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IEEE International Conference on robotics and Biomimetics

作者： Qing Bi Yixiang Liu Xizhe Zang Rui Song Haibin Wang Weimin Li Shandong Institute of Advanced Technology Chinese Academy of Sciences Jinan China School of Control Science and Engineering Shandong University Jinan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Achieving versatile and efficient walking on biped robots is an important research objective. The impact between the foot and the ground has significant effects on the walking stability of biped robots. Research on human walking indicates that the joints in human lower limbs show different stiffness values in different phases of walking. Inspired by humans, this paper presents the realization of biped robot walking with variable stiffness at the ankle joint. A walking control scheme which combines PD control and variable impedance control is designed for the biped robot. Results of dynamic walking simulation verified that variable stiffness at the ankle joint could contribute to the improvement of walking stability and energy efficiency.

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Deep Reinforcement Learning Algorithm for Object Placement Tasks with Manipulator

Deep Reinforcement Learning Algorithm for Object Placement T...

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IEEE International Conference on Intelligence and Safety for robotics (ISR)

作者： Wei Guo Chao Wang Yu Fu Fusheng Zha State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781538655481

To settle the problem that the household robot needs to have the flexibility of object types and target poses when performing object placement tasks, a deep reinforcement learning algorithm is utilized in this paper. By using this algorithm robot can learn the placement method for different object types autonomously under the policy search part, and a convolutional neural network (CNN) policy is trained to make the robot adapt to different target poses. When performing these tasks, the placement error can also be reduced by modifying the sampling method and the weight form of cost function. Finally, the learning ability and flexibility of the deep reinforcement learning algorithm is tested by simulation.

关键词： Manipulators Task analysis Trajectory Sampling methods Convolutional neural networks

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Physical human-robot interaction estimation based control scheme for a hydraulically actuated exoskeleton designed for power amplification

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Frontiers of Information Technology & Electronic Engineering 2018年第9期19卷 1076-1085页

作者： Yi LONG Zhi-jiang DU Wei-dong WANG Long HE Xi-wang MAO Wei DONG State Key Laboratory of Robotics and System Harbin Institute of Technolog Zhongshan Torch Group Co. Ltd Weapon Equipment Research Institute China South Industries Group Corporatio

We proposed a lower extremity exoskeleton for power amplification that perceives intended human motion via humanexoskeleton interaction signals measured by biomedical or mechanical sensors, and estimates human gait trajectories to implement corresponding actions quickly and accurately. In this study, torque sensors mounted on the exoskeleton links are proposed for obtaining physical human-robot interaction（pHRI） torque information directly. A Kalman smoother is adopted for eliminating noise and smoothing the signal data. Simultaneously, the mapping from the pHRI torque to the human gait trajectory is defined. The mapping is derived from the real-time state of the robotic exoskeleton during movement. The walking phase is identified by the threshold approach using ground reaction force. Based on phase identification, the human gait can be estimated by applying the proposed algorithm, and then the gait is regarded as the reference input for the controller. A proportional-integral-derivative control strategy is constructed to drive the robotic exoskeleton to follow the human gait trajectory. Experiments were performed on a human subject who walked on the floor at a natural speed wearing the robotic exoskeleton. Experimental results show the effectiveness of the proposed strategy.

关键词： Exoskeleton Physical human-robot interaction Torque sensor Human gait Kalman smoother

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A planning system for robot sampling task-based on ROS framework

A planning system for robot sampling task-based on ROS frame...

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2017 IEEE International Conference on Unmanned systems (ICUS)

作者： Weidong Wang Wenwu Cao Wenrui Gao Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781538631089;9781538631072

For situations like chemicals leak detection and emergency rescue of biochemical environment,this paper presents a kind of mobile manipulator for biochemical sampling tasks,and describes the application and development of robot system,comprehensively from the aspects of software structure,trajectory planning,robot sampling control *** the same time,a variety of biochemical sampling instruments with both position tolerance and good sealing performance are developed,and universal planning of robot operating system architecture based on ROS is carried *** sampling experiments show that the robot can enter the dangerous biochemical environment,reach the sample target location,and complete the sampling *** validity,real-time and scalability of the control scheme of the mobile robot are verified by the successful sampling task experiment.

关键词： Mobile robots ROS Motion planning MoveIt Sampling tasks

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Research on Singular Robustness Algorithm of Robot Inverse Kinematics Based on Dynamic Damping Coefficient 3

Research on Singular Robustness Algorithm of Robot Inverse K...

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2017 IEEE 第3届信息技术与机电一体化工程国际学术会议(ITOEC 2017)

作者： Peng Liu Dianyong Yu Ruifeng Li State Key Laboratory of Robotics and System Harbin Institute of Technology

In order to solve the singularity problem of the Jacobian matrix in the robotic inverse kinematics method,a new singular processing algorithm is *** on the damped least-square(DLS) method,t

ISBN: (纸本)9781509053643;9781509053636

In order to solve the singularity problem of the Jacobian matrix in the robotic inverse kinematics method,a new singular processing algorithm is *** on the damped least-square(DLS) method,t

关键词： Jacobian matrices Robot kinematics Kinematics Damping Heuristic algorithms Service robots

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The Development of Pneumatic Stiffness-Adjustable Foot for Bipedal Robot 2

The Development of Pneumatic Stiffness-Adjustable Foot for B...

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2017 IEEE 第2届先进信息技术,电子与自动化控制国际会议(IAEAC 2017)

作者： Xizhe Zang Wenyuan Li Yixiang Liu Zhenkun Lin Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology

The most common problem for traditional bipedal robots walking on uneven terrain is that the contact area between the soles and ground might reduce because of rigid foot soles, which will force the po

ISBN: (纸本)9781467389808

关键词： Bipedal robots Pneumatic Airbag Stiffness-adjustable foot Uneven terrain Air Bags Pneumatic Plantar Region Foot Robot Foot Foot British sole Microstomus pacificus CONTACT AREA terrains

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An SoC-based platform for integrated multi-axis motion control and motor drive

An SoC-based platform for integrated multi-axis motion contr...

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International Power Electronics Conference (IPEC)

作者： Yongping Sun Ming Yang Yangyang Chen Wangpin He Dianguo Xu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper presents a Field Programmable Gate Array (FPGA) -based platform for integrated multi-axis motion control and motor drive. As the development of FPGA, the integrated high-performance ARM processor on the FPGA has become the direction of FPGA development. This paper chooses the Xilinx Zynq-7020 programmable system-on-chip(SoC) which integrated dual-core ARM CPU and FPGA as a High-performance hardware platform. This platform is suits for the requirements of integrated multi-axis motion control and motor drive well, one ARM CUP completes the multi-axis position loop algorithm, speed loop algorithm and multi-axis trajectory generation, the other completes the human-computer interaction function. 4-axis current loop pipeline control and double sampling double updating current loop algorithm are accomplished by FPGA which can expand the current loop bandwidth and save FPGA logic resources. This platform's architecture will improve the overall bandwidth of the system, achieve multi-axis synchronization accuracy at nanosecond level which makes position trajectory more accurate.

关键词： Field programmable gate arrays Pipelines Signal processing algorithms Pulse width modulation Trajectory

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Development of a Complete Multi-phase Dynamics Model for a Biped Robot

Development of a Complete Multi-phase Dynamics Model for a B...

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IEEE International Conference on Mechatronics and Automation

作者： Yixiang Liu Xizhe Zang Xinyu Zhou Yubin Liu State Key Laboratory of Robotics System Harbin Institute of Technology Harbin China

Human walking is quite an efficient and smooth movement involving multiple successive phases. But for biped robots, most current dynamic walking models are simplified to some extent, with some phases neglected. This paper addresses the development of a complete multi-phase dynamics model for a biped robot. To achieve this, both the single support phase and double support phase are divided into two sub-phases by taking into consideration the rotation of stance foot around its toe and the rotation of swing foot around its heel. Therefore, a more human-like robotic gait is achieved, with transitions occurring at toe-off, heel-off, heel-strike, and toe-strike. Comparing the numbers of degrees of freedom with independent actuators of the biped robot, the whole gait cycle can also be represented by fully-actuated phase, under-actuated phase, and over-actuated phase. On this basis, the detailed dynamics model of each phase is derived using Euler-Lagrange method. And the validity of the dynamics model is demonstrated by simulation.

关键词： Biped robot Dynamics model Foot rotation Under actuation Over actuation

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Design and Safety Control of a High-Payload Nursing Robotic Arm with Tactile Skin

Design and Safety Control of a High-Payload Nursing Robotic ...

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IEEE International Conference on robotics and Biomimetics

作者： Jiahao Wu Yanshu Song Hailin Huang Fei Liu Junan Chen Bing Li School of Mechanical Engineering and Technology Harbin Institute of Technology Shenzhen China School of Electronic and Information Engineering Harbin Institute of Technology Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Service robots are being increasingly used to replace human beings in carrying out various sophisticated, heavy and even dangerous tasks. In order to solve the problem of labor shortage in the medical and nursing industry, this paper proposes a novel high-payload robotic arm for nursing tasks, which can help caregivers to lift and transfer patients. Firstly, we simulate and analyze the specific nursing tasks and application scenarios, and determine its kinematics configuration and load capacity parameters of each joint. Then we design and fabricate the modular and low flexibility robotic joints for the prototype. To avoid the occurrence of safety accidents while lifting patients, we design a new kind of tactile skin based on the resistance characteristic of varistor materials, using which a safety control algorithm is proposed. Experiments show that it can meet the requirements of load capacity and position control accuracy, and the proposed safety control method can effectively avoid many dangerous situations.

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Design and Analysis of Quadruped Robot Leg with Variable Configuration

Design and Analysis of Quadruped Robot Leg with Variable Con...

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IEEE International Conference on robotics and Biomimetics

作者： Tianqi Yue Kui Sun Chuangqiang Guo Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728103785;9781728103778

Conventional legs for quadruped robot are facing problems such as heavy load and high energy consumption of motors. To address this challenge, this paper presents a quadruped robot leg with variable joint configuration and introduces the optimization design method of this leg. The leg can change the joint configuration during the motion of robot, which could help motors adapt ground reaction force more reasonably. The simulation results show that compared with typical leg structures, the variable configuration leg can theoretically reduce the peak torque and the energy consumption of motor to a certain extent, which might provide a possible solution for this problem.

关键词： Quadruped robot Electric-drive Leg structure Joint configuration

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