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Contact Force Optimization to Enhance Fault-tolerant Motion Stability of a Hexapod Robot

Journal of Bionic Engineering 2024年第5期21卷 2199-2214页

作者： Bo You Shangdong Shi Chen Chen Jiayu Li Nan Li Liang Ding The Key Laboratory of Intelligent Technology for Cutting and Manufacturing Ministry of Education and the Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and TechnologyHarbin150080China The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

This paper presents a novel method for optimizing the contact force of a hexapod robot to enhance its dynamic motion stability when one of its legs *** proposed approach aims to improve the Force Angle Stability Margin(FASM)and adapt the foot trajectory through contact force optimization to achieve safe and stable motion on various *** foot force optimization approach is designed to optimize the FASM,a factor rarely considered in existing contact force optimization *** formulating the problem of enhancing the motion stability of the hexapod robot as a Quadratic Programming(QP)optimization problem,this approach can effectively address this *** of a hexapod robot using a fault-tolerant gait,along with real field experiments,were conducted to validate the effectiveness and feasibility of the contact force optimization *** results demonstrate that this approach can be used to design a motion controller for a hexapod robot with a significantly improved motion *** summary,the proposed contact force optimization method offers a promising solution for enhancing the motion stability of hexapod robots with single leg failures and has the potential to significantly advance the development of fault-tolerant hexapod robots for various applications.

关键词： Hexapod robot Fault-tolerant Stability margin Contact force optimization

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Multi-modal Bionic Motion Analysis of A Cpg-controlled Pneumatic Soft Robot

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Journal of Bionic Engineering 2024年第5期21卷 2247-2257页

作者： Yu Zhang Peiyu Huang Dongjie Li Jiangyu Zhou Yu Li Bo You Yanhe Zhu Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and TechnologyHarbin150080China State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China

This paper designs a soft robot with a multi-chamber,multi-airbag mimicking soft biological structure,where the airbags of the same chamber are interconnected with each *** upper and lower chambers are separated by an intermediate layer(thin plate),which is extended and widened to achieve robot movement and *** applying pressure to the different chambers of the soft robot,it is possible to produce a variety of bionic movements of the inchworm and *** to the strong nonlinearity and infinite number of degrees of freedom properties of the material,it is impossible to obtain the analytical solution of the bending morphology and pressure of the soft robot ***,a method to establish a mathematical model of soft robot deformation based on the classical stacked plate theory is proposed,and a chain composite model of soft robot bending motion is established based on the large-deflection modeling *** paper proposes a method to generate a multi-mode soft robot motion control based on the Central Pattern Generator(CPG)using a single controller,which achieves the switching of sine wave-like patterns,half-wave-like patterns,and dragging patterns by adjust-ing frequency,amplitude and period of ***,a pneumatic control platform is built for the validation of the theoretical model and different experimental models of the motion of the *** comparation of the different motion modes of the soft robot under similar non-load and load conditions.

关键词： Soft robot Bionic multi-modal movement Laminated plate theory CPG control

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Design of a Bio-inspired Extensible Continuum Manipulator with Variable Stiffness

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Journal of Bionic Engineering 2025年第1期22卷 181-194页

作者： Dongbao Sui Sikai Zhao Tianshuo Wang Yubin Liu Yanhe Zhu Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

This paper presents a continuum manipulator inspired by the anatomical characteristics of the elephant ***,the manipulator mimics the conoid profile of the elephant trunk,which helps to enhance its *** design features two concentric parts:inner pneumatically actuated bellows and an outer tendon-driven helical *** tendons control the omnidirectional bending of the manipulator,while the fusion of the pneumatic bellows with the tendon-driven spring results in an antagonistic actuation mechanism that provides the manipulator with variable stiffness and *** paper presents a new design for extensible manipulator and analyzes its stiffness and motion *** results are consistent with theoretical analysis,thereby demonstrating the validity of the theoretical approach and the versatile practical mechanical properties of the continuum *** impressive extensibility and variable stiffness of the manipulator were further demonstrated by performing a pin-hole assembly task.

关键词： Bioinspired robots Continuum robots Soft robotics Variable stiffness

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Two-phase visual servoing for capturing tumbling non-cooperative satellites with a space manipulator

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Chinese Journal of Aeronautics 2024年第12期37卷 560-573页

作者： Dezhi ZHANG Guocai YANG Yongjun SUN Junhong JI Minghe JIN Hong LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

In this paper,a visual servoing approach is developed to capture the docking rings of tumbling non-cooperative satellites with a space *** primary challenge addressed is the potential for the docking ring to leave the monocular camera’s field-of-view as the manipulator approaches the target,due to the ring’s large *** solve this issue,a two-phase visual servoing scheme combining a monocular camera and a three-line structured light vision system is *** an effort to augment the success rate and safety of capture operations,several constraints are formulated,encompassing manipulator’s kinematics,monocular camera’s field-of-view,obstacle avoidance,structured light’s breakpoints and smooth ***,a nonlinear model predictive controller is proposed to manage these constraints in real-time and regulate the *** models are established based on image moments and pose for each phase,selecting these features as visual feedback to simplify the formulation of servo constraints and avoid the complex circle-based pose ***,to ensure unbiased predictions,the model disturbances arising from the imprecise estimation of target motion parameter are observed using an extended Kalman filter,which are then incorporated into the predictive control *** simulation results demonstrate the effectiveness of this scheme.

关键词： Space manipulator Tumbling non-cooperative satellite Visual servoing Model predictive control Disturbance estimation

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Singularity analysis and avoidance for an SSRMS-type reconfigurable space manipulator with a non-spherical wrist and two lockable passive telescopic links

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Chinese Journal of Aeronautics 2024年第8期37卷 435-459页

作者： Zhiyuan ZHAO Xiaohang YANG Yuntao LI Zichun XU Jingdong ZHAO Hong LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This study focuses on addressing kinematic singularity analysis and avoidance issues for a space station remote manipulator system(SSRMS)-type reconfigurable space *** manipulator is equipped with a non-spherical wrist and two lockable passive telescopic links(LPTLs),which enable it to have both active revolute and passive prismatic joints and operate in two distinct *** begin with the kinematic singularity analysis,the study derives the differential kinematic equations for the manipulator and identifies the dominant Jacobian matrix that causes ***,an in-depth analysis of singularities from multiple perspectives is ***,a kinematic singularity map method is proposed to capture the distribution of singularities within the reachable ***,the influence of the two LPTLs on singularities is thoroughly ***,a new method based on the matrix rank equivalence principle is introduced to determine singularity conditions,enabling the identification of all the singular configurations for the SSRMS-type reconfigurable ***,this method significantly reduces computational complexity,and the singularity conditions obtained have more concise *** the singularity avoidance problem,a novel method is developed,which simultaneously addresses the requirements of real-time performance,high precision,and the avoidance of both kinematic singularities and joint limit *** from these excellent properties,the proposed method can effectively resolve the singularity issues encountered separately by the SSRMS-type reconfigurable manipulator in its two operational *** typical simulations validate the utility of all the proposed methods.

关键词： Reconfigurable space manipulator Redundant manipulator Kinematics Singularity analysis Singularity avoidance

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DCM-based dynamic stable walking under terrain-induced time-varying disturbances for humanoid robots

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Science China(Technological Sciences) 2025年第4期68卷 105-117页

作者： Yan LUO Chao LIU Jianhua WU Zhenhua XIONG Han DING State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of Intelligent Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan430074China

When humanoid robots attempt to walk on terrain such as shaking platforms,time-varying disturbances are introduced to the support *** abrupt changes of inclination angle can cause the robot to lose balance upon landing,presenting significant challenges for balance control *** address this issue,we propose a novel divergent component of motion(DCM)-based time-varying disturbance walking(DCM-TVDW)*** method allows the robot to walk on rugged surfaces and helps to maintain dynamic balance when subjected to large time-varying *** the DCM-TVDW control method,we first adjust the robot's center of mass and stride height to adapt to transitions between different terrain types via a variable height stabilization method,and hold these quantities constant as base *** then combine DCM with the N-step capturability *** combination allows for dynamic balance through multi-step adjustments from the initially unstable region,thereby extending the robots stability *** and experimental results demonstrate that the DCM-TVDW method enables the SJ-Bruce robot to traverse a dynamically shaking platform with an inclination angle of approximately 22°.

关键词： humanoid robot dynamic balance control capturability time-varying disturbance

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A novel integrated microfluidic chip for on-demand electrostatic droplet charging and sorting

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Bio-Design and Manufacturing 2024年第1期7卷 31-42页

作者： Jinhui Yao Chunhua He Jianxin Wang Canfeng Yang Ye Jiang Zhiyong Liu Guanglan Liao Tielin Shi State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China

On-demand droplet sorting is extensively applied for the efficient manipulation and genome-wide analysis of individual ***,state-of-the-art microfluidic chips for droplet sorting still suffer from low sorting speeds,sample loss,and labor-intensive preparation ***,we demonstrate the development of a novel microfluidic chip that integrates droplet generation,on-demand electrostatic droplet charging,and high-throughput *** charging electrode is a copper wire buried above the nozzle of the microchannel,and the deflecting electrode is the phosphate buffered saline in the microchannel,which greatly simplifies the structure and fabrication process of the ***,this chip is capable of high-frequency droplet generation and sorting,with a frequency of 11.757 kHz in the drop *** chip completes the selective charging process via electrostatic induction during droplet ***-demand charged microdroplets can arbitrarilymove to specific exit channels in a three-dimensional(3D)-deflected electric field,which can be controlled according to user requirements,and the flux of droplet deflection is thereby significantly ***,a lossless modification strategy is presented to improve the accuracy of droplet deflection or harvest rate from 97.49% to 99.38% by monitoring the frequency of droplet generation in real time and feeding it back to the charging *** chip has great potential for quantitative processing and analysis of single cells for elucidating cell-to-cell variations.

关键词： Copper wire Droplet generation Droplet sorting Microfluidic chips On-demand charging

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A novel method of suppressing machining vibration in robotic milling using magneto-rheological foam damper

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Chinese Journal of Aeronautics 2024年第12期37卷 522-543页

作者： Bo LI Chenxin SU Wei ZHAO Shengli SONG Wei TIAN Wenhe LIAO College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China State Key Laboratory of Intelligent Manufacturing System Technology Beijing 100854China

Owing to their remarkable flexibility and favorable cost-effectiveness,industrial robots have found extensive applications to cutting of materials across sophisticated manufacturing ***,the structurally low rigidity of these robots renders the tool tip prone to substantial oscillations during machining processes,significantly impacting product fabrication *** objective of this study is to present a novel methodology employing magnetorheological dampers for mitigating vibrations during robotic milling ***,a new type of ring nested Magneto-Rheological Foam Damper(MRFD)working in the squeeze mode is ***,the MRFD’s structure is designed considering the vibrational characteristics of robotic ***,a damping force model of the MRFD is *** feasibility of the MRFD’s structural design is validated by the finite element analyses,which is instrumental in comprehending the influence of structural parameters on the electromagnetic characteristics of the ***,a prototype of the MRFD is fabricated selecting appropriate ***,a series of excitation and milling experiments are conducted on a KUKA KR500 *** outcomes demonstrate a substantial reduction(37%-69%)in radial vibration amplitude at the tool tip during robotic milling,highlighting the effectiveness of the developed *** research endeavor has introduced a pioneering avenue and framework for vibration control in robotic milling,offering a novel paradigm for enhancing the precision of robotic machining.

关键词： Industrial robots Machining vibration Magneto-rheological dampers Robotic milling Vibration suppression

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

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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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A versatile humanoid robot platform for dexterous manipulation and human-robot collaboration

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CAAI Transactions on Intelligence technology 2024年第2期9卷 526-540页

作者： Xin Shu Fenglei Ni Xinyang Fan Shuai Yang Changyuan Liu Baoxu Tu Yiwei Liu Hong Liu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinChina

Humanoid robots have attracted much attention by virtue of their compatibility with human ***,biped humanoids with immense promise still cannot function steadily and reliably in real-world settings in the current ***,rationally combining a humanoid robot with different stable mobile platforms is a favoured solution for diverse ***,a new versatile humanoid robot platform,aiming to provide a generic solution that can be flexibly deployed in diverse scenarios,for example,indoors and fields is *** humanoid robot platform incorporates multimodal perception,and extensible interfaces on hardware and software,allowing it to be rapidly integrated with different mobile platforms and end-effectors,only through easyto-assemble ***,the platform has achieved impressive integration,lightness,dexterity,and strength in its class,with human-like size and rich perception,targeted to have human-intelligent manipulation skills for human-engineered ***,this article elaborates on the reasoning behind the design choices,and outlines each ***,the essential performance of the platform is successfully demonstrated in a set of experiments with precise and dexterous manipulation,and human–robot collaboration requirements.

关键词： intelligent robots robotics

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