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China's space robotics for on-orbit servicing: the state of the art

National Science Review 2023年第5期10卷 8-9页

作者： XueAi Li Dapeng Yang Hong Liu State Key Laboratory of Robotics and Systems Harbin Institute of Technology

Since the pioneering deployment of Canadarm in 1981,various on-orbit servicing (OOS) concepts have been flourishing and are continuously demonstrated by space agencies worldwide[1].This novel access to extend human curiosity in space is empowered by the remarkable OOS progress achieved by missions like the Robot Technology Experiment (ROTEX),Engineering Test Satellite-Ⅶ(ETS-Ⅶ),

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Joint Probabilistic Scheduling and Resource Allocation for Wireless Networked Control systems

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 258-260页

作者： Meng Zheng Lei Zhang Wei Liang IEEE the State Key Laboratory of Robotics and the Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences the University of Chinese Academy of Sciences

Dear Editor,This letter presents a joint probabilistic scheduling and resource allocation method(PSRA) for 5G-based wireless networked control systems(WNCSs). As a control-aware optimization method, PSRA minimizes the linear quadratic Gaussian(LQG) control cost of WNCSs by optimizing the activation probability of subsystems, the number of uplink repetitions, and the durations of uplink and downlink phases. Simulation results show that PSRA achieves smaller LQG control costs than existing works.

关键词： Networked control systems

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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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Soft Resource Slicing for Industrial Mixed Traffic in 5G Networks

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IEEE/CAA Journal of Automatica Sinica 2025年第2期12卷 463-465页

作者： Jingfang Ding Meng Zheng Haibin Yu the State Key Laboratory of Robotics and the Key Laboratory of Networked Control Systems Chinese Academy of Sciences the Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences the University of Chinese Academy of Sciences IEEE

Dear Editor,This letter proposes a dynamic switching soft slicing strategy for industrial mixed traffic in 5G networks. Considering two types of traffic, periodic delay-sensitive (PDS) traffic and sporadic delay-tolerant (SDT) traffic, we design a dynamic switching strategy based on a traffic-Qo S-aware soft slicing (TQASS) scheme and a resource-efficiency-aware soft slicing (REASS) scheme.

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On-orbit assembly control based on model predictive control and load online identification

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Advances in Space Research 2025年第1期76卷 533-550页

作者： Li, Yuntao Xu, Zichun Zhao, Zhiyuan Zhuang, Lei Yang, Xiaohang Ma, Boyu Zhao, Jingdong Liu, Hong State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150001 China

Space manipulator are essential for on-orbit assembly (OOA) tasks. This paper proposes an advanced control framework to address key challenges in Cartesian trajectory tracking and compliant assembly. First, a rigid-body dynamic model of the manipulator is established using CAD model and joint friction identification. A Linear Extended state Observer (LESO) is designed to mitigate system errors by modeling both parametric uncertainties and external disturbances as an extended state. Additionally, the method for selecting parameters of the LESO, along with its convergence proof, is presented. Second, a model predictive control (MPC) algorithm is employed to optimize the Cartesian trajectory of the manipulator in real time. By linearizing the Cartesian space trajectory, the MPC problem is formulated as a QP problem. Solving this QP problem in real-time allows for the optimization of the Cartesian space trajectory, thereby improving the trajectory tracking accuracy in Cartesian space. Finally, online identification of load parameters, sensor zero drift, and temperature drift enables effective compliant assembly control. Extensive experiments validate the proposed methods: (1) The Cartesian trajectory tracking error is maintained below 0.1 mm. (2) After sensor compensation for identified load parameters, zero drift, and temperature drift, the maximum force residual is 0.42 N, and the maximum torque residual is 0.1 N m. © 2025 COSPAR

关键词： Predictive control systems

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Hybrid Robotic Arm for Autonomous Aerial Refueling

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Chinese Journal of Mechanical Engineering 2024年第6期37卷 429-440页

作者： Kaixuan Li Gangfeng Liu Yongsheng Gao Jie Zhao State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150080China School of Mechatronics Engineering Harbin 150080China

Autonomous aerial refueling technology is gaining increasing attention to enhance aircraft combat *** research on autonomous refueling focuses mainly on flight control laws,with little attention to the automation of refueling *** leads to high demands on control law performance and navigation accuracy,making it difficult to ensure *** address this,we propose a robotic arm system capable of automatic docking during the flexible aerial refueling *** system uses a conical kinematic space configuration,offering enhanced stability and impact *** frame-type structure achieves a lightweight ***,we establish a single-objective optimization model for the connecting rod dimensions and apply a genetic algorithm(GA)for their *** also propose a trajectory-fitting calibration theory based on the robotic arm's special configuration and complete its movement accuracy calibration using a laser *** calibration method reduces the robotic arm's motion error by 71%,achieving an absolute positioning accuracy better than 3.5 mm,which meets the requirements for autonomous aerial *** summary,this research presents a hybrid robotic arm that meets automatic docking requirements,offering a new approach to autonomous aerial refueling.

关键词： Autonomous aerial refueling Conical kinematic space configuration Optimization of structural design Calibration method

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Automatic Control of Magnetic Helical Microrobots Docking with Target Objects in Liquid Environments

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Journal of Bionic Engineering 2025年第2期22卷 574-584页

作者： Fu Zhao Haoran Rong Lefeng Wang State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin150080China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of EducationHarbin University of Science and TechnologyHarbin150080China

Bio-inspired magnetic helical microrobots have great potential for biomedical and micromanipulation applications. Precise interaction with objects in liquid environments is an important prerequisite and challenge for helical microrobots to perform various tasks. In this study, an automatic control method is proposed to realize the axial docking of helical microrobots with arbitrarily placed cylindrical objects in liquid environments. The docking process is divided into ascent, approach, alignment, and insertion stages. First, a 3D docking path is planned according to the positions and orientations of the microrobot and the target object. Second, a steering-based 3D path-following controller guides the helical microrobot to rise away from the container bottom and approach the target along the path. Third, based on path design with gravity compensation and steering output limits, alignment of position and orientation can be accomplished simultaneously. Finally, the helical microrobot completes the docking under the rotating magnetic field along the target orientation. Experiments verified the automatic docking of the helical microrobot with static targets, including connecting with micro-shafts and inserting into micro-tubes. The object grasping of a reconfigurable helical microrobot aided by 3D automatic docking was also demonstrated. This method enables precise docking of helical microrobots with objects, which might be used for capture and sampling, in vivo navigation control, and functional assembly of microrobots.

关键词： Magnetic actuation Helical microrobots Visual servo Motion control Docking

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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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Watt Linkage–Based Legged Deployable Landing Mechanism for Reusable Launch Vehicle: Principle, Prototype Design, and Experimental Validation

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Engineering 2023年第1期20卷 120-133页

作者： Haitao Yu Baolin Tian Zhen Yan Haibo Gao Hongjian Zhang Huiqiang Wu Yingchao Wang Yuhong Shi Zongquan Deng State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150080China Beijing Institute of Aerospace Systems Engineering Beijing 100076China

The reusable launch vehicle (RLV) presents a new avenue for reducing cost of space transportation. The landing mechanism, which provides landing support and impact absorption, is a vital component of the RLV at final stage of recovery. This study proposes a novel legged deployable landing mechanism (LDLM) for RLV. The Watt-II six-bar mechanism is adopted to obtain the preferred configuration via the application of the linkage variation approach. To endow the proposed LDLM with advantages of large landing support region, lightweight, and reasonable linkage internal forces, a multi-objective optimization paradigm is developed. Furthermore, the optimal scale parameters for guiding the LDLM prototype design is obtained numerically using the non-dominated sorting genetic algorithm-II (NSGA-II) evolutionary algorithm. A fully-functional scaled RLV prototype is developed by integrating the gravity-governed deploying scheme to facilitate unfolding action to avoid full-range actuation, a dual-backup locking mechanism to enhance reliability of structure stiffening as fully deployed, and a shock absorber (SA) with multistage honeycomb to offer reliable shock absorbing performance. The experimental results demonstrate that the proposed LDLM is capable of providing rapid and smooth deployment (duration less than 1.5 s) with mild posture disturbance to the cabin (yaw and pitch fluctuations less than 6°). In addition, it provides satisfactory impact attenuation (acceleration peak less than 10g (g is the gravitational acceleration)) in the 0.2 m freefall test, which makes the proposed LDLM a potential alternative for developing future RLV archetype.

关键词： Reusable launch vehicle(RLV) Deployable mechanism Optimization desi gn

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Towards understanding the surface rippling process by periodic reciprocal nanoscratching

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Friction 2023年第10期11卷 1815-1828页

作者： Zihan LI Yongda YAN Jiqiang WANG Chen LI Yanquan GENG State Key Laboratory of Robotics and Systems Robotics InstituteHarbin Institute of TechnologyHarbin 150080China Center for Precision Engineering Harbin Institute of TechnologyHarbin 150001China

The bundle structure formed perpendicular to the scratching direction is a type of wear-induced structure for *** this study,the formation mechanism of bundle structures on polycarbonate(PC)surfaces is investigated by reciprocal scratching *** on the analysis of the morphologies,friction forces,and height signals,the formation of the bundle structure is *** influence of scratching parameters,including the feed value and scratching direction,on the formation of the bundle structure is also *** is found that the bundle structure is accumulated by the continuous stacking of the sample materials plowed by the tip in stick–slip motion,and that the stick–slip behavior is enhanced with increased scratching *** work reproduces the formation process of bundle structure in experiments for the first time and demonstrates that the stick–slip enhancement mechanism exists in the reciprocal scratching process,providing further insight into the friction behavior of polymers.

关键词： atomic force microscopy(AFM) bundle structures stick-slip friction force

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