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A New Recursive Composite Adaptive Controller for Robot Manipulators

Space(Science & Technology) 2021年第1期2021卷 77-83页

作者： Jianfei Li Yaobing Wang Zhiyong Liu Xin Jing Chengwei Hu The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System EngineeringBeijing 100094China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

In this paper,a new recursive implementation of composite adaptive control for robot manipulators is *** investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form,which,to our knowledge,is the first result on this point in the *** proposed algorithm has an amount of computation O(n),which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree *** manipulator of the Chinese Space Station is employed as a simulation example,and the results verify the effectiveness of this proposed recursive algorithm.

关键词： Robot manipulators robot

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Design and Control of Continuous Jumping Gaits for Humanoid Robots Based on Motion Function and Reinforcement Learning

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Procedia Computer Science 2024年 250卷 51-57页

作者： Zida Zhao Shilong Sun Haodong Huang Qingbin Gao Wenfu Xu State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin Heilongjiang China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen 518055 China

Continuous jumping of humanoid robots is a challenging problem that requires appropriate gait and force control for the robot to achieve. Reinforcement learning (RL) has been applied to the motion control of humanoid robots and has achieved significant progress. However, traditional RL control methods primarily rely on designing reward signals to generate human-like movements, and it requires developing complex reward signals for continuous jumping, resulting in limited actions and suboptimal jumping performance. To address this issue, we have designed motion functions for humanoid continuous jumping and incorporated them into the RL framework to obtain desired human-like continuous jumping actions. Furthermore, two different jumping gaits are designed to investigate the jumping effects produced by different jumping functions: bent-knee jumping (BJ) and straight-knee jumping (SJ). BJ is a typical jumping style where the legs flex during the jumping process to accumulate energy, enabling higher explosive power. SJ is more suitable for tasks requiring quick responses, as the legs remain upright during the jump, providing faster reaction speed. The performance in continuous jumping tasks has been evaluated by comparing the effects of training with different jumping functions. This research has particular guidance for improving the jumping ability of robots and enhancing the stability and efficiency of humanoid continuous jumping.

关键词： Continuous jumping gaits Humanoid robots Motion function Reinforcement learning

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Enhancing interaction performance of soft pneumatic-networks grippers by skeleton topology optimization

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Science China(Technological Sciences) 2021年第12期64卷 2709-2717页

作者： CHEN ShiTong WANG YuSheng LI DeChen CHEN FeiFei ZHU XiangYang Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

The inherent compliance of soft materials imbues robots,generally referred to as soft robots,with particular advantages in producing adaptive and safe ***,the mainstream design paradigms of soft robots have been focused on pursuing large free motions only,usually at the expense of greatly decreased stiffness,leading to limited capability of withstanding external loads in interactive *** is a pressing need to incorporate the interaction specifications at the design stage to embody soft robots with not only proper deformability but equally importantly,considerable stiffness to perform complex tasks in practical ***,inspired by the dexterity of human hands,we propose a computational design framework for soft grippers with a focus on improving their interaction performance in power grasping or precision grasping *** design paradigm rests on attaching a relatively stiffer skeleton layer to the parametric pneumatic networks based actuator which is widely used due to the geometric advantage,and the skeleton layout is designed for customized interaction conditions by a level set based topology optimization *** expected,the optimized skeleton layouts exhibit specified structural features highly relevant to the predefined concentrated loads for precision grip or distributed loads for power grip,which physically implies the compromise between deformability and *** the interaction forces are difficult to measure in situ,we devise power and precision grasping scenarios and evaluate the critical actuation pressure of the object’s falling *** experiments qualitatively demonstrate the superiority of each specified *** work represents an initial step toward the rational design for interaction in soft robots.

关键词： soft robotics interaction grippers topology optimization

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Optimal Design of Three-Dimensional Voxel Printed Multimaterial Lattice Metamaterials via Machine Learning and Evolutionary Algorithm

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Physical Review Applied 2022年第5期18卷 054050-054050页

作者： Le Dong Dong Wang Robotics Institute State Key Laboratory of Mechanical System and Vibration and Meta Robotics Institute Shanghai Jiao Tong University Shanghai 200240 China

Mechanical metamaterials could exhibit tremendous design potential through synergistic material distribution and structural design. However, the existing designs mainly focus on the structures and neglect the material distributions. We propose a digital design and optimization method for lattice metamaterials using machine learning and an evolutionary algorithm taking into account both material distributions and structural design. The machine learning model is developed to predict mechanical behaviors accurately, based on the database generated by python-assisted finite-element simulations with random material and structural parameters. The optimal design is realized by the evolutionary algorithm method, which can quickly find the target mechanical responses in a broad design space. A digital voxel model is established to three-dimensionally print the designed multimaterial lattice metamaterials. The developed framework can be used to match multiple targets, such as reproducing the stress-strain and Poisson's ratio curves of biological tissues simultaneously. Lattice metamaterials with customized lateral profiles are also demonstrated. This work expands the design space of lattice metamaterials and is of great interest in flexible electronics and soft robotics.

关键词： Mechanical metamaterials Functional materials Triangular lattice Additive manufacturing Finite-element method Genetic algorithm Machine learning Tension tests

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A Flexible Piezoelectric-based Tactile Sensor for Dynamic Force Measurement 4

A Flexible Piezoelectric-based Tactile Sensor for Dynamic Fo...

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4th International Conference on High Performance Big Data and Intelligent systems, HDIS 2022

作者： Xiang, Guiyao Wang, Xiaoxin Cheng, Nengyuan Hu, Liang Zhang, Hongwei Liu, Honghai School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen China Harbin Institute of Technology Shenzhen State Key Laboratory of Robotics and System Shenzhen China

ISBN: (数字)9781665491440

ISBN: (纸本)9781665491440

Force measurement is important in the robotic manipulation tasks, and it is an essential property of specific tactile sensor. An increasing number of studies demonstrated the capacity of tactile sensor in force measurement. However, most of the works focus on the static force measurement, the precise track of dynamic force is hard to be accomplished. Compared with traditional piezoresistive sensors, piezoelectric-based tactile sensors have advantages in low energy consumption and high sensitivity. This paper developed a flexible multi-layer piezoelectric-based tactile sensor inspired by the structure of skin. The size of sensor with a 3×3 sensing element array was designed to match that of a finger. The signal processors and logical algorithms were integrated to sense and distinguish the size, location and pattern of different external force stimuli in real time, including pressure intensity and vibration frequency. Two experiments about pressure sensing and vibration sensing show that the proposed tactile sensor with finger-like force range, high sensitivity and fast response time. The range of measured force amplitude and frequency were 0.1N-2N and 0.1Hz-100Hz. Another characteristic, the response time, was less than 50ms. In addition, the sensor array has a spatial resolution of 4 mm. This work has driven the development of tactile sensor for dynamic force measurement in real-Time robotic grasping. © 2022 IEEE.

关键词： Energy utilization

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Design of Bionic Manta Ray Driven by SMA 7

Design of Bionic Manta Ray Driven by SMA

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7th International Conference on Control and robotics Engineering, ICCRE 2022

作者： Liu, Yiwei Chen, Zhiyuan Chen, Changjiang Wang, Tao Tian, Guoping Ji, Shihang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Shanghai Aerospace Equipment Manufacturing General Factory Co. Ltd Shanghai China

ISBN: (纸本)9781665468404

Taking manta ray as bionic object, a kind of bionic robot fish was designed, which was propelled by pectoral fin and driven by SMA (shape memory alloy) wire. Firstly, the model and driving structure were designed according to the appearance and motion mechanism of manta ray. Then, the mechanical model of the designed bionic pectoral fin was established, and the relationship between the pectoral fin swing angle and the current was obtained by combining with the thermodynamic model of SMA. Then, the motion law was determined by theoretical analysis, and the control system was designed. Finally, the prototype was made, and the experiments of pectoral fin swing and bionic manta ray swimming were carried out respectively. © 2022 IEEE.

关键词： Bionics

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Research on Robust Current Control Algorithm for Permanent Magnet Synchronous Motor Based on Extended state Observer

Research on Robust Current Control Algorithm for Permanent M...

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IEEE International Conference on Mechatronics and Automation

作者： Xiaofei Ding Bin Qi Bowen Zhang Khuram Shahzad Songyuan Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology 92 Xidazhi Street Harbin China

High-performance servo joints are the basis for quadruped robots to have excellent motion performance. The current loop is the innermost loop of the servo system, and its control effect on torque directly determines the control effect of the entire servo system. This paper proposes a robust current control algorithm for permanent magnet synchronous motors (PMSM) based on the extended state observer (ESO) to improve the performance of the current loop. Traditional predictive current control relies more on the accuracy of model parameters. This paper uses ESO to obtain unknown disturbances to reduce the dependence of control effects on model parameters. Simulation and experiments show that predictive current control has more excellent dynamic performance than PI control. After adding the ESO compensation link, the static error and oscillation of current caused by controller model parameter error are effectively eliminated, significantly reducing the dependence on model parameters and improving the robustness of the current loop in the servo system.

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Design and Verification of a Projectile Structure for Main-belt Comets Penetration Exploration

Design and Verification of a Projectile Structure for Main-b...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Tang, Junyue Liang, He Chi, Cheng Xiao, Junxiao Lu, Zixiao Yao, Ziyun Ha, Zekun Jiang, Shengyuan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China CAS Center for Excellence in Nanoscience National Center for Nanoscience and Technology Beijing100190 China

ISBN: (纸本)9781665481090

Comparing the isotopic composition of the D/H ratio of the water ice in Main-belt Comets (MBCs) to that of the oceans on the Earth can enhance the understanding of where the water comes from and of how the distribution of the water ices in our early solar system. Herein, a jet penetrator with a turbo-blasting explosion device and a high-precision accelerometer has been proposed to realize a 1m class subsurface detection for China next asteroidal exploration mission. Considering the ruggedness of rubble pile structure in the low-gravity environment, the projectile's posture and its overloads determined by its structure and velocity during the penetration is highly uncertain. By establishing the rubble pile structure penetrating mechanism model, the real-time overloads and posture is analyzed to acquire an optimized projectile structure. Finally, a frozen rubble pile simulant penetrating experiment under gas gun system verified the optimized structure. © 2022 IEEE.

关键词： Comets

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Automatic venous segmentation in venipuncture robot using deep learning

Automatic venous segmentation in venipuncture robot using de...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： He, Tianbao Guo, Chuangqiang Jiang, Li Liu, Hansong Harbin Institute of Technology State Key Laboratory of Robotics and System Heilongjiang Province Harbin China

ISBN: (纸本)9781665436786

Vein identification plays a pivotal role in realizing automatic venipuncture, and it has become a difficulty to segment the veins efficiently as well as accurately in the research of full-automatic venipuncture robots. Most studies in the field of vein segmentation have only focused on traditional image processing methods, the segmentation accuracy and generalization performance of which are poor. Therefore, we propose an automatic image segmentation algorithm using the U-Net model with the attention mechanism (Attention-UNet) which can suppress unnecessary features. Besides, the encoder-decoder and the skip-connection structure are applied for multi-scale feature recognition so that the segmentation accuracy can be improved. Meanwhile, on digital arm images for the vein segmentation data set (DAIVS data set), the newly-built human forearm veins data set, the effectiveness of the proposed method in vein segmentation is verified. Finally, we conduct experiments to acquire and process venous images with the Attention-UNet in real-time on the venipuncture robot. These results indicate that machine vision has better performance in complex visual tasks and can be translated into clinical application. © 2021 IEEE.

关键词： Robots

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Contact Force Guidance Assembly towards Unknown-Shaped Dual Peg-in-Hole

Contact Force Guidance Assembly towards Unknown-Shaped Dual ...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Ninglong Jin Wei Du Jianhua Wu Zhenhua Xiong The School of Mechanical Engineering State Key Laboratory of Mechanical System and Vibration Institute of Robotics Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

The automatic assembly of dual peg-in-hole often relies on the concrete CAD model, either explicitly or implicitly. However, especially in daily life, the shapes of pegs vary, and the robot cannot always obtain an accurate CAD model of the peg before performing the insertion task. Therefore, inspired by the force constraint during contact, we used contact force as the completion indicator of the assembly and proposed a novel two-stage assembly strategy for unknown-shaped dual peg-in-hole. Additionally, a variable remote compliance center method is employed to decouple the contact forces of two pegs and their adjustments. Three types of unidirectional movement modes—exploration, compliance, retention—are utilized to guide the peg to contact with the hole under large initial offsets. The performance of the proposed assembly strategy was evaluated through a series of experiments using various shapes of pegs. The results show that our method effectively completes arbitrary mixed-shaped dual peg-in-hole task under large initial offsets in terms of orientation error (>20°) and position error (>30mm) acorss all test cases.

关键词： Solid modeling Shape Force Process control Switches Robustness Assembly Admittance control Robots Oscillators

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