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IEEE International Conference on robotics and Biomimetics

作者： Enbo Li Yili Fu Haibo Feng Zhejiang Laboratory Intelligent Robot Research Center Hangzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Robot grasping has always been a hot topic in the research field, but there are still a lot of problems to be solved. In this paper, we propose a general grasping method for the unknown objects in cluttered environment from a single-view. Our method is divided into three steps: sampling points selection, grasping pose sampling and grasping pose evaluation. Firstly, we generate a pixel-wise probability image based on the trained sampling affordance network from RGB images, and map the points with high probability to the 3D point cloud combined with the depth map. Then, we obtaine the candidate grasps by sampling on the proposal points, and finally we evaluate the candidate grasps through the trained grasp evaluation network. The network can capture the geometric structure represented by the point cloud information. The proposed method directly uses the original sensor data and can increases the sampling success rate.

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PetLock:A Genderless and Standard Interface for the Future On-orbit Construction

arXiv

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arXiv 2022年

作者： Li, Yuntao Xu, Zichun Yang, Xiaohang Zhao, Zhiyuan Zhao, Jingdong Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Heilong Jiang Harbin China

Modular design is the foundation of on orbit construction technology of large space facilities in the future. Standard interface is the key technology of modular design of the future space robotic systems and space facilities. This paper presents the designed and tested of PetLock, a standard and genderless interface which can transfer mechanical loads, power and data between the future modular space robotic manipulator and spacecraft. PetLock adopts a completely genderless design, including connection face, locking mechanism, data and power interface. The connection surface provides a large translation and rotation misalignment tolerance, due to its 120-degree symmetrical and 3D shape design. The locking mechanism features the three locking pins retraction structure design, which is simple and reliable. POGO pin connectors in the center of the interface provides the power and data transfer capabilities. Due to the advantages of high locking force, large tolerance, high reliability and low cost, PetLock has the very big application potential in future on orbit construction missions. Copyright © 2022, The Authors. All rights reserved.

关键词： Fits and tolerances

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A Family of Deployable Single-Loop Metamorphic Mechanisms for Aerospace Manipulators: Synthesis, Network, and Analysis

SSRN

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SSRN 2024年

作者： Zhang, Yang Kang, Xi Li, Bing State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China

Guided by predetermined degrees of freedom for different desired tasks, the type synthesis of single-loop metamorphic mechanisms (SLMMs) has long posed a challenge. Owing to the complexity and coupling of their overconstraints and the variability of constraints arising from bifurcation motions, it is difficult to ensure geometric coordination and synchronous motion for a network of multiple SLMMs. Here, we propose an approach to type synthesize SLMMs using the atlas method. A novel family of SLMMs is further synthesized. The mobility analysis of a selected 7R SLMM is carried out via screw theory. The kinematics and bifurcation phenomena are analyzed and verified through numerical simulation using computer-aided design models. To evaluate the performance of the SLMMs, the mapping relationship between key design parameters and performance indicators, such as the grasping angle, folding angle, and mechanical advantage, is studied. A networking method is then proposed by considering the geometric coordination conditions and variation of the overconstraints of SLMMs. Prototypes of an SLMM and manipulator with optimal geometrical parameters are developed to verify the feasibility and correctness of the proposed method and kinematic analysis. © 2024, The Authors. All rights reserved.

关键词： Manipulators

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High-density Baropodometry Platform Based on Vision Based Tactile Sensing 46

High-density Baropodometry Platform Based on Vision Based Ta...

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46th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2024

作者： Dong, Yueshi Ren, Jieji Zhang, Ningbin Zhao, Weijing Zhou, Jian Gu, Guoying Shanghai Jiao Tong University School of Mechanical Engineering The State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Department of Endocrinology and Metabolism Sixth People's Hospital Affiliated Shanghai Jiao Tong University School of Medicine Shanghai200240 China The Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9798350371499

Plantar pressure distribution measurement is significant for healthy monitoring and disease diagnosis. However, existing equipment lack of high-density resolution and may lead under-diagnosed of small abnormal regions. To address problem, we propose a special high resolution and low cost Baropodometry based on vision based tactile sensing (VBTS). Specially, we design a measurement platform with larger-scale sensing range (280 mm x 150 mm) and high-density resolution (440 ppi). To achieve the homogeneous illumination for the measure area, we also propose normally distributed light sources around the platform, and delicately adjust the incident angle to optimize the reconstruction performance. Besides, we design a example-based method to calibrate the platform and build a look-up table to reconstruct the plantar geometry from observed image. Experiments show the high lateral resolution that can discriminate the details ( © 2024 IEEE.

关键词： Barometers

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High-Precision Tracking Control of Modular Dielectric Elastomer Actuators Through Kalman Filter Base Self-Adaptive Direct Inverse Hysteresis Compensation

High-Precision Tracking Control of Modular Dielectric Elasto...

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International Conference on Control and Automation (ICCA)

作者： Bohao Xiao Guoying Gu Jiang Zou State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

This work proposes a Kalman filter based direct inverse hysteresis compensation approach for modularized dielectric elastomer actuators (DEAs) with rate-dependent viscoelasticity, mechanical vibration, and individual variation. To this end, we firstly investigate the dynamics of three modularized DEAs, including viscoelasticity, mechanical vibration, and their individual variation. Then, based on a rate-independent phenomenological hysteresis model, a direct inverse hysteresis compensation (DIHC) is established to eliminate the hysteresis effect. Further, a feedback controller is adopted to remove the creep and model uncertainty. Lastly, a Kalman filter is employed to automatically adjust the parameter of the DIHC, capable of achieving high-precision tracking control of modular DEAs within a wide frequency range. To verify the effectiveness of our control strategy, three modularized DEAs are employed to track periodical trajectories with different frequencies (in a range of 0.1Hz to 10Hz). The experimental results demonstrate that the Kalman filter based controller can fully eliminate the rate-dependent viscoelasticity, mechanical vibration, and individual difference, achieving high-precision tracking control of modular DEAs in a wide frequency range. The maximum error and root mean square error are reduced from 20.16% and 11.44% to 9.87% and 5.22%, respectively.

关键词： Vibrations Uncertainty Creep Soft robotics Trajectory Kalman filters Root mean square

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MECHANICAL CHARACTERISTICS ANALYSIS OF CORNER TENSIONED RECTANGULAR THIN MEMBRANES 1

MECHANICAL CHARACTERISTICS ANALYSIS OF CORNER TENSIONED RECT...

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1st International Conference on Mechanical system Dynamics, ICMSD 2022

作者： Li, Bingyan Peng, Tao Lin, Qiuhong Wang, Xiaoyu Cong, Qiang Tian, Xinqi Liu, Rongqiang Beijing Institute of Spacecraft Engineering Beijing100094 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China College of Mechanical and Electrical Engineering Harbin Engineering University Harbin150001 China

ISBN: (数字)9781839537837

ISBN: (纸本)9781839537837

This paper presents the calculation of the stress distribution of corner tensioned rectangular thin membrane based on the stress superposition method (SSM). By comparing with the results of finite element simulation, the theoretical results of stress distribution of tensioned membrane structure are verified. Based on SSM and free vibration calculation theory, the effects of tension boundary parameters on membrane stress distribution and models are investigated. The influence of corner tension on the mechanical characteristics is analyzed for the corner tensioned rectangular membranes with different aspect ratios. The formula for each order's fundamental frequency ratio of atmospheric to spatial environment is proposed. Conducting the dynamics experiment of a rectangular tensioned membrane, the theoretical analysis is verified by the experimental modal results. © 2022 IET Conference Proceedings. All rights reserved.

关键词： Stress concentration

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S2H-GNN: Learning Soft to Hard Feature Matching with Sparsified Graph Neural Network

S2H-GNN: Learning Soft to Hard Feature Matching with Sparsif...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Tao Xie Ruifeng Li Zhiqiang Jiang Kun Dai Ke Wang Lijun Zhao Shuozhan Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Fujian (Quanzhou)-HIT Research Institute of Engineering and Technology Quanzhou China

In this work, we introduce a soft-to-hard network (S2H-GNN) for precise local feature matching between image pairs. The core of S2H-GNN is a weighted context aggregation algorithm that enables nodes to receive information from their neighbors in order to form a more global understanding. S2HGNN leverages a sparsified graph neural network to enhance the features, consisting of the following modules alternately: (1) Inducing Point Initial Module that uses cosine correlation to identify highly scored keypoints as Inducing points. (2) Message Passing Module that integrates the features of original keypoints into those of Inducing points, which are further leveraged to exchange messages through self attention and cross attention. (3) Attention Upsample Module that propagates the feature of Inducing points to that of original keypoints, obtaining discriminative feature representation. Additionally, we propose an assignment layer to obtain a soft assignment matrix, which views feature matching as a graphy matching problem. Finally, we introduce a novel gap loss to guide S2H-GNN in learning a discriminative cognition of matching and non-matching keypoints, ultimately obtaining the hard assignment matrix. Experimental results demonstrate that S2H-GNN achieves comparable or higher performance in image matching and homography estimation tasks.

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Design of a Novel Autonomous Docking system With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Dong, Huijie Zhao, Chunyang Qiao, Tiezhu Wang, Jian Chen, Di Meng, Yan Yu, Junzhi Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan030024 China Chinese Academy of Sciences Laboratory of Cognitive and Decision Intelligence for Complex System Institute of Automation Beijing100190 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Guangdong Ocean University College of Electronics and Information Engineering Zhanjiang524088 China

ISBN: (纸本)9798350327182

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named 'CourierFish'. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks. © 2023 IEEE.

关键词： Fish

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Analysis of normal force of wheel-sand interaction for planetary rovers with active suspension*

Analysis of normal force of wheel-sand interaction for plane...

引用

IEEE International Conference on robotics and Biomimetics

作者： Zhengyin Wang Huaiguang Yang Liang Ding Qingning Lan Haibo Gao Zdravko Terze Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Faculty of Mechanical Engineering and Naval Architecture University of Zagreb Zagreb Croatia

The planetary rover with active suspension can climb steeper slopes and cross bigger obstacles in a wheel-step motion mode, which enables the planetary rover to perform more complex exploration tasks. However, wheel-step motion requires coordinated movement of the suspension and the wheels: the suspension can determine the wheel's sinkage depth and translation speed. Matching up with the wheel rotation speed can actively construct the slip ratio. The forces exerted on the wheels by sand during this process are a key index for motion control. This poses new challenges to existing wheel-sand interaction models. In this paper, dynamic normal force tests are carried out. The dynamic variation of wheel normal force with slip ratio is investigated at different sinkage depths. It is found that the normal force exerted on the wheel increases firstly and then decreases with the slip ratio, and reaches the maximum value near s=0. The distributed stresses of the wheel were analysed by discrete element method (DEM) simulation, and the phenomenon of the distribution stress reconstruction of the wheel is found. Further, by analyzing the local particles in contact with the wheel, it is found that the particle movement direction and morphology vary with slip ratio. The analysis of the wheel’s normal force and the granular material variation with slip ratio provides the basis for establishing a physics-based wheel-sand interaction model.

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Decoding Discrete Gestures Across Different Arm Positions Based on Multimodal Fusion Strategy 16th

Decoding Discrete Gestures Across Different Arm Positions Ba...

引用

16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Li, Yunzhe Yin, Zongtian Zhang, Ting Meng, Jianjun School of Mechanical Engineering Shanghai Jiao Tong University 800 Dongchuan Road Shanghai China Robotics and Microsystems Center College of Mechanical and Electrical Engineering Soochow University Suzhou China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University 800 Dongchuan Road Shanghai China

ISBN: (纸本)9789819964857

Decoding human motion intentions is critical for prosthetic control, where gesture recognition remains a research focus. However, the decoding accuracy of gestures is affected by multiple factors, resulting in poor robustness in practical applications. Variation in arm positions can significantly decrease the accuracy of gesture recognition, negatively impacting the performance of human-machine interfaces (HMIs). We developed a multimodal HMI system that has the potential to improve the robustness of gesture recognition significantly. This multimodal HMI system synchronously acquired surface electromyography (sEMG), A-mode ultrasound, and inertial measurement unit (IMU) signals and has a miniaturized signal processing module to be integrated into a prosthetic hand socket. We conducted an offline experiment on 11 subjects to investigate the discrete recognition of 10 hand gestures across three different arm positions. The results demonstrate that the multimodal fusion approach using the proposed cascaded classifiers has advantages in gesture recognition across different arm positions. The LDA classifier's best recognition accuracy was 97.08% ± 1.90%, outperforming the single modalities significantly. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Gesture recognition

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