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第36届中国控制会议

作者： Shuai Yuan Lianqing Liu Zhidong Wang Ning Xi Yuechao Wang State Key Lab.Robot. SIA.Chinese Academy of Sciences Shenyang Jianzhu University Graduate University of the Chinese Academy of Sciences Dept.of Advanced Robotics Chiba Institute of Technology Dept.of Industrial and Manufacturing Systems Engineering Emerging Technologies InstituteUniversity of Hong Kong

ISBN: (纸本)9781538629185

Atomic force microscopy(AFM) is originally used to observe the sample surface,and then extended to the area of *** can be quite valuable in the further study of maneuvering *** of the influence of the tip morphology on the tip pushing direction,it is difficult to establish an effective operating model for stably manipulating nanoparticles with controllable manipulation *** resolve this problem,the acting force of manipulating the nano-particle is analyzed firstly based on the least action *** the influence of the contact point between the nano-particle and the tip is taken into account on the pushing direction,and manipulation of the nano-particle is modeled to predict its position after ***,the model parameter is calibrated through several ***,the proposed model is verified by assembling the *** experimental results illustrate that the model can effectively predict the nano-particle position after maneuvering,and can improve the manipulation efficiency.

关键词： Least action principle AFM Nano-manipulation

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Extended High-gain Observer based Adaptive Control of Flexible-joint Surgical Robot

Extended High-gain Observer based Adaptive Control of Flexib...

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IEEE International Conference on robotics and Biomimetics (IEEE ROBIO)

作者： Zou, Shuizhong Pan, Bo Fu, Yili Guo, Shuxiang State Key Lab. of Robotics and Systems Harbin Inst. of Tech China Harbin Inst. of Tech China

ISBN: (纸本)9781509043644

Due to the surgical robot flexible joint state vectors are not all measurable, in order to reduce the effect of the modeling errors and nonlinear factors of the flexible-joint manipulator caused by gravity and friction, an extended high-gain observer (EHGO) based adaptive control algorithm is designed to perform the position tracking control of the flexible-joint manipulator. First, gravity and friction are fed forward to reduce the nonlinearity of the robotic manipulator. Secondly, an extended high gain observer is used to observe the angular velocity of the joint and correct compensation errors of gravity and friction in real time. Finally, EHGO based adaptive controller is used to eliminate the inertia parameter measurement errors of the dynamic model, and to achieve high precision position tracking control. Simulation experiments show that the proposed control method can improve the position tracking accuracy of the flexible-joint manipulator and restrain the flexible-joint vibration obviously, and thus verifies that the designed controller can meet the requirements of accurate tracking control of the surgical robot.

关键词： Surgical Robot Adaptive control Extended High Gain Observer Flexible-joint manipulator Manipulator

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OROCOS-based generic control system for a 6 DOF industrial manipulator

OROCOS-based generic control system for a 6 DOF industrial m...

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2016 IEEE Workshop on Advanced robotics and its Social Impacts, IEEE ARSO 2016

作者： Cheruiyot, Gilbert K. Zhu, Xiaoxiao Cao, Qixin Research Institute of Robotics School of Mechanical and Power Engineering Shanghai Jiaotong University China State Key Lab of Mechanical Systems and Vibration Research Institute of Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781509040773

This paper presents the design and implementation of a PC-based control application retrofitted to an existing industrial manipulator. The system uses the OROCOS component-based framework for real-time functionality as well as its infrastructure for software component interaction. This together with the use some of the provided libraries and built-in development tools allowed for a rapid development approach. Direct addressing of a PCI-based I/O card peripheral hardware is described and proposed as a solution to the perennial challenge of hardware I/O in Linux partly occasioned by a lack of support for device drivers. The result is a fully functional control application that provides standard manipulator functionality as well as on-board analysis tools and capacity for sensor-based extended functionality. Moreover the resulting scheme is based on generic hardware that is available commercially off-the-shelf and can thus be replicated in its entirety. © 2016 IEEE.

关键词： Industrial manipulators

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Mechatronic Design of a Human Robot Coupling Interface for Teaching by Demonstration

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IFAC-PapersOnLine 2016年第21期49卷 675-680页

作者： Liang P. Yang C. Wang N. Li Z. Li R. State Key Lab of Robotics Systems Harbin Institute of Technology Harbin China Zienkiewicz Centre for Computational Engineering Swansea University Swansea United Kingdom Centre for Robotics and Neural Systems Plymouth University United Kingdom The MOE Key Laboratory of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China

In this paper, we have developed a mechatronic human-robot coupling interface for kinaesthetic guidance based human robot teaching interface, by integration of a 6-axis force sensor, a coupling mechanism and wearable electromyography (EMG) arrays. Our design aims to transfer human operator's arm kinematics, force as well as human upper limb stiffness estimated from EMG signals to robot manipulators. Experiments have been carried out to test the teaching by demonstration performance of the coupling system in two scenarios: i) human teaching a robot for lifting up task; ii) human-robot skill transfer for one joint motion. Experimental results indicated that the coupling design nearly caused no disturbance to human upper limb stiffness estimation. Moreover, human arm kinematics and force/torque in task space can be transferred to the robot in a natural way with guaranteed safety. This coupling interface design can be easily extended to other robot platforms and has great potentials in application of human robot skill transfer. © 2016

关键词： electromyography (EMG) human robot coupling teaching by demonstration

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An intuitive human robot interface for tele-operation

An intuitive human robot interface for tele-operation

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Lijun Zhao Yihuan Liu Ke Wang Peidong Liang Ruifeng Li The State Key Lab of Robotics and Systems Harbin Institute of Technology China

ISBN: (纸本)9781467389600

This paper proposed an intuitive human robot interface for real-time tele-operation, where human operator can operate the Baxter robot to implement complicated tasks in unstructured and uncertain environment intuitively and efficiently. Firstly, In this paper a new method for building an human robot interaction interface is proposed. In addition, workspace mapping between master and slave manipulator is a key problem of human robot interaction (HRI) when there are huge difference in size and structure of human and robot's manipulators. So, the workspace mapping method between human arm and Baxter Robot manipulator and the inverse kinematics approach for solving 7-DOF redundant manipulator by using Kinect sensor were also discussed in detail. In the end, an experiment was employed to validate the performance of proposed interface.

关键词： Manipulators Kinematics Robot sensing systems Robot kinematics Real-time systems Human-robot interaction

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MedShapeNet - A Large-Scale Dataset of 3D Medical Shapes for Computer Vision

arXiv

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arXiv 2023年

作者： Li, Jianning Zhou, Zongwei Yang, Jiancheng Pepe, Antonio Gsaxner, Christina Luijten, Gijs Qu, Chongyu Zhang, Tiezheng Chen, Xiaoxi Li, Wenxuan Wodzinski, Marek Friedrich, Paul Xie, Kangxian Jin, Yuan Ambigapathy, Narmada Nasca, Enrico Solak, Naida Melito, Gian Marco Vu, Viet Duc Memon, Afaque R. Schlachta, Christopher De Ribaupierre, Sandrine Patel, Rajnikant Eagleson, Roy Chen, Xiaojun Mächler, Heinrich Kirschke, Jan Stefan de la Rosa, Ezequiel Christ, Patrick Ferdinand Li, Hongwei Bran Ellis, David G. Aizenberg, Michele R. Gatidis, Sergios Küstner, Thomas Shusharina, Nadya Heller, Nicholas Andrearczyk, Vincent Depeursinge, Adrien Hatt, Mathieu Sekuboyina, Anjany Löffler, Maximilian Liebl, Hans Dorent, Reuben Vercauteren, Tom Shapey, Jonathan Kujawa, Aaron Cornelissen, Stefan Langenhuizen, Patrick Ben-Hamadou, Achraf Rekik, Ahmed Pujades, Sergi Boyer, Edmond Bolelli, Federico Grana, Costantino Lumetti, Luca Salehi, Hamidreza Ma, Jun Zhang, Yao Gharleghi, Ramtin Beier, Susann Sowmya, Arcot Garza-Villarreal, Eduardo A. Balducci, Thania Angeles-Valdez, Diego Souza, Roberto Rittner, Leticia Frayne, Richard Ji, Yuanfeng Ferrari, Vincenzo Chatterjee, Soumick Dubost, Florian Schreiber, Stefanie Mattern, Hendrik Speck, Oliver Haehn, Daniel John, Christoph Nürnberger, Andreas Pedrosa, João Ferreira, Carlos Aresta, Guilherme Cunha, António Campilho, Aurélio Suter, Yannick Garcia, Jose Lalande, Alain Vandenbossche, Vicky Van Oevelen, Aline Duquesne, Kate Mekhzoum, Hamza Vandemeulebroucke, Jef Audenaert, Emmanuel Krebs, Claudia van Leeuwen, Timo Vereecke, Evie Heidemeyer, Hauke Röhrig, Rainer Hölzle, Frank Badeli, Vahid Krieger, Kathrin Gunzer, Matthias Chen, Jianxu van Meegdenburg, Timo Dada, Amin Balzer, Miriam Fragemann, Jana Jonske, Frederic Rempe, Moritz Malorodov, Stanislav Bahnsen, Fin H. Seibold, Constantin Jaus, Alexander Marinov, Zdravko Jaeger, Paul F. Stiefelhagen, Rainer Santos, Ana Sofia Lindo, Mariana Ferreira, André Alves, Victor Kamp, Michael Abourayya, Amr Nensa, Felix Hörst, Fabian Brehmer, Alexander Hein Girardetstraße 2 Essen45131 Germany Graz University of Technology Inffeldgasse 16c Graz8010 Austria Graz Austria The Department of Computer Science Johns Hopkins University Malone Hall 3400 N Charles St BaltimoreMD21218 United States Rte Cantonale Lausanne1015 Switzerland The Department of Measurement and Electronics AGH University of Science and Technology Krakow Poland Sierre Switzerland Department of Biomedical Engineering University of Basel Hegenheimermattweg Allschwil167C CH-4123 Switzerland The Boston College 140 Commonwealth Ave Chestnut HillMA02467 United States University Hospital B7-200 339 Windermere Road LondonN6A 5A5 Canada The Department of Radiology Renji Hospital School of Medicine Shanghai Jiao Tong University Shanghai200240 China The Research Center for Connected Healthcare Big Data ZhejiangLab Zhejiang Hangzhou311121 China The Faculty of Statistics Technical University Dortmund August-Schmidt-Straße 1 Dortmund44227 Germany The Institute of Mechanics Graz University of Technology Kopernikusgasse 24/IV Graz8010 Austria The Institute of Biomedical Manufacturing and Life Quality Engineering State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University 800 Dongchuan Road Shanghai200240 China The Department of Cardiac Surgery Medical University Graz Auenbruggerplatz 29 Graz8036 Austria The Department of Diagnostic and Interventional Radiology University Hospital Giessen Justus-Liebig-University Giessen Klinikstraße 33 Giessen35392 Germany The Department of Mechanical Engineering Mehran University of Engineering and Technology Jamshoro Sindh76062 Pakistan The Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China The Geschäftsführender Oberarzt Abteilung für Interventionelle und Diagnostische Neuroradiologie Universitätsklinikum der Technischen Universität München Ismaningerstr. 22 München81675 Germany icometrix Kolonel Be

Prior to the deep learning era, shape was commonly used to describe the objects. Nowadays, state-of-the-art (SOTA) algorithms in medical imaging are predominantly diverging from computer vision, where voxel grids, meshes, point clouds, and implicit surface models are used. This is seen from numerous shape-related publications in premier vision conferences as well as the growing popularity of ShapeNet (about 51,300 models) and Princeton ModelNet (127,915 models). For the medical domain, we present a large collection of anatomical shapes (e.g., bones, organs, vessels) and 3D models of surgical instrument, called MedShapeNet, created to facilitate the translation of data-driven vision algorithms to medical applications and to adapt SOTA vision algorithms to medical problems. As a unique feature, we directly model the majority of shapes on the imaging data of real patients. As of today, MedShapeNet includes 23 datasets with more than 100,000 shapes that are paired with annotations (ground truth). Our data is freely accessible via a web interface and a Python application programming interface (API) and can be used for discriminative, reconstructive, and variational benchmarks as well as various applications in virtual, augmented, or mixed reality, and 3D printing. Exemplary, we present use cases in the fields of classification of brain tumors, skull reconstructions, multi-class anatomy completion, education, and 3D printing. In future, we will extend the data and improve the interfaces. The project pages are: https://***/ and https://***/Jianningli/*** Codes 68T01 © 2023, CC BY.

关键词： Large dataset

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OROCOS-based generic control system for a 6 DOF industrial manipulator

OROCOS-based generic control system for a 6 DOF industrial m...

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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： Gilbert K. Cheruiyot Xiaoxiao Zhu Qixin Cao Research Institute of Robotics Shanghai Jiaotong University State Key Lab of Mechanical Systems and Vibration Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781509040803

关键词： Real-time systems Manipulators Software Hardware Servomotors Libraries

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Teleoperation Control of Baxter Robot based on Human Motion Capture

Teleoperation Control of Baxter Robot based on Human Motion ...

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IEEE International Conference on Information and Automation

作者： Guangzhu Peng Chenguang Yang Yiming Jiang Long Cheng Peidong Liang Key Lab of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781509041039

The traditional 3D human motion capture methods require operators to wear tracking sensors on their body. However, these devices would bring operators much inconvenience. Currently, vision based motion capture systems provide us an alternative approach for motion capture technology. In this paper, based on human kinematics and function approximation technique (FAT), a novel method is presented for the trajectory control of Baxter robot. Each arm of the Baxter robot has seven degrees of freedom. The geometry vector approach is applied to capture human motion trajectory by using Microsoft Kinect sensor. A FAT control system is employed to make the robot follow the trajectory of human motion. The UDP communication protocol is employed to send the reference human joint angle data to the robot. We carry out preliminary experiments on Baxter robot to verify the validity of the control approach and the results demonstrate that the method has achieved satisfactory performance.

关键词： Teleoperation Control Baxter Robot Human Motion Capture

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Obstacle Avoidance for Kinematically Redundant Robot

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IFAC-PapersOnLine 2015年第28期48卷 490-495页

作者： WANG, Xinyu YANG, Chenguang CHEN, Junshen MA, Hongbin LIU, Feng School of Automation Beijing Institute of Technology Beijing China State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Centre for Robotics and Neural Systems Plymouth University Plymouth United Kingdom College of Automation Science and Engineering South China University of Technology Guangzhou China Beijing Jiaotong University Beijing China

Manipulator's obstacle avoidance is always a challenging topic in robotics. With the concern of the safety problems in human working environment, an improved obstacle avoidance method is proposed based on the general solution of the inverse kinematic problem of a redundant manipulator. A new obstacle detection method using Kinect R sensor is designed to give a robust obstacle information. By designing a parallel system of the manipulator, the proposed control method is not only to achieve the goal of moving away from the obstacle, but also able to guarantee the robot move back to its original pose. The stability of the closed-loop system is established using Lyapunov direct method to ensure the asymptotic stability of the system. The performance of the simulation results verifies the effectiveness of the proposed obstacle detection algorithm and the obstacle avoidance method. © 2015

关键词： Inverse problems Asymptotic stability Closed loop systems Collision avoidance Inverse kinematics Obstacle detectors Redundant manipulators System stability General solutions Inverse kinematic problems Kinematically Redundant Lyapunov direct method Obstacle detection Parallel system Redundant robot Working environment

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Development of a robotic teaching interface for human to human skill transfer

Development of a robotic teaching interface for human to hum...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Chenguang Yang Peidong Liang Arash Ajoudani Zhijun Li Antonio Bicchi Zienkiewicz Centre for Computational Engineering Swansea University UK State Key Lab of Robotics Systems Harbin Institute of Technology China Human-Robot Interfaces and Physical Interaction (HRI2) Laboratory of the Istituto Italiano di Tecnologia Genova Italy College of Automation Science and Engineering South China University of Technology Guangzhou China Interdepartmental Research Center "E. Piaggio" Faculty of Engineering University of Pisa Italy

ISBN: (纸本)9781509037636

The tutor-tutee hand-in-hand teaching may be the most effective approach for a tutee to acquire new motor skills. Repetitive nature of such procedures in a group setting usually results in a high labour cost and time inefficiency. Potential solution can be utilizing robotic platforms playing the role of tutors for demonstrating and transferring the required skills. This requires an appropriate guidance scheme to integrate the tutor's motor functionalities into the robot's control architecture. For instance, for hand-in-hand supervision of the writing task, the tutor's corrections can be applied when necessary, while a very compliant motion can be achieved if no errors are detected. Inspired by this behavior, we develop a teaching interface using a dual-arm robotic platform. In our setup, one arm is connected to the tutees arm providing guidance through a variable stiffness control approach, and the other to the tutor to capture the motion and to feedback the tutees performance in a haptic manner. The reference stiffness for the tutors arm stiffness is estimated in real-time and replicated by the tutees robotic arm. Comparative experiments have been carried out on a dual-arm Baxter robot. The results imply that the human tutor is able to intuitively transfer writing skills to the tutee and also show superior learning performance over over some conventional teaching by demonstration techniques.

关键词： Manipulators Robot sensing systems Impedance Training Muscles Manipulator sensing systems Manipulators impedance muscles Functional training Pedagogy Teaching labOUR COSTS Human compliant motion Writing Skills Arm spiral arm Coaching Motor Skills

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