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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Changqing Gao Yang Zhang Hong Lei Xi Kang Peng Xu Bing Li School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper takes a three-fingered deployable metamorphic robotic grasper as the studied object and presents a novel enveloping grasp planning method, by which the robotic grasper can grasp objects with different sizes and shapes more effectively and stably. Firstly, the mechanism design and key performances of the robotic grasper are briefly introduced. Secondly, the static analysis of the grasping motion process is conducted and the factors affecting static equilibrium are also analyzed, based on which the mathematical model of static equilibrium is established, and the relationship between grasping force and grasping posture is obtained. Then, an optimization model of static enveloping grasp with the grasping angle as the variable is proposed, by which the best grasping posture can be obtained. Thirdly, to prove the effectiveness of the proposed enveloping grasp planning method, a group of grasping simulations is performed and the results show that this method is feasible and reliable.

关键词： Shape Biological system modeling Force Grasping Static analysis Mathematical models Planning

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FMRT: Learning Accurate Feature Matching with Reconciliatory Transformer

arXiv

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arXiv 2023年

作者： Zhang, Xinyu Wang, Li Jiang, Zhiqiang Dai, Kun Xie, Tao Yang, Lei Yu, Wenhao Shen, Yang Li, Jun The School of Vehicle and Mobility Tsinghua University Beijing100084 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150006 China

Local Feature Matching, an essential component of several computer vision tasks (e.g., structure from motion and visual localization), has been effectively settled by Transformer-based methods. However, these methods only integrate long-range context information among keypoints with a fixed receptive field, which constrains the network from reconciling the importance of features with different receptive fields to realize complete image perception, hence limiting the matching accuracy. In addition, these methods utilize a conventional handcrafted encoding approach to integrate the positional information of keypoints into the visual descriptors, which limits the capability of the network to extract reliable positional encoding message. In this study, we propose Feature Matching with Reconciliatory Transformer (FMRT), a novel Transformer-based detector-free method that reconciles different features with multiple receptive fields adaptively and utilizes parallel networks to realize reliable positional encoding. Specifically, FMRT proposes a dedicated Reconciliatory Transformer (RecFormer) that consists of a Global Perception Attention Layer (GPAL) to extract visual descriptors with different receptive fields and integrate global context information under various scales, Perception Weight Layer (PWL) to measure the importance of various receptive fields adaptively, and Local Perception Feed-forward Network (LPFFN) to extract deep aggregated multi-scale local feature representation. Besides, we introduce a novel Axis-Wise Position Encoder (AWPE) that perceives positional encoding as two independent keypoints encoding tasks along the row and column dimensions and utilizes two parallel network branches to decouple the X- and Y -coordinate information of keypoints, so that boosting the capability of the network to model position information for different images. Extensive experiments demonstrate that FMRT yields extraordinary performance on multiple benchmarks, including pos

关键词： Encoding (symbols)

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Design and Experimental Validation of Sealing Assembly for Lunar Regolith Volatile Extraction Heating Furnace

Design and Experimental Validation of Sealing Assembly for L...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Zhang, Hongan Tang, Junyue Wang, Yinchao Lu, Zixiao Wang, Bo Cao, Miaoyan Jiang, Shengyuan Yanshan University Mechanical Engineering Qinhuangdao China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Shenyang Aerospace University Mechatronics Institute Shenyang China Chinese Academy of Science National Center for Nanoscience and Technlogy Beijing China China Academy of Space Technology Beijing China

ISBN: (纸本)9798350325706

A lunar regolith in-situ analysis payload deploying a mass spectrometer is proposed to exactly detect the water ice of the South Pole of the moon for China future lunar exploration missions. In order to realize the goal, an airtight heating furnace for volatile extraction from lunar regolith is desired. In this paper, sealing methods for lunar regolith volatile in heating furnace to future proposed in-situ sampling and analysis of lunar samples were investigated based on power requirements, furnace closing accuracy requirements, dust tolerance and operation in the Lunar environment. Methods implemented include a balanced metal hollow ring seal, a double channel ferrule tab ring radial seal and a spring energized seal. Comparing the performance of sealing methods under the above conditions, a spring energized seal is selected as the heating furnace seal. The materials and structure of the seal are designed based on the rigidity requirements, leakage rate requirements and working environment requirements. In order to test the sealing performance of seals after repeated sealing in high and low temperature environments, a seal leak detection system was designed. The test results indicate that the seal can meet the sealing performance requirements after repeated sealing at various temperatures. © 2023 IEEE.

关键词： Dust tolerance Leakage rate Lunar environment Repeated sealing Spring energized seal

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Unified Vibration Suppression and Compliance Control for Flexible Joint Robot

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Transactions of Nanjing University of Aeronautics and Astronautics 2021年第3期38卷 361-372页

作者： CUI Shipeng SUN Yongjun LIU Yiwei LIU Hong State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

An adaptive control scheme is presented,which can simultaneously realize vibration suppression and compliance control for flexible joint robot(FJR).The proposed control scheme provides a unified formulation for both vibration suppression mode,where FJR tracks the desired position with little vibration,and compliance mode,in which FJR presents *** of designing multiple controllers and switching between them,both modes are integrated into a single controller,and the transition between two modes is smooth and *** stability of the closed-loop system is theoretically proven via the Lyapunov method,with the considering the dynamics uncertainties in both link side and motor *** results are presented to illustrate good performances of the proposed control scheme.

关键词： adaptive control scheme vibration suppression compliance flexible joint robot(FJR) stability

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Feature Extraction and Matching of Humanoid-Eye Binocular Images Based on Susan-Sift Algorithm

SSRN

引用

SSRN 2023年

作者： Xia, Xiaohua Xiang, Haoming Cao, Yusong Ge, Zhaokai Jiang, Zainan Key Laboratory of Road Construction Technology and Equipment MOE Chang’an University Xi’an710064 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Imitating the visual characteristics of human eyes is one of the important tasks of digital image processing and computer vision. Feature correspondence of humanoid-eye binocular images is a fundamental step. However, in some scenes, due to a lack of edge features and mismatching problems, the performance of humanoid-eye binocular images in feature matching is greatly limited. To address the aforementioned challenges, a method of feature extraction and matching based on SUSAN-SIFT algorithm is proposed in this paper. The SUSAN detector is utilized in the feature detection stage for its outstanding edge feature extraction capability like human eyes. Then we build a multi-scale SIFT descriptor, to provide the neighborhood information at different resolutions for each feature and guide feature points to generate the corresponding pairs. Compared with state-of-the-art algorithms, the method can improve matching accuracy while retaining more edge features, and its resulting feature pairs are more evenly distributed. © 2023, The Authors. All rights reserved.

关键词： Binoculars

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Sensorless End-Effector Force Estimation of Multi-DOF Manipulators Using Semiparametric Joint Model and Generalized Momentum Observer

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IEEE Sensors Journal 2025年

作者： Xing, Hongjun Ding, Liang Xia, Kerui Chen, Jinbao Gao, Haibo Deng, Zongquan Nanjing University of Aeronautics and Astronautics National Key Laboratory of Aerospace Mechanism Nanjing210016 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China International Institute for Research and Innovation Hefei230000 China

With end-effector force estimation, manipulators can safely interact with the environment or operators, eliminating the need for conventional wrist sensors that measure force and torque. This paper introduces a new approach to estimating the force exerted by the end-effector, utilizing a two-step method. The first step is to build an accurate semiparametric joint model. The joint model integrates a harmonic drive parametric model with a local Gaussian process regression (LGPR)-based learning model. A combined parametric model of the harmonic drive offers the analytical joint torque component, which is employed in the LGPR process to reconstruct the unmodeled portion. This reconstruction is based on the motor-side joint angle, the link-side joint angle, and the controlled motor current. Compared to the parametric or learning models alone, this semiparametric joint model considerably improves modeling precision. In the second step, an external force observer is developed by estimating joint torque. The force observer developed in this paper is based on generalized momentum. Multi-DOF manipulators benefit from this design because joint dynamics are separated from link dynamics, thereby reducing the complexity of dynamic modeling. In addition to joint torque sensors, a wrist force/torque sensor is utilized to compare the estimated joint torques and end-effector forces with the actual measured values. Experimental results obtained using a custom-built manipulator have demonstrated the advantages and effectiveness of this approach. © 2001-2012 IEEE.

关键词： Manipulators

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A Combined Inverse Kinematics Algorithm Using FABRIK with Optimization

arXiv

引用

arXiv 2022年

作者： Xu, Zichun Li, Yuntao Yang, Xiaohang Zhao, Zhiyuan Zhao, Jingdong Liu, Hong The State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Province Harbin150001 China

Forward and backward reaching inverse kinematics (FABRIK) is a heuristic inverse kinematics solver that is gradually applied to manipulators with the advantages of fast convergence and generating more realistic configurations. However, under the high error constraint, FABRIK exhibits unstable convergence behavior, which is unsatisfactory for the real-time motion planning of manipulators. In this paper, a novel inverse kinematics algorithm that combines FABRIK and the sequential quadratic programming (SQP) algorithm is presented, in which the joint angles deduced by FABRIK will be taken as the initial seed of the SQP algorithm to avoid getting stuck in local minima. The combined algorithm is evaluated with experiments, in which our algorithm can achieve higher success rates and faster solution times than FABRIK under the high error constraint. Furthermore, the combined algorithm can generate continuous trajectories for the UR5 and KUKA LBR IIWA 14 R820 manipulators in path tracking with no pose error and permitted position error of the end-effector. Copyright © 2022, The Authors. All rights reserved.

关键词： Inverse kinematics

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An Efficient Planner for Dual-Arm Massage Robots in Constrained state

An Efficient Planner for Dual-Arm Massage Robots in Constrai...

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IEEE International Conference on robotics and Biomimetics

作者： Yuan Xu Wenxiao Wang Lechuan Zhou Weichao Guo Xinjun Sheng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Meta Robotics Institute Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Dual-arm massage robots necessitate reaching the massage pose along an optimal collision-free path in constrained state, where traditional path planning methods often exhibit inefficiency. This paper proposes a sampling-based planning algorithm that integrates lazy evaluation, transition testing, and bidirectional Rapidly-exploring Random Tree to reduce computational load, enhance planning efficiency, and improve the planner's ability to effectively explore the state space, avoid local minima, and converge to high-quality solutions. Comparative experiments conducted on a simulation platform across multiple algorithms have demonstrated the efficacy of the proposed planner, achieving a 95 % planning success rate within 1 second. The paths generated by the algorithm exhibit superior quality and enhanced consistency. In summary, the proposed algorithm is capable of producing asymptotically optimal, collision-free paths for a dual-arm massage robot.

关键词： Hands Simulated annealing Path planning Skin Planning Space exploration Computational efficiency Collision avoidance Optimization Testing

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Enhancing Household Service Robots with a Dual-Arm Mobile Manipulator and Multimodal Large Language Models

Enhancing Household Service Robots with a Dual-Arm Mobile Ma...

引用

IEEE International Conference on robotics and Biomimetics

作者： Yang Liu Yanchao Zhao Weichao Guo Xinjun Sheng Han Ding State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Meta Robotics Institute Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

This research aims to enhance the practicality of household service robots by integrating multimodal large language models (MLLMs). Utilizing a dual-arm mobile manipulator platform, our focus is on advancing autonomous mobile manipulation in home environments. By leveraging the advanced text understanding and visual processing capabilities inherent in MLLMs, the proposed system adeptly converts user dialogues and environmental visual inputs into precise robotic plans. Among the suite of tested models, GPT-4o mini and Gemini 1.5 flash perform exceptionally well in generating accurate robotic plans. These results underscore a significant enhancement in the robot's ability to manipulate objects within complex home environments, thereby contributing to more seamless human-robot interactions and markedly improved task execution. We anticipate that our findings will inspire future advances in the field of human-robot interaction for home robots.

关键词： Visualization Translation Service robots Target recognition Large language models Human-robot interaction Grasping Manipulators Software Plastics

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Crosstalk-Free Dual-Mode Tactile Skin Based on 3D-Constrained Electric Field and Isolated Porous Iontronic Dielectric

Crosstalk-Free Dual-Mode Tactile Skin Based on 3D-Constraine...

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IEEE International Conference on robotics and Biomimetics

作者： Yanchao Zhao Weichao Guo Xinjun Sheng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Meta Robotics Institute Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Proximity-pressure dual-mode capacitive sensor is a novel sensing form to simultaneously detect distance and pressure information through a single device. In recent years, much effort has been devoted to improve its performance. However, it still suffers from robustness issues such as crosstalk and noise in practical applications. Electromagnetic coupling crosstalk caused by the outward electric fields as well as the response from unexpected directions also limit its distributed or array arrangements. In this regard, this paper proposes 3D-shielding structure as well as isolated iontronic dielectric designs to reduce the effects of electromagnetic/mechanical crosstalk. Through simulations and experiments, we demonstrate the effectiveness of the proposed design and optimise the structural parameters. The finally obtained sensing skin has an excellent crosstalk rejection ratio (15.68 dB, approximately three times improvement) while maintaining high response sensitivity.

关键词： Performance evaluation Sensitivity Crosstalk Robot sensing systems Skin Robustness Sensors Dielectrics Structural engineering Electric fields

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