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Biomimetic Composite Tendon and Pneumatic Actuation for Soft Manipulator: Balancing High Load-Bearing Capacity, Repetitive Precision, and Active Softening Contact Safety

SSRN

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SSRN 2024年

作者： Li, Xianglong Zhang, Shouyi Xiong, Quan Sui, Dongbao Zheng, Tianjiao Zhang, Qinghua Wang, Ziqi Luan, Lingkai Zhao, Jie Zhu, Yanhe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Department of Biomedical Engineering National University of Singapore Singapore117583 Singapore Ji Hua Laboratory Foshan528200 China Harbin University of Science and Technology Harbin150001 China

Soft manipulator is a prominent research area in the field of soft robotics, but designing a soft manipulator capable of serving human life remains challenging, facing issues such as low motion robustness and poor accuracy. The trunk of an elephant, a unique biological tissue in nature, is characterized by its flexibility, strong load-bearing capacity, and dexterous yet soft tip, distinct from skeletal-dependent movements. Inspired by the thrust-deformation mechanism of the elephant trunk under multi-muscle action, this paper reports a novel composite tendon and pneumatic hybrid-driven tapered soft manipulator that mimics the multi-muscle action of the elephant trunk. In the design, a common Bowden tube is introduced as an artificial tendon to simulate the thrust of elephant trunk muscles. This paper first establishes an equivalent finite element model for Bowden tube tendons, along with an exploration of the impact of constraint ring distribution intervals on tendon buckling during thrust generation. This paper also establishes a finite element model for the entire experimental prototype, validating the effectiveness of Bowden tendon tension and thrust and demonstrating the large deformation curvature and flexible motion space of the soft manipulator. Finally, the paper experimentally tests the stability of repetitive motion, load-bearing capacity, and safety of active softening contact with humans of the soft manipulator, demonstrating that this biomimetic design exhibits not only flexibility and agility but also robustness in motion and precision in accuracy, closely resembling the capabilities of an elephant trunk, and holds promise as flexible supernumerary robotic limbs for mobile or humanoid robots. © 2024, The Authors. All rights reserved.

关键词： Tendons

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BEE-Net: Bridging Semantic and Instance with Gated Encoding and Edge Constraint for Efficient Panoptic Segmentation

BEE-Net: Bridging Semantic and Instance with Gated Encoding ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Xinyang Huang Guanghui Zhang Dongchen Zhu Yunpeng Sun Wenjun Shi Gang Ye Yang Xiao Lei Wang Xiaolin Zhang Bo Li Jiamao Li Bionic Vision System Laboratory State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai China University of Chinese Academy of Sciences Beijing China Lotus Robotics Ltd. ShanghaiTech University Shanghai China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Panoptic segmentation is a challenging perception task, which can help robots to comprehensively perceive the surrounding environment. In the task, we notice that semantic, instance, and panoptic have rich relations, however, which are rarely explored. In this work, we propose a novel panoptic, instance, and semantic bridged network to delve into the reciprocal relation. To make semantic and instance benefit from each other, we design a novel Gated Encoding (GE) module, incorporating complementary cues between semantic and instance heads through the gated mechanism. In addition, a novel edge-aware consistency constraint among edges of each task is presented, which exhaustedly exploits geometric constraints, to boost the segmentation quality of challenging edges. Experimental results on the Cityscapes and MS-COCO datasets demonstrate that our approach achieves state-of-the-art performance in an efficient CNN-based paradigm, attaining a balance between accuracy and efficiency.

关键词： Bridges Accuracy Semantics Logic gates Germanium Encoding Task analysis

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Design and Analysis of a Drive and Perception Integration Manipulator for Spinal Surgery

Design and Analysis of a Drive and Perception Integration Ma...

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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Lunan Wu Zhijiang Du Hongjian Yu Jiancheng Wang State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China

ISBN: (数字)9781665414890

ISBN: (纸本)9781665430531

This paper presents the design of a hybrid manipulator for spinal surgery which has a feature of drive and perception integration. The parallel part of the robot which controls position and posture of the terminal is based on a two-level cross slide structure with an additional serial end effector for the axial feed. The series part which controls the feed of surgical tool is driven by a brushless motor through a leadscrew nut. The dexterity of robot is evaluated through calculating the position and posture condition number. The cross slide is driven by a synchronous belt and the corresponding driving force is measured by sensitive elements attached on the fixed structure of idler wheels. Meanwhile, driving force of the feeding structure is obtained with an improved micro force sensor. Finally, linearity of these sensors is measured to test the reliability of design.

关键词： Medical robotics Force Surgery Robot sensing systems Belts Sensors Robots

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Hitchhiker: A Quadrotor Aggressively Perching on a Moving Inclined Surface Using Compliant Suction Cup Gripper

arXiv

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arXiv 2022年

作者： Liu, Sensen Wang, Zhaoying Sheng, Xinjun Dong, Wei The State Key Laboratory of Mechanical System and Vibration Robotics Institute School of Mechanical and Engineering Shanghai Jiao Tong University 800 Dongchuan Road Shanghai China

Perching on the surface of moving objects, like vehicles, could extend the flight time and range of quadrotors. Suction cups are usually adopted for surface attachment due to their durability and large adhesive force. To seal on a surfaces, suction cups must be aligned with the surface and possess proper relative tangential velocity. However, quadrotors' attitude and relative velocity errors would become significant when the object surface is moving and inclined. To address this problem, we proposed a real-time trajectory planning algorithm. The time-optimal aggressive trajectory is efficiently generated through multimodal search in a dynamic time-domain. The velocity errors relative to the moving surface are alleviated. To further adapt to the residual errors, we design a compliant gripper using self-sealing cups. Multiple cups in different directions are integrated into a wheel-like mechanism to increase the tolerance to attitude errors. The wheel mechanism also eliminates the requirement of matching the attitude and tangential velocity. Extensive tests are conducted to perch on static and moving surfaces at various inclinations. Results demonstrate that our proposed system enables a quadrotor to reliably perch on moving inclined surfaces (up to 1.07m/s and 90◦) with a success rate of 70% or higher. The efficacy of the trajectory planner is also validated. Our gripper has larger adaptability to attitude errors and tangential velocities than conventional suction cup grippers. The success rate increases by 45% in dynamic perches. Copyright © 2022, The Authors. All rights reserved.

关键词： Grippers

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Analysis of Bifurcation and Chaotic Behavior of the Micro Piezoelectric Pipe-Line Robot Drive system with Stick - Slip Mechanism

SSRN

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SSRN 2023年

作者： Xing, Jichun Ning, Chao Zhi, Yuan Howard, Ian School of Mechanical Engineering Yanshan University Qinhuangdao066004 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China School of Civil and Mechanical Engineering Curtin University Perth6001 Australia

Pipeline robots using the conventional driving mode have encountered a bottleneck in miniaturization. To address this problem, a micro piezoelectric pipeline robot based on the inertia stick-slip driving principle is proposed in this paper. The robot is well suited to the inspection needs of micro pipes. However, undesirable design parameters found during the structural optimization phase can lead to unstable operation and reduced load capacity of the robot, and can even cause the drive system to stop with chaotic behavior. Therefore, the nonlinear dynamics model of the four degree of freedom discrete system of the pipeline robot is established. The Runge-Kutta method is used to solve the dynamic response of each nonlinear subsystem. The nonlinear dynamical behavior of the system is analyzed through the bifurcation diagram, time domain diagram, phase diagram, Poincaré map and power spectrum diagram of each subsystem response. The stable operation intervals of the machine and electrical parameters in the drive system are given, and the conditions for the occurrence of chaotic behavior are determined. This research can help to determine and optimize the structural parameters of the piezoelectric stick-slip pipeline robot, thus avoiding chaotic behavior and ensuring that the robot maintains good operational performance. © 2023, The Authors. All rights reserved.

关键词： Stick-slip

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A Method for Measurement of Workpiece Form Deviations Based on Machine Vision

SSRN

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SSRN 2022年

作者： Zhang, Wei Han, Zongwang Li, Yang Rong, Weibin Zheng, Hongyu Cheng, Xiang School of Mechanical Engineering Shandong University of Technology Zibo255000 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

Machine vision has been studied for measurements of workpiece form deviations due to its ease for automation. However, the measurement accuracy limits its wide implementation in industrial applications. In this study, a method based on machine vision for measurement of straightness, roundness, and cylindricity of a workpiece is presented. A subsumed line search algorithm and an improved particle swarm optimization algorithm are proposed to evaluate the straightness and roundness deviations of the workpiece. Moreover, an image evaluation method of cylindricity deviation by the least square fitting of circle’s center coordinates is investigated. An image acquisition system incorporating image correction and sub-pixel edge positioning technology is developed. Performance of the developed system is evaluated against the measurement results of the standard cylindricity measuring instrument. The differences in measurement of straightness, roundness, and cylindricity are -4.69μm, 3.98μm, and 5.33μm, respectively. The proposed method would provide a viable industrial solution for measurement of workpiece form deviations. © 2022, The Authors. All rights reserved.

关键词： Computer vision

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Health monitoring of pressure transmitter sensing line based on convolutional neural network

Health monitoring of pressure transmitter sensing line based...

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12th International Conference on Quality, Reliability, Risk, Maintenance, and Safety Engineering (QR2MSE 2022)

作者： T. He A. Xu K. Wang P. Zeng Laboratory of Industrial Control Network and System State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang People's Republic of China

Blockages of pressure transmitter sensing line are a recurring problem in nuclear plants. The traditional solution is to purge them with nitrogen periodically, which is time consuming and radiation intensive. It is thus desirable to monitor the status of sensing lines on-site. The noise analysis method is a promising method for sensing line health monitoring. However, the existing noise analysis methods, which evaluate the sensing line status by analyzing time domain or frequency domain features of process noise signal, are susceptible to working conditions of pressure transmitters. Further, blockage degree of the sensing line can not be determined by existing methods. Therefore, this paper proposes a machine learning based noise analysis method for health monitoring of pressure transmitter sensing line, in which 1-D Convolutional Neural Network (CNN) is used to extract features from process noise signals. Experimental results show that the proposed method achieved satisfactory results in diagnosis accuracy, false alarm rate and robustness of the model under different working conditions. Further, blockage degree of sensing line can also be evaluated

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Perching on Moving Inclined Surfaces using Uncertainty Tolerant Planner and Thrust Regulation

arXiv

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arXiv 2022年

作者： Liu, Sensen Hu, Wenkang Wang, Zhaoying Dong, Wei Sheng, Xinjun The State Key Laboratory of Mechanical System and Vibration Robotics Institute School of Mechanical and Engineering Shanghai Jiao Tong University 800 Dongchuan Road Shanghai China

Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and terminal state accuracy in SE(3). However, in the perching process, uncertainties in target surface prediction, tracking control and external disturbances may cause trajectory planning failure or lead to unacceptable terminal errors. To address these challenges, we first propose a trajectory planner that considers adaptation to uncertainties in target prediction and tracking control. To facilitate this work, the reachable set of quadrotors’ states is first analyzed. The states whose reachable sets possess the largest coverage probability for uncertainty targets, are defined as optimal waypoints. Subsequently, an approach to seek local optimal waypoints for static and moving uncertainty targets is proposed. A real-time trajectory planner based on optimized waypoints is developed accordingly. Secondly, thrust regulation is also implemented in the terminal attitude tracking stage to handle external disturbances. When a quadrotor’s attitude is commanded to align with target surfaces, the thrust is optimized to minimize terminal errors. This makes the terminal position and velocity be controlled in closed-loop manner. Therefore, the resistance to disturbances and terminal accuracy is improved. Extensive simulation experiments demonstrate that our methods can improve the accuracy of terminal states under uncertainties. The success rate is approximately increased by 50% compared to the two-end planner without thrust regulation. Perching on the rear window of a car is also achieved using our proposed heterogeneous cooperation system outdoors. This validates the feasibility and practicality of our methods. Copyright © 2022, The Authors. All rights reserved.

关键词： Trajectories

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Multi-stage Objective Function Optimized Hand-Eye Self-calibration of Robot in Autonomous Environment 1

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17th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2022

作者： Liu, Kaibo Zheng, Wangli Min, Huasong Lin, Yunhan School of Computer Science and Technology Wuhan University of Science and Technology Hubei Wuhan430065 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System Wuhan University of Science and Technology Hubei Wuhan430065 China State Grid Electric Power Research Institute Jiangsu Nanjing211106 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Hubei Wuhan430081 China

ISBN: (数字)9789819915491

ISBN: (纸本)9789819915484

In the application scenario of robot autonomous tasks, the robot needs to be able to complete calibration online and automatically to achieve self-maintenance, which differs from traditional robot hand-eye calibration in that the traditional robot hand-eye calibration requires a dedicated calibration board to assist offline completion. Aiming at the problem that the existing self-calibration methods cannot be optimized as a whole, which leads to low accuracy and instability of the solution, a multi-stage objective function optimization self-calibration algorithm is proposed, which describes the solution of hand-eye self-calibration as a minimization objective function problem involving multiple stages. An optimization method based on the minimization of re-projection error is designed to compensate for the results, which uses an efficient Oriented fast and rotated brief (ORB) feature extraction algorithm and introduces a scoring mechanism to retain more correct matching points in the feature matching stage. Two different types of experiments were designed to validate our method. One is a single camera dataset experiment, which shows that our method is more accurate and robust than the existing self-calibration method;the other is an application platform experiment, which verifies the feasibility and availability of our method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Calibration

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A simulation framework for ultrasound-guided minimally invasive robotic breast surgery

A simulation framework for ultrasound-guided minimally invas...

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IEEE International Conference on robotics and Biomimetics

作者： Le Zhang Yanchen Ye Baoshan Niu Genliang Xiong Dapeng Yang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin HeilongJiang China School of Mechanical and Automotive Engineering Shanghai University of Engineering Science Shanghai China

ISBN: (纸本)9781665481106

Surgical simulation plays an essential role for surgeons to familiarize themselves with surgical procedures and improve the success rate of surgery. In this paper, a flexible and easy-extendable intervention surgery simulation framework was presented, which can perform virtual simulation training and realize synchronous interaction between the real and virtual environment. In particular for breast surgery, the simulation framework was exemplified for an ultrasound-guided minimally invasive robotic breast surgery. The framework used Visual Studio ® (Microsoft, USA) and Chai3D open graphics library to realize the virtual surgery environment, and integrated the anti-collision warning of the robotic arms and teleoperation communication support. A layered deformation model of breast was established based on the Mass-Spring Model to simulate the real-time deformation of breast during puncture surgery. In addition, due to the hyperelasticity and great deformation characteristics of breast soft tissue, we further used an improved meshless Radial Point Interpolation Method to improve the simulation accuracy of breast soft tissue deformation model. Finally, experiments on robot pressing a rectangular parallelepiped breast phantom were carried out to verify the simulation accuracy of the deformation model.

关键词： Deformable models Training Visualization Ultrasonic imaging Minimally invasive surgery Biological system modeling Biological tissues

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