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Reinforcement Learning Navigation for Robots Based on Hippocampus Episode Cognition

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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Mechanical design,modeling,and identification for a novel antagonistic variable stiffness dexterous finger

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Frontiers of Mechanical Engineering 2022年第3期17卷 59-74页

作者： Handong HU Yiwei LIU Zongwu XIE Jianfeng YAO Hong LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This study traces the development of dexterous hand research and proposes a novel antagonistic variable stiffness dexterous finger mechanism to improve the safety of dexterous hand in unpredictable environments,such as unstructured or man-made operational errors through comprehensive consideration of cost,accuracy,manufacturing,and *** on the concept of mechanical passive compliance,which is widely implemented in robots for interactions,a finger is dedicated to improving mechanical *** finger mechanism not only achieves passive compliance against physical impacts,but also implements the variable stiffness actuator principle in a compact finger without adding supererogatory *** achieves finger stiffness adjustability according to the biologically inspired stiffness variation principle of discarding some mobilities to adjust *** mechanical design of the finger and its stiffness adjusting methods are *** stiffness characteristics of the finger joint and the actuation unit are *** results of the finger joint stiffness identification and finger impact tests under different finger stiffness presets are provided to verify the validity of the *** have been experimentally proven to be robust against physical ***,the experimental part verifies that fingers have good power,grasping,and manipulation performance.

关键词： multifingered hand mechanism design robot safety variable stiffness actuator

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Rigid-Flexible Coupling Dynamics Analysis of Multi-output Transient Deployment Mechanism Based on ANCF

Rigid-Flexible Coupling Dynamics Analysis of Multi-output Tr...

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International Conference on Mechanical Design, ICMD 2023

作者： Zhai, Guangqing Xiao, Hong Yang, Guang Guo, Hongwei Tao, Jianguo Liu, Rongqiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819709212

Firstly, based on Absolute Nodal Coordinate Formulation (ANCF), the generalized coordinates, generalized stiffness, and generalized mass matrices of the rigid and flexible components in the multi-output deployment mechanism are established. Considering the inconsistency in the dimensions of the system’s generalized coordinate matrix and the generalized coordinate matrix of each single-output deployment mechanism, a coordinate coordination matrix is introduced. Composing the rigid-flexible coupling dynamics model of the multi-output transient deployment mechanism in the global coordinate system using each single-output deployment mechanism. The dynamic model is solved using the Newmark and BFD quasi-Newton methods, incorporating the system constraint equation matrix based on the Lagrange multiplier method. The calculated results are compared with the ABAQUS-ADAMS unified simulation. The two dynamic response change trends are basically consistent, with slight differences in oscillation amplitude, but similar overall, which verifies the accuracy of the constructed dynamic model. Compared to the rotational speed and acceleration of various outputs of the ideal rigid body simulation, the rigid-flexible coupling mechanism produces continuous oscillations above and below the output curve of the ideal rigid body. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Dynamic models

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JHT-EXO: A Soft Ankle Exosuit for Assisting Walking in Patients with Post-Stroke Foot Inversion

JHT-EXO: A Soft Ankle Exosuit for Assisting Walking in Patie...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Ju, Haotian Guan, Zihang Guo, Songhao Liu, Zedong Zhang, Qinghua Zheng, Tianjiao Zhao, Jie Zhu, Yanhe Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781665481090

Stroke often leads to foot inversion, seriously affecting the patients' walking ability. In this paper, a lightweight, soft exosuit, JHT-EXO, is proposed for correcting foot inversion to help patients' gait rehabilitation. JHT-EXO mainly consists of two cable driving modules, two foot feedback modules, and a control module, with a total weight of no more than 2.5 kg. The cable driving module can pre-tighten the cable with a designed constant torque spring to prevent the cable from falling off. When the motor is not energized, it can still assist the person in stabilizing the walking gait and reducing power consumption. Customized foot pressure sensors recognize human gait, and IMUs on the feet measure the ankle angle used by the controller to change the output force of the exosuit. The constant torque spring was calibrated and tested, and the experimental results showed that the average output force of the constant torque spring was 20.0 N, with a maximum error of 5.6% compared to the theoretically calculated results. The ground walking test of the exosuit was performed by three subjects in three conditions: wearing the exosuit powered up, wearing the exosuit unpowered, and not wearing the exosuit. The test results showed that JHT-EXO could effectively reduce the ankle inversion angle by 22.11° compared to not wearing the exosuit. JHT-EXO is feasible in preventing foot drop and stabilizing flip, and its high mobility and portability show potential for gait rehabilitation of foot inversion patients. © 2024 IEEE.

关键词： Patient rehabilitation

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4D printing of direct-driven deformable wheel with multiple programmable configurations

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International Journal of Extreme Manufacturing 2025年第3期7卷 369-381页

作者： Huichun Tian Guanghao Chu Bin Zhou Dekai Zhou Jing Qiao Longqiu Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001People’s Republic of China Avic Shenyang Aircraft Corporation Shenyang 110850People’s Republic of China School of Materials Science and Engineering Harbin Institute of TechnologyHarbin 150001People’s Republic of China Zhengzhou Research Institute Harbin Institute of TechnologyZhengzhouHenan 450000People’s Republic of China

Conventional deformable wheel systems in robots and other mechatronic systems face significant challenges in achieving miniaturization,intelligence,and *** address these issues,we propose a novel integrated structural design method and four-dimensional printing strategy for deformable wheels capable of shaping among multiple programmable direct-driven deformation *** load-bearing capacity of the printed wheel is strengthened by employing deformed components in various locations and actuated ***,a novel analytical design method is presented to determine the structure,actuation,and deformation parameters of each component under complex coupled *** findings reveal that the designed wheel can transform into three different configurations,exhibiting desired deformations of 12.5%in the radial direction and 19.6%in the axial *** also demonstrates robust deformation behavior and structural stability under multi-directional *** integrating a terrain sensing system,the designed wheel exhibits highly adaptive deformation capabilities on various terrains,showing great potential for exploring complex environments.

关键词： 4D printing deformable wheel continuous fiber multifunctional structure system integration

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Development of a cable-driven redundant space manipulator with large bending angle by combining quaternion joints and segmented coupled linkages mechanism

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Chinese Journal of Aeronautics 2023年第11期36卷 483-499页

作者： Taiwei YANG Jian HUANG Wenfu XU Ke SHAO Bin LIANG School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Department of Automation Tsinghua UniversityBeijing 100854China

A cable-driven redundant manipulator has significant potential in confined space applications, such as environmental exploration, equipment monitoring, or maintenance. A traditional design requires 3N driving motors/cables to supply 2N degrees of freedom(DOF) movement *** number of motors is 1.5 times that of the joints’ DOF, increasing the hardware cost and the complexity of the kinematics, dynamics, and control. This study develops a novel redundant space manipulator with decoupled cable-driven joints and segmented linkages. It is a 1680 mm continuum manipulator with eight DOF, consisting of four segmented linkages driven by eight motors/pairs of cables. Each segment has two equivalent DOF, which are realized by four quaternion joints synchronously driven by two linkage cables. The linkage cables of adjacent joints are symmetrically decoupled and offset at 180°. This design allows equal-angle movement of all the joints of each segment. Moreover, each decoupling driving mechanism is designed based on a pulley block composed of two fixed and movable pulleys. The two movable pulleys realize the opposite but equidistant motions of the two driving cables, i.e., pulling and loosening, assuring symmetrical movements of the two driving cables of each segment. Consequently, the equivalent 2N-DOF joints are driven only by 2N motors, significantly reducing the hardware cost and simplifying the mapping relationship between the motor angle/cable length and the joint angle. Furthermore, the bending range of each segment could reach 360°, which is three times that of a traditional design. Finally, a prototype has been developed and experimented with to verify the performance of the proposed mechanism and the corresponding algorithms.

关键词： Cable-driven Mechanism design Redundant manipulators Segmented linkages Kinematics

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Inflatable Metamorphic Origami

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Research 2023年第2期6卷 53-63页

作者： Sen Wang Peng Yan Hailin Huang Ning Zhang Bing Li School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518052P.R.China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of TechnologyShenzhen 518052P.R.China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

This study created a new type of inflatable metamorphic origami that has the advantage of being a highly simplified deployable system capable of realizing multiple sequential motion patterns with a monolithic actuation.

关键词： simplified lata system

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The Autonomous Pipeline Navigation of a Cockroach Bio-Robot with Enhanced Walking Stimuli

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Cyborg and Bionic systems 2023年第1期4卷 47-55页

作者： Songsong Ma Yuansheng Chen Songlin Yang Shen Liu Lingqi Tang Bing Li Yao Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinChina Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of TechnologyShenzhenChina School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhenChina The Biorobotics Institute Scuola Superiore Sant'AnnaPisaItaly

Tens of crawling bio-robots with cockroaches as the mobile platform have been developed with various *** with artificial crawling robots of the same size,they revealed better flexibility,larger payload,and stronger *** features made bio-robots ideal for pipeline inspection scenarios because the advancements in locomotion mechanisms and efficient power systems are still hurdles for current artificial *** this study,we controlled the bio-robot to crawl in the confined dark pipeline and achieved autonomous motion control with the help of an onboard sensing ***,a micro-camera was mounted on the electronic backpack of the cockroach for image collection,and an IMU sensor was used to compute its body *** electronic backpack transmitted images to the host computer for junction recognition and distance ***,the insect's habituation to electrical stimulation has long been an uncertain factor in the control of ***,a synergistic stimulation strategy was proposed to markedly reduce the habituation and increase the number of effective turning controls to over 100 *** is also found that both the increase of payload and the application of stimulations could promote the metabolic rate by monitoring carbon dioxide *** the integration of synergistic stimulation and autonomous control,we demonstrated the fully autonomous pipeline navigation with our cockroach bio-robot,which realized the cycle number of approximately 10 in a *** research provides a novel technology that has the potential for practical applications in the future.

关键词： robot artificial Robot

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Control of myoelectric prosthetic hand with a novel proximity-tactile sensor

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Science China(Technological Sciences) 2022年第7期65卷 1513-1523页

作者： YANG Bin JIANG Li GE ChuanYang CHENG Ming ZHANG Jia State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China Key Laboratory of Microsystems and Microstructure Manufacturing Ministry of Education Harbin Institute of TechnologyHarbin 150080China

Currently, prosthetic hands can only achieve several prespecified and discrete hand motion patterns from popular myoelectric control schemes using electromyography(EMG) signals. To achieve continuous and stable grasping within the discrete motion pattern, this paper proposes a control strategy using a customized, flexible capacitance-based proximity-tactile sensor. This sensor is integrated at the fingertip and measures the distance and force before and after contact with an object. During the pregrasping phase, each fingertip’s position is controlled based on the distance between the fingertip and the object to make all fingertips synchronously approach the object at the same distance. Once contact is established, the sensor turns to output the tactile information, by which the contact force of each fingertip is finely controlled. Finally, the method is introduced into the human-machine interaction control for a myoelectric prosthetic hand. The experimental results demonstrate that continuous and stable grasping could be achieved by the proposed control method within the subject’s discrete EMG motion mode. The subject also obtained tactile feedback through the transcutaneous electrical nerve stimulation after contact.

关键词： prosthetic hand proximity tactile sensor myoelectric control sensory feedback

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A Real-Time Planning and Control Framework for Robust and Dynamic Quadrupedal Locomotion

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Journal of Bionic Engineering 2023年第4期20卷 1449-1466页

作者： Jun Li Haibo Gao Yuhui Wan Haitao Yu Chengxu Zhou State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China School of Mechanical Engineering University of LeedsLeedsLS29JTUK

Legged locomotion poses significant challenges due to its nonlinear,underactuated and hybrid dynamic *** challenges are exacerbated by the high-speed motion and presence of aerial phases in dynamic legged locomotion,which highlights the requirement for online planning based on current states to cope with uncertainty and *** article proposes a real-time planning and control framework integrating motion planning and whole-body *** the framework,the designed motion planner allows a wider body rotation range and fast reactive behaviors based on the 3-D single rigid body *** addition,the combination of a Bézier curve based trajectory interpolator and a heuristic-based foothold planner helps generate continuous and smooth foot *** developed whole-body controller uses hierarchical quadratic optimization coupled with the full system dynamics,which ensures tasks are prioritized based on importance and joint commands are physically *** performance of the framework is successfully validated in experiments with a torque-controlled quadrupedal robot for generating dynamic motions.

关键词： Bionic robot Legged locomotion Motion planning Whole-body control

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