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IEEE International Conference on robotics and Biomimetics

作者： Jian Chen Xiaodong Wen Hao Wang Wei Gong Zongquan Deng Haitao Yu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Tianjin Key Laboratory of Aerospace Intelligent Equipment Technology Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin China

ISBN: (纸本)9781665481106

Modular robots are gaining increasing attention in space services. The docking mechanism plays a critical role in performing self-healing and self-reconfiguration of modular robots. It is beneficial for the docking mechanism to operate with high efficiency, homogeneity and high misalignment tolerances. To meet these requirements, this paper presents a novel genderless docking mechanism. The construction of the docking mechanism is designed with features of passive locking and single-sided electromagnetic unlocking. To demonstrate the advantages of passive locking, the working processes of the axial and circumferential locking mechanisms are described in detail. Based on theoretical calculations and simulations, it is shown that the docking mechanism can provide fast connections or disconnections with a degree of translational and angular misalignment tolerances. This docking mechanism is intended for future applications in modular space robots or unstructured environment exploration robots.

关键词： Energy consumption Biomimetics Biological system modeling Electromagnetics Robots Optimization

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A Novel Seesaw-Like Piezoelectric Energy Harvester for Low Frequency Vibration

SSRN

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SSRN 2022年

作者： Yu, Han Hou, Chengwei Shan, Xiaobiao Zhang, Xingxu Song, Henan Zhang, Xiaofan Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Ministry of Education Key Laboratory of Micro and Nano Systems for Aerospace Northwestern Polytechnical University Xi'An710072 China

This paper presents a novel seesaw-like piezoelectric energy harvester which has rotating motions to enhance the harvesting performance at low frequency vibrations. Firstly, the designing of the harvester with the specific structure was accomplished, and then the finite element analysis was conducted to simulate its dynamic characteristics. Finally, the prototype of the harvester was fabricated whose power generating behaviors were experimentally investigated. The influence of key structural parameters on the energy harvesting performance was evaluated by a combination of simulation and experiment. The results indicated that the energy harvester reached the second-order resonance at a low frequency due to the adoption of the rotating shaft. And the composite beam of the harvester was involved in a significant strain. The efficiency of the harvester is relevant to the system moment of inertia and the excitation acceleration. The second-order resonant frequency of the harvester is as low as 19.18 Hz. When the excitation acceleration is 2.94 m/s2, the maximum output voltage and power of the harvester are 49.15 V and 4.03 mW respectively, which demonstrate the superior harvesting performance of the structure. This work can provide a novel method for designing efficient ambient energy harvesters supplying for low-power electronic devices. © 2022, The Authors. All rights reserved.

关键词： Piezoelectricity

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CVFormer: Learning Circum-View Representation and Consistency for Vision-Based Occupancy Prediction via Transformers

CVFormer: Learning Circum-View Representation and Consistenc...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Zhengqi Bai Wenjun Shi Dongchen Zhu Hanlong Kang Guanghui Zhang 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. Hangzhou China ShanghaiTech University Shanghai China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

With the increasing demands for perception accuracy in autonomous driving, there is a growing focus on fine-grained 3D semantic occupancy prediction. Effectively representing detailed three-dimensional scenes has become a significant challenge in the development of this task. In this paper, we present a novel transformer-based framework named CVFormer, which leverages two-dimensional circum-views from the ego to excavate three-dimensional features of the surrounding environment. Circum-views provide a novel solution for effectively addressing the representation of dense and fine-grained scenes. Specifically, a multi-attention module CTMA is designed for fusing temporal features from circum-views to fully exploit the spatiotemporal correlations between frames and capture more comprehensive clues. Furthermore, a novel 2D projection constraint is established by observing objects from different perspective directions, and multiple 3D constraints based on object invariance and semantic consistency are also conducted for supervising the network, which enhances its performance of understanding the scene. Experimental results on nuScenes dataset demonstrate that the proposed CVFormer obviously outperforms existing methods for occupancy prediction.

关键词： Training Solid modeling Three-dimensional displays Correlation Semantics Transformers Robot sensing systems

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An Adaptive Force Control Architecture with Fast-Response and Robustness in Uncertain Environment∗

An Adaptive Force Control Architecture with Fast-Response an...

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IEEE International Conference on robotics and Biomimetics

作者： Xin Shu Fenglei Ni Kang Min Yechao Liu Hong Liu The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781665405362

One of the fundamental requirements for the success of a manipulation task is the capacity to handle the interaction between manipulator and environment. However, there are many uncertain factors during the interaction, such as the shape of objects, contact stiffness, and external interference. The performance of force control pursues fast-response and robustness, but it is not an effective solution to apply the traditional impedance control to track force in an uncertain environment. Herein, an adaptive force control architecture is proposed, which has the capability to compensate for environmental uncertainties. Simulations and experiments of tracking constant/variable desired force in constant/variable stiffness environment and on an unknown shape surface are carried out. The proposed approach is contrasted with some classic methods in the indexes of overshoot, transient response, tracking error, and robustness. The results comparison confirms that the proposed control law is superior in fast-response and robustness in uncertain environments.

关键词： Transient response Surface impedance Uncertainty Shape Force Interference Manipulators

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A grasshopper-inspired miniature piezoelectric actuator integrated with three vibrating units

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International Journal of Mechanical Sciences 2025年 300卷

作者： Yingzhi Wang Bingwei Zhang Jie Deng Shijing Zhang Weishan Chen Yingxiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

Miniature piezoelectric actuators (MPAs) have been extensively investigated owing to their gram-scale mass, sub-micrometer resolution, and milliwatt-range power consumption. However, improving their output characteristics (force, speed, resolution) while maintaining miniaturization remains challenging. In this study, a three-vibrating-unit MPA (3VU-MPA) was proposed, which consists of three vibrating units (VUs) and two integrated vibration isolation mechanisms (VIMs). The design of the VIM was analyzed using the transfer matrix method and finite element analysis. The VIM design enables the 3VU-MPA to work in three working modes: individual excitation, alternating excitation and cooperative excitation. A prototype was fabricated and experimentally evaluated, measuring 15.4 × 15.6 × 30 mm 3 and weighing 4.7 g. A maximum speed of 351.8 mm/s was achieved by the 3VU-MPA under no-load conditions, while a maximum payload capacity of 203.5 g was obtained at reduced speed. A maximum speed of 197.7 mm/s was achieved with a traction force of 46.1 mN when climbing vertical rods. Additionally, a displacement resolution of 0.15 μm was obtained. This work provides a feasible approach to enhance both output performance and working mode diversity in MPAs.

关键词： Vibration analysis

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An Acoustic Activated Nozzle for Microdroplet Generation and Dispensing

SSRN

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SSRN 2023年

作者： Yin, Qiu Li, Xiuyuan Ma, Zhichao Zhang, Wenming State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China Institute of Medical Robotics School of Biomedical Engineering Shanghai Jiao Tong University No.800 Dongchuan Road Shanghai200240 China

Droplet-based microfluidic has emerged as a versatile tool for widespread applications such as biochemical analysis and synthesis, for which the generation and manipulation of the microdroplets are the fundamental. Acoustic based droplet control has shown its advantages of good biocompatibility and widescale tunability. Here, we demonstrate an acoustic controlled nozzle that is integrated with both generation and directed dispensing of microdroplets. The system can generate monodisperse microdroplets with tunable sizes (50 μm – 641 μm) at a highest throughput of 2000 droplets per second. Besides, by tuning the acoustic frequency, the droplets can be steered to different directions after their formation, realizing on-demand dispensing of the microdroplets. The controlled microdroplet generation and dispensing are both attributed to the acoustic streaming effect induced by the nozzle vibration. Two basic mechanisms for the droplet control were studied: (1) the correlation between the droplet size and the acoustic actuation time, (2) the dependence of the droplet dispensing direction on the acoustic frequency. This work paves the way towards programmable control over acoustic generation and dispensing of microdroplets, which has great potential in the applications of bio-chemical analysis and synthesis. © 2023, The Authors. All rights reserved.

关键词： Biocompatibility

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Material Removal Mechanism and Microstructure Fabrication in Micro-Milling of Glow Discharge Polymer (GDP)

SSRN

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SSRN 2022年

作者： Wang, Guangzhou Yu, Tianyu Zhou, Xingying Guo, Ruiyang Chen, Mingjun Sun, Yazhou School of Mechatronics Engineering Harbin Institute of Technology Heilongjiang Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China

Glow discharge polymer (GDP) is an essential material for target ball applied in inertial confinement fusion (ICF). The processing quality of GDP material directly affects its high energy performance. Machinability and material removal mechanism are critical to attain a high processing quality during micro cutting. In this work, a comprehensive study of the machinability and removal mechanism of GDP material is conducted. Mechanical properties of GDP, such as elastic modulus, hardness and elastic recovery rate, were investigated first using nanoindentation experiments. Micro milling experiments were performed using micro ball end milling. Chip modes, machined surface morphology and their formation mechanism are emphatically analyzed. An geometric model for calculating undeformed chip area removed by ball end mill was proposed for analyzing the specific cutting force. Additionally, the effects of minimum uncut chip thickness (MUCT) threshold and size effect on the machining quality of GDP material were also studied. By comprehensively analyzing chip morphology, cutting force, specific cutting force as well as surface integrity, the cutting mechanism of GDP material can be roughly divided into the ploughing dominated, the ploughing-shearing coexist and the shearing dominated Below normalized MUCT threshold of 0.339, the size effect is obvious. When the ratio of feed per tooth to cutting edge radius is up to 0.714, the size effect has little influence on the machining of GDP material. At the end, micro dimples were fabricated on the GDP surface by ball end milling. The surface quality of machined micro dimples indicates that the ploughing effect and size effect have significant impact on machining micro-dimpled structures in ploughing dominated mode. The parameters (e.g. step or pitch distance) of specific machining ways (e.g. layer milling or spiral milling) are the main factors affecting machining micro dimples in shearing dominated mode. © 2022, The Authors. All rig

关键词： Surface morphology

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Moobot: a miniature origami omnidirectional jumping robot with high trajectory accuracy

TechRxiv

引用

TechRxiv 2022年

作者： Tang, Lingqi Li, Yao Li, Bing School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

The jumping trajectory control is important for the jumping robots to overcome different obstacles. However, the trajectory control of a micro jumping robot is not easy. No insect-scale jumping robots have demonstrated the precise trajectory following yet. We proposed a miniature origami omnidirectional jumping robot (Moobot) that achieved the feedback control of jumping trajectory. The jumping of the robot is based on a four-bar origami structure and the SMA actuators. Unlike the tethered micro robots that powered externally, we integrated a miniature control board with LiPo battery on the robot for remote control. The overall system measured 6 g in mass, 5.5 cm in length and 2cm in height. Two strain gauges and an IMU sensor were used on the robot for the feedback control of the jumping force and take-off angle, respectively. Meanwhile, a reliable jumping mechanism and a novel supporting leg were designed to improve the jumping stability and trajectory accuracy. The standard deviation of the jumping distances was less than 1.4 cm, which is greatly improved from all previous micro jumping robots. Furthermore, we integrated the yaw control and conducted the omnidirectional jumping experiments. The results revealed that Moobot could climb different platforms from all directions precisely. © 2022, CC BY.

关键词： Feedback control

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Design of soft smart shoes for joint angle estimation in human gait 4

Design of soft smart shoes for joint angle estimation in hum...

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4th CIRP Conference on Biomanufacturing, CIRP-BioM 2019

作者： Yang, Jiantao Lin, Xianghan Yin, Yuehong State Key Laboratory of Mechanical System and Vibration Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

Human gait involves activities in nervous and biomechanics of the musculoskeletal system. Thus, approaching the dynamics may be challenging. This paper aims to present the design of soft smart shoes for joint angle estimation in human gait. There are three pneumatic chambers at the heel, arch, and forefoot of the soft sole. Barometers embedded in every chambers are used to measure the ground reaction forces (GRFs). The inertial sensors are installed on the outsole of shoes to detect the foot attitudes. The soft soles are made of silicone rubber to provide good compliance and ensure the comfort of human. Gaussian process regression (GPR) is established and serves as the mathematics foundation to explore the deep layer correlation between the joint angle and GRFs and foot attitudes which are regarded as the inputs of the model. The statistic nature of the proposed model offers superior flexibility and encouraging estimation results of joint angles. One potential use of the novel designed shoes and the proposed joint estimation method is the high-level control of exoskeletons and prosthetic legs. Finally, experiments were conducted to verify the superiority of the proposed algorithms. © 2020 The Authors.

关键词： Exoskeleton (robotics)

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A Novel Non-cooperative Target Capture Tool for Defunct Satellite 17

A Novel Non-cooperative Target Capture Tool for Defunct Sate...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Sun, Yongjun Liu, Yiwei Jin, Minghe Liu, Rongqiang Liu, Hong Harbin Institute of Technology School of Mechatronics Engineering State Key Laboratory of Robotics and System Harbin Heilongjiang Province China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164151

With the increase of defunct satellites, the orbit resource of the Earth is becoming more and more shortage. As one of the key technologies, the capture of non-cooperative targets has become a research hotspot. Due to its obvious characteristics, easy identification, high strength and high stiffness, the Launch Adapter Ring (LAR) has become a capture object on the defective and tumbling satellite. In this paper, a novel LAR capture tool is developed, and the LAR capture tool is designed, manufactured and tested. In order to improve the probability of grasp, the direct drive was adopted. The main research contents are as follows: overall design of the capture tool, design of electromagnetic brake, analysis of kinematics, and test the prototype. © 2020 IEEE.

关键词： Orbits

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