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Velocity Control of a Bounding Quadruped via Energy Control and Vestibular Reflexes

Journal of Bionic Engineering 2014年第4期11卷 556-571页

作者： Xin Wang Mantian Li Wei Guo Pengfei Wang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China Department of Advanced Robotics (Fondazione) Istituto Italiano di Tecnologia Genova 16163 Italy

In this paper a bio-inspired approach of velocity control for a quadruped robot running with a bounding gait on compliant legs is set up. The dynamic properties ofa sagittal plane model of the robot are investigated. By analyzing the stable fixed points based on Poincare map, we find that the energy change of the system is the main source for forward velocity adjustment. Based on the analysis of the dynamics model of the robot, a new simple linear running controller is proposed using the energy control idea, which requires minimal task level feedback and only controls both the leg torque and ending impact angle. On the other hand, the functions of mammalian vestibular reflexes are discussed, and a reflex map between forward velocity and the pitch movement is built through statistical regression analysis. Finally, a velocity controller based on energy control and vestibular reflexes is built, which has the same structure as the mammalian nervous mechanism for body posture control. The new con- troller allows the robot to run autonomously without any other auxiliary equipment and exhibits good speed adjustment capa- bility. A series simulations and experiments were set to show the good movement agility, and the feasibility and validity of the robot system.

关键词： legged robots biologically-inspired robots biomimetics energy control vestibular reflexes

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New self-calibration approach to space robots based on hand-eye vision

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Journal of Central South University 2011年第4期18卷 1087-1096页

作者：刘宇刘宏倪风雷徐文福 State Key Laboratory of Robotics and System Harbin Institute of Technology Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Graduate School

To overcome the influence of on-orbit extreme temperature environment on the tool pose(position and orientation) accuracy of a space robot,a new self-calibration method based on a measurement camera(hand-eye vision) attached to its end-effector was *** the relative pose errors between the two adjacent calibration positions of the space robot,the cost function of the calibration was built,which was different from the conventional calibration *** particle swarm optimization algorithm(PSO) was used to optimize the function to realize the geometrical parameter identification of the space *** above calibration method was carried out through self-calibration simulation of a six-DOF space robot whose end-effector was equipped with hand-eye *** results showed that after calibration there was a significant improvement of tool pose accuracy in a set of independent reference positions,which verified the feasibility of the *** the same time,because it was unnecessary for this method to know the transformation matrix from the robot base to the calibration plate,it reduced the complexity of calibration model and shortened the error propagation chain,which benefited to improve the calibration accuracy.

关键词： space robot self-calibration cost function hand-eye vision particle swarm optimization algorithm

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Enhancing pose accuracy of space robot by improved differential evolution

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Journal of Central South University 2012年第4期19卷 933-943页

作者：刘宇倪风雷刘宏徐文福 State Key Laboratory of Robotics and System Harbin Institute of Technology Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Graduate School

Due to the intense vibration durirLg launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the real pose （including position and orientation） of the end effector not to match the desired one, and further hinder the space robot from performing the scheduled mission. To improve pose accuracy of space robot, a new self-calibration method using the distance measurement provided by a laser-ranger fixed on the end-effector is proposed. A distance-measurement model of the space robot is built according to the distance from the starting point of the laser beam to the intersection point at the declining plane. Based on the model, the cost function about the pose error is derived. The kinematic calibration is transferred to a non-linear system optimization problem, which is solved by the improved differential evolution （DE） algoritlun. A six-degree of freedom （6-DOF） robot is used as a practical simulation example, and the simulation results show： 1） A significant improvement of pose accuracy of space robot can be obtained by distance measurement only; 2） Search efficiency is increased by improved DE; 3） More calibration configurations may make calibration results better.

关键词： space robot self-calibration laser ranger pose accuracy improved differential evolution

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Improving Kinematic Flexibility and Walking Performance of a Six-legged Robot by Rationally Designing Leg Morphology

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Journal of Bionic Engineering 2019年第4期16卷 608-620页

作者： Jie Chen Zhongchao Liang Yanhe Zhu Jie Zhao School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This paper explores the design of leg morphology in a six-legged *** by nature,where animals have different leg morphology,we examined how the difference in leg morphology influences behaviors of the *** this end,a systematic search was conducted by scanning over the parameter space consisting of default angles of leg joints of the six-legged robot,with two main objectives:to maximize the kinematic flexibility and walking performance of the *** show that(1)to have a high kinematic flexibility with both the torso and swing legs,the femur segment should tilt downwards by 5°-10°and the tibia segment should be vertically downwards or with a slight inward tilt;(2)to achieve relatively energy-efficient and steady walking,the tibia segment should be approximately vertically downwards,with the femur segment tilting upwards to lower the torso *** results of this study suggest that behaviors of legged robots can be passively enhanced by careful mechanical design choices,thereby leading to more competent legged machines.

关键词： six-legged robot leg morphology kinematic flexibility walking performance

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Experimental and modeling study of surface topography generation considering tool-workpiece vibration in high-precision turning

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Chinese Journal of Aeronautics 2023年第7期36卷 194-212页

作者： Xingying ZHOU Henan LIU Tianyu YU Ruiyang GUO Guangzhou WANG Yazhou SUN Mingjun CHEN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China

High-precision turning(HPT)is a main processing method for manufacturing rotary high-precision components,especially for metallic ***,the generated vibration between tool tip and workpiece during turning may seriously deteriorate the surface ***,exploring the effect of vibration on turning surface morphology and quality of copper parts using 3D surface topography regeneration model is crucial for predicting HPT *** developed model can update the machined surface topology in real *** this study,the effects of tool arc radius,feed rate,radial vibration,axial vibration and tangential vibration on the surface topography and surface roughness were *** results show that the effect of radial vibration on surface topography is greater than that of axial vibration and tangential *** radial vibration frequency is also *** vibration frequency changes,the surface topography profile presents three different types:the standard sinusoidal curve,the sinusoidal curve whose lowfrequency signal envelopes high-frequency signal,and the oscillation curve whose low-frequency signal superimposes high-frequency *** addition,HPT experiment was carried out to validate the developed *** surface roughness obtained in the experiment was Ra=53 nm,while the roughness obtained by the simulation was Ra=46 nm,achieving a prediction accuracy of 86.7%.Received 4 September 2022;revised 3 October 2022;accepted 17 October 2022.

关键词： High-precision turning Machining vibration Modeling Surface roughness Surface topography

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An energy harvester combining a piezoelectric cantilever and a single degree of freedom elastic system

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2012年第7期13卷 526-537页

作者： Hong-yan WANG Xiao-biao SHAN Tan XIE State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001China College of Computer and Control Engineering Qiqihar UniversityQiqihar 161006China

This paper presents a type of vibration energy harvester combining a piezoelectric cantilever and a single degree of freedom (SDOF) elastic system. The main function of the additional SDOF elastic system is to magnify vibration displacement of the piezoelectric cantilever to improve the power output. A mathematical model of the energy harvester is developed based on Hamilton's principle and Rayleigh-Ritz method. Furthermore, the effects of the structural parameters of the SDOF elastic system on the electromechanical outputs of the energy harvester are analyzed numerically. The accuracy of the output performance in the numerical solution is identified from the finite element method (FEM). A good agreement is found between the numerical results and FEM results. The results show that the power output can be increased and the frequency bandwidth can be improved when the SDOF elastic system has a larger lumped mass and a smaller damping ratio. The numerical results also indicate that a matching load resistance under the short circuit resonance condition can obtain a higher current output, and so is more suitable for application to the piezoelectric energy harvester.

关键词： Piezoelectric cantilever Single degree of freedom elastic （SDOF） system Energy harvesting Finite element analysis（FEA）

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Human-machine shared control:New avenue to dexterous prosthetic hand manipulation

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Science China(Technological Sciences) 2021年第4期64卷 767-773页

作者： YANG DaPeng LIU Hong State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China Artificial Intelligence Laboratory Harbin Institute of TechnologyHarbin 150080China

At present,albeit the dexterous hand prostheses of multiple degrees of freedom(DOFs)have become prosperous on the market,the user’s demand on intuitively operating these devices have not been well addressed so that their acceptance rate is relatively *** unintuitive control method and inadequate sensory feedback are frequently cited as the two barriers to the successful application of these dexterous ***,driven by the wave of artificial intelligence(AI),a series of shared control methods have emerged,in which"bodily function"(myoelectric control)and"artificial intelligence"(local autonomy,computer vision,etc.)are tightly integrated,and provided a new conceptual solution for the intuitive operation of dexterous *** this paper,the background and development trends of this type of methods are described in detail,and the potential development directions and the key technologies that need breakthroughs are *** practice,we instantiate this shared control strategy by proposing a new method combining simultaneous myoelectric control,multi-finger grasp autonomy,and augmented reality(AR)feedback *** method"divides"the human sophisticated reach-and-grasp task into several subtasks,and then"conquers"them by using different strategies from either human or machine *** is highly expected that the shared control methods with hybrid human-machine intelligence could address the control problem of dexterous prostheses.

关键词： robotic hand dexterous prostheses shared control computer vision deep learning

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Thermal shock of subsurface material with plastic flow during scuffing

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Friction 2023年第1期11卷 64-75页

作者： Chuanwei ZHANG Han ZHAI Dong SUN Dezhi ZHENG Xiaoli ZHAO Le GU Liqin WANG MIIT Key Laboratory of Aerospace Bearing Technology and Equipment Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China

The thermal shock of subsurface material with shear instability and severe plastic flow during scuffing was *** scuffing damage of M50 steel was tested using a high-speed rolling-sliding contact test rig,and the transient temperature during scuffing was calculated using the Fourier transform method considering the effects of both frictional heat and plastic *** results show that a thermal shock with a rapid rise and subsequent rapid decrease in the contact temperature is generated in the subsurface *** frictional power intensity generates a high temperature rise,leading to the austenitization of the subsurface ***,the plastic flow is generated in the subsurface layer under the high shear stress,and the resulting plastic strain energy generates a further temperature ***,a rapid decrease in the contact temperature quenches the material,resulting in clear shear slip bands and retained austenite in the subsurface layers of the M50 steel.

关键词： scuffing thermal shock high temperature plastic flow

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A Hybrid GRA-TOPSIS-RFR Optimization Approach for Minimizing Burrs in Micro-Milling of Ti-6Al-4V Alloys

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Micromachines 2025年第4期16卷 464-464页

作者： Tan, Rongkai Madathil, Abhilash Puthanveettil Liu, Qi Cheng, Jian Lin, Fengtao School of Mechatronics and Vehicle Engineering East China Jiaotong University Nanchang330013 China Centre for Precision Manufacturing DMEM University of Strathclyde G1 Glasgow1XJ United Kingdom RenfrewPA3 2EF United Kingdom Department of Mechanical Engineering University of Bath BA2 Bath7HA United Kingdom State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Micro-milling is increasingly recognized as a crucial technique for machining intricate and miniature 3D aerospace components, particularly those fabricated from difficult-to-cut Ti-6Al-4V alloys. However, its practical applications are hindered by significant challenges, particularly the unavoidable generation of burrs, which complicate subsequent finishing processes and adversely affect overall part quality. To optimize the burr formation in the micro-milling of Ti-6Al-4V alloys, this study proposes a novel hybrid-ranking optimization algorithm that integrates Grey Relational Analysis (GRA) with the Technique for Order Preference by Similarity to Ideal Solution (TOPSIS). This approach innovatively combines GRA and TOPSIS with a random forest regression (RFR) model, facilitating the exploration of nonlinear and complex relationships between input parameters and machining outcomes. Specifically, the effects of spindle speed, depth of cut, and feed rate per tooth on surface roughness and burr width generated during both down-milling and up-milling processes were systematically investigated using the proposed methodology. The results reveal that the depth of cut is the most influential factor affecting surface roughness, while feed rate per tooth plays a critical role in controlling burr formation. Moreover, the GRA-TOPSIS-RFR method significantly outperforms existing optimization and prediction models, with the integration of the RFR model enhancing prediction accuracy by 42.6% compared to traditional linear regression approaches. The validation experimental results agree well with the GRA-TOPSIS-RFR-optimized outcomes. This research provides valuable insights into optimizing the micro-milling process of titanium components, ultimately contributing to improved quality, performance, and service life across various aerospace applications. © 2025 by the authors.

关键词： Milling (machining)

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Learning to Identify Footholds from Geometric Characteristics for a Six-legged Robot over Rugged Terrain

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Journal of Bionic Engineering 2020年第3期17卷 512-522页

作者： Jie Chen Chong Liu Haibin Zhao Yanhe Zhu Jie Zhao School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Foothold identification is a key ability for legged robots that allows generating terrain adaptive behaviors(e.g.,gait and control parameters)and thereby improving mobility in complex *** this end,this paper addresses the issue of foothold characterization and identification over rugged terrain,from the terrain geometry point of *** a terrain region that might be a potential foothold of a robotic leg,the characteristic features are extracted as two first-order partial derivatives and two curvature parameters of a quadric regression surface at this *** features are able to give an intuitive and,more importantly,accurate characterization towards the specific geometry of the ground *** this basis,a supervised learning technique,Support Vector Machine(SVM),is employed,seeking to Ieam a foothold identification policy from human expert *** a result,an SVM classifier is leamt using the extracted features and human-demonstrated labels,which is able to identify whether or not a certain ground location is suited as a safe foot support for a robotic *** is shown that over 90%identification rate can be achieved with the proposed ***,preliminary experiment is implemented with a six-legged robot to demonstrate the effectiveness of the proposed approach.

关键词： six-legged robot foothold characterization foothold identification geometric characteristics support vector machine

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