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检索条件"机构=the State Key Laboratory of Robotics and the Key Laboratory of Networked Control Systems"

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Enhancing swimming performance of a biomimetic robotic fish by optimizing oscillator phase differences of a CPG model

Enhancing swimming performance of a biomimetic robotic fish ...

引用

IEEE International Conference on robotics and Biomimetics

作者： Jun Yuan Junzhi Yu Zhengxing Wu Min Tan State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781467396769

This paper presents a novel approach on swimming performance improvement for a bio-inspired robotic fish. The main idea of this approach lies in optimizing the oscillator phase differences of a central pattern generator (CPG) model, which governs the rotation of the joints. Definitely, the swimming performance includes steady forward velocity, head stability, and energy-efficiency. A dynamic model is firstly built to describe the swimming motion of the robotic fish. Taking advantage of the dynamic model, we analyze the influence on the swimming performance exerted by the phase differences. Specifically, two conditions are studied and compared together: consistent and inconsistent phase differences. To the best of our knowledge, this issue has not been addressed in previous literature sufficiently. The optimal swimming performance is searched under both of the conditions. Simulation results reveal that the CPG model with inconsistent phase differences is able to realize better swimming performance, especially for head stability and energy-efficiency.

关键词： Force Dynamics Head Oscillators Biological system modeling Robot kinematics

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Development of a novel robotic jellyfish based on mechanical structure drive and barycenter adjustment

Development of a novel robotic jellyfish based on mechanical...

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IEEE International Conference on robotics and Biomimetics

作者： Xiangbin Li Junzhi Yu State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781467396769

Jellyfish-inspired jet propulsion and robotic implementation have drawn much attention among the scientific community. In this paper, we report a novel robotic jellyfish synthesizing mechanical structure drive and barycenter adjustment mechanism. The robotic jellyfish relies on six-bar linkage mechanisms as actuators to realize the contraction-relaxation jet propulsion motion. To imitate the real jellyfish and to reduce drag, the robotic jellyfish is comprised of a streamlined head, a cavity shell, and a latex skin is enwraped around the drive units. To achieve free switch between different motion modes and transform attitude arbitrarily, a barycenter adjustment mechanism is embedded in the robot body. Through the upward, downward, balancing, as well as leaning-down motion of clump weights, the center of gravity of the robot can enwrap its center of buoyancy. Experimental tests on the actual robotic jellyfish verify the great 3D swimming ability.

关键词： Robots Cavity resonators Gears Servomotors Actuators Gravity Propulsion

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Dynamic modeling and control of a parallel upper-limb rehabilitation robot

Dynamic modeling and control of a parallel upper-limb rehabi...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Liang Peng Zeng-Guang Hou Weiqun Wang State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479918096

This paper aims at dynamic modeling and control of a new upper-limb rehabilitation robot which has a parallel structure. Dynamic modeling of parallel robot is a complicated problem, and the dynamics and voluntary force of the patient arm increase the difficulty of dynamic analysis and control in rehabilitation training. The novelties of this study are: (1) dynamics of the robot and the patient are considered together, and this human-robot interaction system is modeled as a redundantly actuated closed-chain system (2 DOFs, 4 active joints); (2) the system dynamics are derived in workspace using a new method based on the dynamics of its three serial open-chain branches, and both kinematic constrains and interaction forces are considered during the derivation. Compared with the other two previous methods reviewed in this paper, the proposed method is easier to derive, more computationally efficient, and it can be used in both redundant and non-redundant cases. Besides, a model based PD-computed torque controller is designed and the simulation of passive training task along a circular path is presented to prove the effectiveness of this method.

关键词： Joints Dynamics Robot kinematics Force Mathematical model Training

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An RBF-based neuro-adaptive control scheme to drive a lower limb rehabilitation robot

An RBF-based neuro-adaptive control scheme to drive a lower ...

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IEEE International Conference on robotics and Biomimetics

作者： Chengkun Cui Gui-Bin Bian Zeng-Guang Hou Min Tan Dongxu Zhang Xiao-Liang Xie Weiqun Wang State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781467396769

In this paper, a novel robust adaptive control scheme is proposed for a lower limb rehabilitation robot designed by our laboratory. The proposed control strategy is based on the radial basis function (RBF) neural networks and the parameters of the system dynamics are unknown. The weights of the RBF neural networks are updated by an adaptive law according to the Lyapunov stability analysis. The robustness against possible variations of the system dynamics and the external disturbance are considered in the control design. The proposed control strategy can not only avoid the complex procedure of system parameters identification, but also guarantee high robustness, small trajectory tracking errors and the assistance of the patient's voluntary participation. Using this control algorithm, the robot can regulate its exerted torque to adapt to the patient's active torque in real time during rehabilitation. The effectiveness of our control method is demonstrated by a simulation.

关键词： Robots Torque Neural networks Robustness Adaptation models Adaptive control Training

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A simple technique for structured light calibration in welding robots

A simple technique for structured light calibration in weldi...

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IEEE International Conference on robotics and Biomimetics

作者： Prasarn Kiddee Zaojun Fang Min Tan The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781467396769

Structured light calibration is one of the most crucial parts in a visual sensing system of welding robots. And the main aspect of the structured light calibration is the accuracy. Besides, a practical and simplistic calibration approach is preferable. In this paper, we propose a simple technique for structured light calibration. The vertical and horizontal lines are added to the planar object to facilitate points detection. The information from the camera calibration is fully used to detect the points on the light stripe. Then parameters of the structured light plane are estimated based on three non-collinear points definition. It could be said that the computation in this study is straight forward. Furthermore, it does not require any additional equipment. Thus, it is a truly simple and practical calibration method. According to the experimental results, the calibration errors are less than 0.2 mm. It shows that our proposed method is acceptable to measurement system of welding robots.

关键词： Cameras Calibration Transmission line matrix methods Mathematical model Robot vision systems

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Traversable region detection with a learning framework

Traversable region detection with a learning framework

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IEEE International Conference on robotics and Automation (ICRA)

作者： Qingquan Zhang Yong Liu Yiyi Liao Yue Wang Institute of Cyber-Systems and Control Zheiiang University Zheiiang China State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control

ISBN: (纸本)9781479969241

In this paper, we present a novel learning framework for traversable region detection. Firstly, we construct features from the super-pixel level which can reduce the computational cost compared to pixel level. Multi-scale super-pixels are extracted to give consideration to both outline and detail information. Then we classify the multiple-scale super-pixels and merge the labels in pixel level. Meanwhile, we use weighted ELM as our classifier which can deal with the imbalanced class distribution since we only assume that a small region in front of robot is traversable at the beginning of learning. Finally, we employ the online learning process so that our framework can be adaptive to varied scenes. Experimental results on three different style of image sequences, i.e. shadow road, rain sequence and variational sequence, demonstrate the adaptability, stability and parameter insensitivity of our method to the varied scenes and complex illumination.

关键词： Roads Training Measurement Frequency modulation Feature extraction Image segmentation Robots

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Attitude Analysis of Reachable Space for Spatial Manipulator

Attitude Analysis of Reachable Space for Spatial Manipulator

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第27届中国控制与决策会议

作者： Yuquan Leng Yang Zhang Wei Zhang Xu He Weijia Zhou Department of Space Automation Technologies & Systems the State Key Laboratory of RoboticsShenyang Institute of AutomationUniversity of Chinese Academy of Science

ISBN: (纸本)9781479970186

Space manipulators are mainly used in the spatial loading *** with the problems of the spatial loading diversity,the testing loading installing position and the utilization ratio of the test platform,the space manipulator is asked to evaluate the position and attitude of *** paper first put forward the concept of the Omni-directional Coefficient,which can evaluate any point in the attainable domain of the manipulators,with the combination of the manipulation's position message,and got the relationship between its position and attitude of all points in the attainable ***,it represented the attitude of the end-effectors with attitude *** last,proposed the method to evaluate the Omni-directional characters of the whole *** paper analyzed space manipulator experiment data analysis,using the method of numerical computation and graphic *** the one hand,compared the Omni-directional Coefficient with the early quantitative representation used analytical method,on the other hand,vividly showed the Omni-directional Coefficient,Omni-directional space and the distribution of the Omni-directional in the attainable domain when the manipulator is the initial *** last,we got the Omni-directional Coefficient of the whole manipulator by data analysis method.

关键词： spatial manipulator Omni-directional Coefficient Omni-directional space Omni-bearing attitude sphere

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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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Biomimetic inspiration for PKM torso design in humanoid robots

Biomimetic inspiration for PKM torso design in humanoid robo...

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IEEE International Conference on Mechatronics and Automation

作者： Hulin Huang Ceccarelli Marco Weimin Zhang Qiang Huang Zhangguo Yu Xuechao Chen Ministry of Education Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China Laboratory of Robotics and Mechatronics University of Cassino and South Latium Cassino Italy Ministry of Education International Joint Research Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781479970995

A new torso design of humanoid robot is proposed as a 3-DOF PKM (Parallel Kinematic Manipulator) structure by using results of a biomimetic analysis of torso in humans and animals. Main characteristics of torso in nature are presented from which design requirements are outlined for a solution in humanoid robot. The PKM torso is consist of two platforms and four UPU mechanisms. The usefulness of such a biomimetic inspiration is proved by a numerical simulation of the proposed PKM torso in its basic movements.

关键词： Torso Humanoid robots Joints Thorax Horses Payloads

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Bi-objective Optimization for Robust RGB-D Visual Odometry

Bi-objective Optimization for Robust RGB-D Visual Odometry

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第27届中国控制与决策会议

作者： Tao Han Chao Xu Ryan Loxton Lei Xie State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems & Control Zhejiang University Department of Mathematics & Statistics Curtin University

This paper considers a new bi-objective optimization formulation for robust RGB-D visual *** investigate two methods for solving the proposed bi-objective optimization problem:the weighted sum method（in which the objective functions are combined into a single objective function） and the bounded objective method（in which one of the objective functions is optimized and the value of the other objective function is bounded via a constraint）.Our experimental results for the open source TUM RGB-D dataset show that the new bi-objective optimization formulation is superior to several existing RGB-D odometry *** particular,the new formulation yields more accurate motion estimates and is more robust when textural or structural features in the image sequence are lacking.

关键词： Bi-objective Optimization Visual Odometry Motion Estimation robotics

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