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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Dong Zhou Yuan Fu Jie Deng Jin Sun Yingxiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665431545

Soft robots made from soft materials can safely interact with humans and environments compared with the traditional rigid robots. However, the inherent compliance of the soft robots makes them difficult to realize the jumping motion. Although many soft robots can jump through the design of bistable structure. However, the existing soft robots need rigid spine to be embedded in the soft body. Therefore, it is still hard for the jumping of a soft robot with pure soft body. This paper offers the design method for the pure soft bistable robot with jumping ability. The critical buckling force and total elastic potential energy of the robot can be increased by designing the soft body with different thickness. We use the twisted artificial muscle (TAM) to realize the jumping motion of the soft bistable robot. The proposed robot can jump at a height nearly two times its body height. We envision that the design method will promote the application of the soft robot with pure soft body to realize more types of motion strategy.

关键词： Potential energy Fabrication Mechatronics Design methodology Machine vision Force Soft robotics

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Adaptive Step Puncture Strategy Based on Online Identification of Tissue Shore Hardness

Adaptive Step Puncture Strategy Based on Online Identificati...

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IEEE International Conference on robotics and Biomimetics

作者： Changle Li Chuanyou Yu Leifeng Zhang Guang Ban Yilun Fan Yubin Liu Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology HeiLongJiang China

ISBN: (纸本)9781665405362

The accuracy of puncture has a significant impact on hr achy therapy. However, when the puncture needle enters the diseased tissue, there are complex forces between the needle body and soft tissue, resulting in the deflection of the puncture needle, which affects the puncture accuracy. In order to improve the positioning accuracy and ensure better treatment effect, an adaptive step puncture strategy based on force feedback was proposed in this paper. Firstly, according to the process of brachytherapy, the mechanism design and control system design of puncture end tool were carried out. Secondly, combined with the end tool, the data acquisition platform was designed, the data acquisition and analysis were completed, and an adaptive step puncture strategy was proposed according to the experimental data. Finally, the experimental verification was carried out by using layered silica gel in the built data acquisition platform. Experiments showed that the adaptive step puncture strategy proposed in this paper significantly improves the puncture accuracy compared with direct puncture.

关键词： Silicon compounds Data acquisition Force feedback Surgery Process control Needles Control systems

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Configuration Transformation of the Wheel-Legged Robot Using Inverse Dynamics Control

Configuration Transformation of the Wheel-Legged Robot Using...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Haitao Zhou Haoyang Yu Xu Li Haibo Feng Songyuan Zhang Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, the configuration transformation of Wheel-Legged Robot (WLR) is studied, which can enable the robot to change its multilinks configuration on Inverted Equilibrium Manifold (IEM), while keeping balance with a small location drift on the floor. First of all, the general form of dynamics equation of planar Articulated Wheeled Inverted Pendulum (AWIP) with a wheel and n − 1 rigid links, is derived. The Partial Feedback Linearization (PFL) combined with a Sliding Mode Control (SMC) is used to design the inverse dynamics controller of AWIP, while considering full dynamics terms. The well-known WLR model is used as a simple example of AWIP to accomplish the configuration transformation task. An optimization based configuration transformation algorithm is proposed to realize a comprehensive optimization of the shortest path in joint space and the minimum location drift of WLR on the floor. Finally, the effectiveness of the proposed algorithm is demonstrated through simulation to implement the configuration transformation task.

关键词： Heuristic algorithms Dynamics Wheels Mathematical models Trajectory Mobile robots Task analysis

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Joint Limit Optimal Inverse Kinematics of the 7-DoF Manipulator with Link Offset based on Semi-analytical Solution

Joint Limit Optimal Inverse Kinematics of the 7-DoF Manipula...

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IEEE International Conference on robotics and Biomimetics

作者： Yaowen Zhang Yechao Liu Baoshi Cao Yang Liu Boyu Ma Zongwu Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665405362

The 7-DoF redundant manipulator with offset links and symmetrical structure is applied in the space station. The analytical solution of the inverse kinematics(IK) is difficult when considering the joint limits. This study proposes a joint limit optimal IK solution based on the optimization of the fixed joint angle parameters. The analytical method of fixed joint inverse solution is combined with the numerical method of joint limit optimization. This semi-analytical method converges to a definite solution with a closed form and have symmetry to avoid the non-conservative of the pseudo-inverse solution. Simulation results verify the effectiveness of the IK algorithm.

关键词： Jacobian matrices Simulation Conferences Kinematics Manipulators Search problems Orbits

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Subsurface Damage Detection and Quantitative Prediction of Thin-Walled Complex Curved-Surface Component

SSRN

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SSRN 2024年

作者： Qin, Biao Liu, Henan Cheng, Jian Tian, Jinchuan Sun, Jiangang Zhou, Zihan Ma, Chuanzhen Chen, Mingjun State Key Laboratory of Robotics and System Harbin Institute of Technology P.O. Box 413 Heilongjiang Harbin150001 China Center for Precision Engineering Harbin Institute of Technology P.O. Box 413 Heilongjiang Harbin150001 China

The hemispherical resonant gyroscope (HRG), distinguished by its simple structure, high reliability, and remarkable precision, stands out as one of the most promising high-performance inertial navigation devices in advanced equipment. However, the core sensitive component of the HRG, known as hemispherical resonator (HSR), with a complex and small curvature structure made of fused silica, experiences subsurface damage (SSD) during the grinding process. This not only leads to brittle fracture, which affects the operational performance of the gyroscope, but also significantly hampers the polishing efficiency of the component. This study was initiated by quantitatively characterizing the SSD of various structural features of the HSR (center rod, lip edge of the spherical shell, and spherical shell). Especially, for the curved-surface of the HSR, the average deviation of SSD detection result is within 6%. Subsequently, based on the characterized SSD, the grinding damage mechanisms of the HSR was explored. The grinding surface integrity is then elucidated from the perspective of maximum undeformed chip thickness. Finally, a predictive model for the SSD depth of the HSR after ultra-precision grinding was established according to the nonlinear relationship between the surface roughness and SSD depth. The maximum deviation between the predictive and experimental values of SSD depth is 9.4%, indicating a high level of predictive accuracy. This work fills the blank in SSD detection of the HSR, laying a theoretical foundation for the high-performance manufacturing of the HSR. © 2024, The Authors. All rights reserved.

关键词： Damage detection

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Particle-based Instance-aware Semantic Occupancy Mapping in Dynamic Environments

arXiv

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arXiv 2024年

作者： Chen, Gang Wang, Zhaoying Dong, Wei Alonso-Mora, Javier Autonomous Multi-Robots Lab Department of Cognitive Robotics School of Mechanical Engineering Delft University of Technology Delft2628 CD Netherlands State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiaotong University Shanghai200240 China

Representing the 3D environment with instance-aware semantic and geometric information is crucial for interaction-aware robots in dynamic environments. Nevertheless, creating such a representation poses challenges due to sensor noise, instance segmentation and tracking errors, and the objects’ dynamic motion. This paper introduces a novel particle-based instance-aware semantic occupancy map to tackle these challenges. Particles with an augmented instance state are used to estimate the Probability Hypothesis Density (PHD) of the objects and implicitly model the environment. Utilizing a state-augmented Sequential Monte Carlo PHD (S2MC-PHD) filter, these particles are updated to jointly estimate occupancy status, semantic, and instance IDs, mitigating noise. Additionally, a memory module is adopted to enhance the map’s responsiveness to previously observed objects. Experimental results on the Virtual KITTI 2 dataset demonstrate that the proposed approach surpasses state-of-the-art methods across multiple metrics under different noise conditions. Subsequent tests using real-world data further validate the effectiveness of the proposed approach. Copyright © 2024, The Authors. All rights reserved.

关键词： Mapping

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Lower Limb Rehabilitation Motion Angle Measurement Based On Deep Learning YOLOv3 Model 2

Lower Limb Rehabilitation Motion Angle Measurement Based On ...

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2021 2nd International Conference on Machine Learning and Computer Application, ICMLCA 2021

作者： Yang, Yunlong Wang, Liancheng Yao, Yufeng He, Chenxi Yin, Hesheng Weihai Furui Robotics Co. Ltd Weihai China Tianzhi Institute of Innovation and Technology Weihai Economic and Technological Development Zone Weihai China Weihai China State Key Laboratory of Robotics Harbin Institute of Technology System Department of Mechanical Engineering Harbin China

ISBN: (纸本)9783800757398

The aging of the population and the high incidence of hemiplegia have led to an increasing demand for easy-to-use rehabilitation training. The feedback sensing system which can measure and analyze the lower limb rehabilitation motions is highly significant for improving the rehabilitation outcome. Computer vision-based human motion angle measurement has attracted significant interest. This study aims to measure and analyze the lower limb motion angle in the sagittal plane with a single RGB camera. This paper proposes a method for extracting and monitoring of the lower limb marker points based on YOLOv3 and DarkNet-53 convolutional neural networks, and optimizes the pixel coordinates of the target point based on Kalman. The measurement accuracy of the proposed method is tested by JACO robotic arm, and the test shows that the standard deviation (SD) of the measurement is less than 0.5°. © VDE VERLAG GMBH · Berlin · Offenbach.

关键词： Neural networks

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Puncture Status Perception Method for a Venipuncture Robot Based on Force Prediction

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： He, Tianbao Guo, Chuangqiang Jiang, Li Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

Research on venipuncture robots has excellent potential for reducing workload and addressing healthcare professional shortages while advancing medical automation and intelligent healthcare. This paper proposes a method for improving the perception ability of venipuncture robots by predicting the puncture force to efficiently determine whether the puncture needle has entered the vein, thus increasing the safety and success rate of the robot. Initially, the characteristics of the puncture force are analyzed, and a force‒time-series-prediction model is established via a BiLSTM network and Kalman filter error compensation. A time series dataset is constructed using puncture force data collected under different conditions. The experimental results indicate that the model’s prediction error is less than 0.01 N, and the calculation time is less than 0.02 s. Based on this prediction model, a puncture status perception method is proposed, which considers the trend and regularity of puncture force changes during venipuncture to determine whether the needle has entered the vein. Finally, experiments are conducted via this method in a venipuncture phantom and compared with those of other methods. The findings indicate a substantial improvement in puncture status perception efficacy of 82% and a corresponding 11% increase in the success rate of robot-assisted venipuncture. These results demonstrate the effectiveness of this method in enhancing the performance and safety of venipuncture robots and highlight its potential for practical application. © 1963-2012 IEEE.

关键词： Intelligent robots

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An Optimized-Punching Approach to Achieve Parabolic Shape by Simply Bending Flat Elastic Sheet—Fabricating Flexible and Precision Solar Parabolic Trough Concentrator

SSRN

引用

SSRN 2023年

作者： Li, Lifang Chen, He Zhang, Yanlong Li, Heng Wang, Juncai Guo, Pengzhen Liu, Rongqiang Laboratory for Space Environment and Physical Sciences Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China National Key Laboratory of Science and Technology on Tunable Laser Harbin150001 China

Fabricating solar parabolic trough concentrators by bending flat elastic sheets into precise parabolic shapes is a simple and cost-effective approach. In this paper, we propose an optimized-punching approach that leverages elastic buckling to manufacture high-precision solar parabolic trough concentrators. Our approach involves punching optimized holes in the flat sheet to finely tailor its stiffness using an improved Particle Swarm Optimization-Genetic Algorithm. This allows us to produce a perfect parabolic shape by controlling the chord length with a position rod or cable. To validate our approach, we used interactive Finite Element Analysis and ray tracing software-LightTools, as well as sunlight concentrating experiments, and achieved a concentration ratio of up to 145.16. This concept enables easy fabrication and shipping of flat mirror elements to field sites, which can be assembled into parabolic trough concentrators, offering potentially attractive cost reductions and highly efficient solar energy solutions © 2023, The Authors. All rights reserved.

关键词： Cost reduction

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Analysis of Kinematic Relationship of Superposition Cooperative Dual-Industrial Robot 2020

Analysis of Kinematic Relationship of Superposition Cooperat...

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2020 International Conference on Computers, Information Processing and Advanced Education, CIPAE 2020

作者： Kong, Minxiu Wang, Rundong Cheng, Yanchun Yang, Jubo School of Mechatronics Engineering Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781450372022

With the increasing complexity of manufacturing process, the ability of a single robot is not enough for the current diversified production environment and tasks, so the research on multi-robot technology is increasingly important. This article selects the most widely used superposition cooperative dual robot as the object, studies a base-based calibration algorithm based on the space common target coordinate system, and then establishes the trajectory constraint relationship of the dual robot on this basis, which provides theoretical basis for teaching work. Finally, the correctness of the algorithm is verified by simulation software. © 2020 ACM.

关键词： Industrial robots

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