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NUMERICAL SIMULATION OF BATOID LOCOMOTION

Journal of Hydrodynamics 2011年第5期23卷 594-600页

作者： CHEN Wei-shan WU Zhi-jun LIU Jun-kao SHI Sheng-jun ZHOU Yang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The hydrodynamics of batoid swimming motions is investigated using the three-dimensional simulation of a self-propelled body in still water. The kinematics of batoid swimming is characterized by large amplitude undulations of the pectoral fins while the middle part of the body remains straight. The majority of the thrust is generated by pectoral fins. Linear and quadratic amplitude variations are used for the pectoral fins in analyzing the locomotion of the batoid. Navier-Stokes equations are used to solve the unsteady fluid flow. A user defined function and a dynamic mesh method are applied to track the batoid locomotion. The mean swimming velocities of 1.6 BL/s and 1.3 BL/s are achieved, respectively, with thrust coefficients of 0.13 in and 0.095 in the dynamical simulation, where BL/s is the body length per second. The maximum propulsive efficiency 19% is achieved when the frequency of the undulation is 2.2 Hz in both amplitude variations.

关键词： batoid fish undulation pectoral fin dynamical simulation

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Design and experiments of a small resonant inchworm piezoelectric robot

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Science China(Technological Sciences) 2023年第3期66卷 821-829页

作者： DENG Jie YANG ChengLin LIU YingXiang ZHANG ShiJing LI Jing MA XueFeng XIE Hui State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

A small resonant inchworm piezoelectric robot with six driving feet which are set evenly along the circumference is proposed and tested.A bonded-type structure is adopted to realize a small *** radial bending vibration mode and longitudinal vibration mode are excited at the same *** superposition of these two vibration modes makes the driving feet produce elliptical *** the driving force can be generated by friction coupling between the driving foot and the operating *** structure of the robot is designed by finite element *** geometric parameters are adjusted to make the resonant frequencies of the vibration modes as close as *** elliptical trajectories generated at the driving feet are discussed in *** vibration and motion characteristics of the prototype are tested,and the resonant frequencies of the radial bending mode and the longitudinal vibration mode are degenerated *** optimal working frequency of the prototype is 21.5 *** maximum speed of the prototype is 200 mm/s,and the displacement resolution is 0.71μ*** measured results show that the resonant inchworm piezoelectric robot can be used for fast and high-precision transportation in narrow space.

关键词： piezoelectric robot resonant actuation inchworm movement bending and longitudinal vibration

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Two-phase visual servoing for capturing tumbling non-cooperative satellites with a space manipulator

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Chinese Journal of Aeronautics 2024年第12期37卷 560-573页

作者： Dezhi ZHANG Guocai YANG Yongjun SUN Junhong JI Minghe JIN Hong LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

In this paper,a visual servoing approach is developed to capture the docking rings of tumbling non-cooperative satellites with a space *** primary challenge addressed is the potential for the docking ring to leave the monocular camera’s field-of-view as the manipulator approaches the target,due to the ring’s large *** solve this issue,a two-phase visual servoing scheme combining a monocular camera and a three-line structured light vision system is *** an effort to augment the success rate and safety of capture operations,several constraints are formulated,encompassing manipulator’s kinematics,monocular camera’s field-of-view,obstacle avoidance,structured light’s breakpoints and smooth ***,a nonlinear model predictive controller is proposed to manage these constraints in real-time and regulate the *** models are established based on image moments and pose for each phase,selecting these features as visual feedback to simplify the formulation of servo constraints and avoid the complex circle-based pose ***,to ensure unbiased predictions,the model disturbances arising from the imprecise estimation of target motion parameter are observed using an extended Kalman filter,which are then incorporated into the predictive control *** simulation results demonstrate the effectiveness of this scheme.

关键词： Space manipulator Tumbling non-cooperative satellite Visual servoing Model predictive control Disturbance estimation

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Bio-inspired design of alternate rigid-flexible segments to improve the stiffness of a continuum manipulator

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Science China(Technological Sciences) 2020年第8期63卷 1549-1559页

作者： LIU Hong WANG HaiRong FAN ShaoWei YANG DaPeng State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Intrinsic flexible structures enable a continuum manipulator to exhibit attractive dexterity and intrinsic compliance over traditional hyper-redundant ***,its insufficient stiffness makes the performance of continuum manipulators unsatisfactory and thus limits the applications in many fields.A significant challenge is how to make a trade-off among dexterity,compliance and *** an evolutionary perspective,this paper compares several biological structures that enable the continuum manipulator function,and intends to reveal the mechanism on how the biological structures can improve the *** notochord and the vertebral column with acoelous centra are abstracted and physically implemented.A fundamental roddriven continuum manipulator is also introduced as a *** stiffness models of these three continuum manipulators are proposed,and comparative experiments are conducted to verify their stiffness *** results demonstrate that the rigid-flexible segmental structure can improve the stiffness properties of a continuum manipulator.

关键词： continuum robots biologically inspired robot flexible arm stiffness kinematics

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A Parallel Actuated Pantograph Leg for High-speed Locomotion

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Journal of Bionic Engineering 2017年第2期14卷 202-217页

作者： Wei Guo Changrong Cai Mantian Li Fusheng Zha Pengfei Wang Kenan Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

High-speed running is one of the most important topics in the field of legged robots which requires strict constraints on structural design and control. To solve the problems of high acceleration, high energy consumption, high pace frequency and ground impact during high-speed movement, this paper presents a parallel actuated pantograph leg with an approximately decoupled configuration. The articulated leg features in light weight, high load capacity, high mechanical efficiency and structural stability. The similarity features of force and position between the control point and the foot are analyzed. The key design parameters, K1 and K2, which concern the dynamic performances, are carefully optimized by comprehensive evaluation of the leg inertia and mass within the maximum foot trajectory, A control strategy that incorporates virtual Spring Loaded Inverted Pendulum （SLIP） model and active force is also proposed to test the design. The strategy can implement highly flexible impedance without mechanical springs, which substantially simplifies the design and satisfies the variable stiffness requirements during high-speed running. The rationality of the structure and the effectiveness of the control law are validated by simulation and experiments.

关键词： high-speed parallel actuated pantograph leg optimization virtual SLIP model active force

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A Rhythmic Motion Control Method Inspired by Board Shoe Racing for a Weight-Bearing Exoskeleton

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Journal of Bionic Engineering 2022年第2期19卷 403-415页

作者： Tianshuo Wang Jie Zhao Dongbao Sui Sikai Zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

To ensure the flexible walking of the weight-bearing exoskeleton robot,most researchers control the exoskeleton to follow the wearer’s movements and provide force to maintain the current dynamic ***,due to the limitation of sensing information and computing power,it is difficult for the exoskeleton to provide the wearer reasonable and stable force only based on the dynamic model,especially in switching between swing phase and stance *** by China’s traditional sport named board shoe racing,a walking control method based on the cooperation of the human and the exoskeleton is proposed in this paper for a lower-limb exoskeleton named *** certain conditions,the exoskeleton itself can walk stably depending on the rhythm signals generated by the Central Pattern Generator(CPG).With certain initiative during walking,it can make proper adjustments according to the human *** the help of dynamic simulation software and Genetic Algorithm(GA),the optimized CPG parameters are *** control is introduced to increase the comfort of the *** impedance parameters as well as the CPG parameters are tuned in real time based on *** experiments were conducted with *** results demonstrate that PALExo can effectively assist the wearer walking with a 45-kg payload benefiting from the proposed method.

关键词： Exoskeleton robot Central pattern generator Walking control method

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Puncture site decision method for venipuncture robot based on near-infrared vision and multiobjective optimization

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Science China(Technological Sciences) 2023年第1期66卷 13-23页

作者： HE TianBao GUO ChuangQiang JIANG Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Venipuncture robots have superior perception and stability to humans and are expected to replace manual ***, their use is greatly restricted because they cannot make decisions regarding the puncture sites. Thus, this study presents a multi-information fusion method for determining puncture sites for venipuncture robots to improve their autonomy in the case of limited resources. Here, numerous images have been gathered and processed to establish an image dataset of human forearms for training the U-Net with the soft attention mechanism(SAU-Net) for vein segmentation. Then, the veins are segmented from the images, feature information is extracted based on near-infrared vision, and a multiobjective optimization model for puncture site decision is provided by considering the depth, diameter, curvature, and length of the vein to determine the optimal puncture site. Experiments demonstrate that the method achieves a segmentation accuracy of 91.2% and a vein extraction rate of 86.7%while achieving the Pareto solution set(average time: 1.458 s) and optimal results for each vessel. Finally, a near-infrared camera is applied to the venipuncture robot to segment veins and determine puncture sites in real time, with the results transmitted back to the robot for an attitude adjustment. Consequently, this method can enhance the autonomy of venipuncture robots if implemented dramatically.

关键词： puncture site decision vein extraction near-infrared vision venipuncture robot

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Design, Analysis and Experimental Performance of a Bionic Piezoelectric Rotary Actuator

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Journal of Bionic Engineering 2017年第2期14卷 348-355页

作者： Shupeng Wang Weibin Rong Lefeng Wang Zhichao Pei Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

This study presents a piezoelectric rotary actuator which is equipped with a bionic driving mechanism imitating the cen- tipede foot. The configuration and the operational principle are introduced in detail. The movement model is established to analyze the motion of the actuator. We establish a set of experimental system and corresponding experiments are conducted to evaluate the characteristics of the prototype. The results indicate that the prototype can be operated stably step by step and all steps have high reproducibility. The driving resolutions in forward and backward motions are 2.31 grad and 1.83 μrad, respectively. The prototype can also output a relatively accurate circular motion and the maximum output torques in forward and backward directions are 76.4 Nmm and 70.6 Nmm, respectively. Under driving frequency of 1 Hz, the maximum angular velocities in forward and backward directions are 1029.3 grad·s^-1 and 1165 μrad·s^-1 when the driving voltage is 120 V. Under driving voltage of 60 V, the angular velocities in forward and backward motions can be up to 235100 grad·s^-1 and 153650 μrad·s^-1 when the driving frequency is 1024 Hz. We can obtain the satisfactory angular velocity by choosing a proper driving voltage and frequency for the actuator.

关键词： bionic foot piezoelectric rotary actuator centipede foot stick-slip

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Hybrid Mapping Method:from Human to Robotic Hands with Dissimilar Kinematics

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Journal of Bionic Engineering 2022年第4期19卷 935-952页

作者： Bingchen Liu Li Jiang Shaowei Fan State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China

Mapping grasps from human to anthropomorphic robotic hands is an open issue in research,because the master hand and the slave hand have dissimilar *** paper proposes a hybrid mapping method to solve this *** the proposed method,fingers in the master and the slave hands are divided into vital and synergic fingers according to their contribution to the grasping *** tip of the vital finger of the master hand is first mapped to that of the slave hand while ensuring that both are in simultaneous contact with the object to be *** postural synergy theory,joints of the other synergic fingers of the slave hand are then used to generate an anthropomorphic grasping configuration according to the shape of the object to be *** this,a human-guided impedance controller is used to reduce the pre-grasping error and realize compliant interaction with the *** proposed hybrid mapping method can not only generate the posture of the humanoid envelope but can also carry out impedance-adaptive *** was evaluated using simulations and an experiment involving an anthropomorphic robotic slave hand.

关键词： Robotic hand Human-in-the-loop Grasping Postural synergy Impedance control

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Chaotic CPG Based Locomotion Control for Modular Self-reconfigurable Robot

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Journal of Bionic Engineering 2016年第1期13卷 30-38页

作者： Jizhuang Fan Yu Zhang Hongzhe Jin Xiaolu Wang Dongyang Bie Jie Zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The most important feature of Modular Self-reconfigurable Robot （MSRR） is the adaption to complex environments and changeable tasks. A critical difficulty is that the operator should regulate a large number of control parameters of modules. In this paper, a novel locomotion control model based on chaotic Central Pattern Generator （CPG） is proposed. The chaotic CPG could produce various rhythm signals or chaotic signal only by changing one parameter. Utilizing this characteristic, a unified control model capable of switching variable locomotion patterns or generating chaotic motion for modular self-reconfigurable robot is presented. This model makes MSRR exhibit environmental adaptability. The efficiency of the control model is verified through simulation and experiment of UBot MSRR platform.

关键词： chaotic CPG self-reconfigurable robot environment adaptability locomotion control model

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