and classification of defects. Good detection effects have been achieved for multi-morphology, multi-scale, especially small defects. The defect detection system was validated on three defect data sets which could affect the normal use of the cable, and the accuracy is 91.7%. Thus the system and method can meet the efficiency and accuracy requirements of FAST cable detection, and it can also be practically applied to other various cables. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Cables

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