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Continuous adaptive gaits manipulation for three-fingered robotic hands via bioinspired fingertip contact events

Biomimetic Intelligence & Robotics 2024年第1期4卷 59-69页

作者： Xiaolong Ma Jianhua Zhang Binrui Wang Jincheng Huang guanjun bao College of Mechanical and Electrical Engineering China Jiliang UniversityHangzhou 310018China School of Mechanical Engineering University of Science and Technology BeijingBeijing 100083China College of Mechanical Engineering Zhejiang University of TechnologyHangzhou 310023China Key Laboratory of Special Purpose Equipment and Advanced Processing Technology Ministry of Education and Zhejiang ProvinceZhejiang University of TechnologyHangzhou 310023China

The remarkable skill of changing its grasp status and relocating its fingers to perform continuous in-hand manipulation is essential for a multifingered anthropomorphic hand.A commonly utilized method of manipulation involves a series of basic movements executed by a high-level ***,it remains unclear how these primitives evolve into sophisticated finger gaits during ***,we propose an adaptive finger gait-based manipulation method that offers real-time regulation by dynamically changing the primitive interval to ensure the force/moment balance of the *** manipulation relies on contact events that act as triggers for real-time online replanning of multifinger *** identify four basic motion primitives of finger gaits and create a heuristic finger gait that enables the continuous object rotation of a round *** experimental results verify the effectiveness of the proposed *** the constant breaking and reengaging of contact between the fingers and the object during manipulation,the robotic hand can reliably manipulate the object without *** when the object is subjected to interfering forces,the proposed method demonstrates robustness in managing *** work has great potential for application to the dexterous operation of anthropomorphic multifingered hands.

关键词： Adaptive switch Contact event Continuous manipulation Multifinger gait Primitive

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Locomotion control of a rigid-soft coupled snake robot in multiple environments

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Biomimetic Intelligence & Robotics 2024年第2期4卷 12-23页

作者： Xuanyi Zhou Yuqiu Zhang Zhiwei Qiu Zhecheng Shan Shibo Cai guanjun bao College of Mechanical Engineering Zhejiang University of TechnologyHangzhou 310023China State Key Laboratory of Chemical Engineering College of Chemicaland Bioogical EngineringZhejiang UniverstyHangzhou 310027China College of Biomedical Science and Engineering South China University of TechnologyGuangzhou 510000China

The versatile motion capability of snake robots offers themselves robust adaptability in varieties of challenging environments where traditional robots may be *** study reports a novel flexible snake robot featuring a rigid-flexible coupling structure and multiple motion *** better understand the robot's behavior,a bending model for the soft actuator is ***,a dynamic model is developed to map the relationship between the input air pressure and joint torque,which is the model base for controlling the robot *** on the wave motion generated by the joint coupling direction function in different planes,multiple motion gait planning methods of the snake-like robot are *** order to evaluate the adaptability and maneuverability of the developed snake robot,extensive experiments were conducted in complex *** results demonstrate the robot's effectiveness in navigating through intricate settings,underscoring its potential for applications in various fields.

关键词： Snake robot Rigid-flexible coupled Soft actuator Motion gait analysis

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Ultralong Stretchable Soft Actuator(US2A):Design,Modeling and Application

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Chinese Journal of Mechanical Engineering 2023年第1期36卷 280-291页

作者： Wenbiao Wang Yunfei Zhu Shibo Cai guanjun bao Key Laboratory of Special Purpose Equipment and Advanced Processing Technology Ministry of EducationZhejiang University of TechnologyHangzhou310014China Beijing Institute of Spacecraft Environment Engineering China Academy of Space TechnologyBeijing100094China

Actuator plays a significant role in soft *** paper proposed an ultralong stretchable soft actuator(US2A)with a variable and sizeable maximum *** US2A is composed of a silicone rubber tube and a bellows woven *** maximal extension can be conveniently regulated by just adjusting the wrinkles’initial angle of the bellows woven *** kinematics of US2A could be obtained by geometrically analyzing the structure of the bellows woven sleeve when the silicone rubber tube is *** on the principle of virtual work,the actuating models have been established:the pressure-elongation model and the pressure-force *** models reflect the influence of the silicone tube’s shell thickness and material properties on the pneumatic muscle’s performance,which facilitates the optimal design of US2A for various working *** experimental results showed that the maximum elongation of the US2A prototype is 257%,and the effective elongation could be variably regulated in the range of 0 and 257%.The proposed models were also verified by pressure-elongation and pressure-force experiments,with an average error of 5%and 2.5%,***,based on the US2A,we designed a pneumatic rehabilitation glove,soft arm robot,and rigid-soft coupling continuous robot,which further verified the feasibility of US2A as a soft driving component.

关键词： Soft robotics Soft actuator Pneumatic artificial muscle Modeling

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An Adaptive Hand Exoskeleton for Teleoperation System

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Chinese Journal of Mechanical Engineering 2023年第3期36卷 123-134页

作者： Wei Wei Bangda Zhou Bingfei Fan Mingyu Du guanjun bao Shibo Cai College of Mechanical Engineering Zhejiang University of TechnologyHangzhou 310023China Key Laboratory of Special Purpose Equipment and Advanced Processing Technology Ministry of Education and Zhejiang ProvinceZhejiang University of TechnologyHangzhou 310023China

Teleoperation can assist people to complete various complex tasks in inaccessible or high-risk environments,in which a wearable hand exoskeleton is one of the key *** adaptability would be available to enable the master hand exoskeleton to capture the motion of human fingers and reproduce the contact force between the slave hand and its *** paper presents a novel finger exoskeleton based on the cascading four-link closed-loop kinematic *** finger has an independent closed-loop kinematic chain,and the angle sensors are used to obtain the finger motion including the flexion/extension and the adduction/*** cable tension is changed by the servo motor to transmit the contact force to the fingers in real *** on the finger exoskeleton,an adaptive hand exoskeleton is consequently *** addition,the hand exoskeleton is tested in a master-slave *** experiment results show that the adaptive hand exoskeleton can be worn without any mechanical constraints,and the slave hand can follow the motions of each human *** accuracy and the real-time capability of the force reproduction are *** proposed adaptive hand exoskeleton can be employed as the master hand to remotely control the humanoid five-fingered dexterous slave hand,thus,enabling the teleoperation system to complete complex dexterous manipulation tasks.

关键词： Hand exoskeleton Humanoid dexterous hand Teleoperation Motion capture Force-reproduction

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Basic Characteristics of a New Flexible Pneumatic Bending Joint

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Chinese Journal of Mechanical Engineering 2014年第6期27卷 1143-1149页

作者： SHAO Tiefeng ZHANG Libin bao guanjun LUO Xinyuan YANG Qinghua Key Laboratory of E&M Ministry of Education & Zhejiang Province Zhejiang University of Technology Engineering Training Center China Jiliang University

Several typical flexible pneumatic actuators （FPA） and different mechanical models describing their behaviors have been proposed, however, it is difficult to balance compliance and load capacity in conventional designs, and these models still have limitations in predicting behavior of FPAs. A new flexible pneumatic bending joint （FPBJ） with special anisotropic rigidity structure is proposed. The FPBJ is developed as an improvement with regard to existing types of FPA, and its principal characteristic is derived from the special anisotropic rigidity structure. With this structure, the load capacity in the direction perpendicular to bending plane is strengthened. The structure of the new FPBJ is explained and a mathematical model is derived based on Euler-Bernoulli beam model and Hook’s law. To obtain optimum design and usage, some key structure parameters and input-output characteristics are simulated. The simulation results reveal that the relationship between the structure parameters and FPBJ’s bending angle is nonlinear. At last, according to the simulation results, the FPBJ is manufactured with optional parameters and tested. The experimental results show that the joint’s statics characteristics are reflected by the mathematical model accurately when the FPBJ is deflated. The maximum relative error between simulation and experimental results is less than 6%. However, the model still has limitations. When the joint is inflated, the maximum relative error reaches 20%. This paper proposes a new flexible pneumatic bending joint which has sufficient load capacity and compliance, and the mathematical model provides theoretical guidance for the FPBJ’s structure design.

关键词： flexible pneumatic bending joint Euler-Bernoulli model Hook's law mathematical model

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Superpixel-based segmentation algorithm for mature citrus

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International Journal of Agricultural and Biological Engineering 2020年第4期13卷 166-171,I0001页

作者： Qinghua Yang Yiqin Chen Yi Xun guanjun bao Key Laboratory of E&M Ministry of Education&Zhejiang ProvinceZhejiang University of TechnologyHangzhou 310023China

With the decrease of agricultural labors and the increase in production costs,harvesting robots have become a research hotspot in recent *** guide harvesting robots to pick mature citrus more precisely under variable illumination conditions,an image segmentation algorithm based on superpixel was *** simple linear iterative clustering(SLIC)algorithm which takes similarity of adjacent pixels into account was adopted to segment the images captured under variable illumination conditions into *** color and texture features of these superpixels were extracted and fused into feature vectors as descriptors to train backpropagation neural networks(BPNN)classifier in the next *** adjacency information of superpixels was considered by calculating the global-local binary pattern(LBP)in R component images when extracting texture *** accelerate the classification process,the mean of Cr-Cb image was utilized to find superpixels of interest which were regarded as candidates of citrus *** candidates were then classified by a pre-trained BPNN model with superpixel-level accuracy of 98.77%and pixel-level accuracy of 94.96%,while the average time to segment one image was 0.4778 ***,the results indicated that a superpixel-based segmentation algorithm toward citrus images had decent light robustness as well as high accuracy that could guide harvesting robot to pick mature citrus efficiently.

关键词： superpixel image segmentation BPNN variable illumination mature citrus

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Detection of egg stains based on local texture feature clustering

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International Journal of Agricultural and Biological Engineering 2018年第1期11卷 199-205页

作者： Qinghua Yang Mimi Jia Yi Xun guanjun bao Key Laboratory of E&M Ministry of Education&Zhejiang ProvinceZhejiang University of TechnologyHangzhou 310032China

The quality of egg is mainly influenced by the dirt adhering to its *** with good farm-management practices and careful handling,a small percentage of dirty eggs will be *** purpose of this research was to detect the egg stains by using image processing *** to the color values,the local texture was found to be much more adept at accurately segmenting of the complex and miscellaneous dirt stains on the egg ***,the global threshold of the image was obtained by two-peak *** irrelevant background was removed by using the global threshold and the interested region was *** local texture information extracted from the interested region was taken as the input of fuzzy C-means clustering for segmentation of the dirt *** to the principle of projection,the area of dirt stains on the curved egg surface was accurately *** validation experimental results showed that the proposed method for classifying eggs in terms of stain has the specificity of 91.4%for white eggs and 89.5%for brown eggs.

关键词： eggs eggshell dirt stains computer vision local texture feature FCM egg classifying

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Fruit harvesting continuum manipulator inspired by elephant trunk

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International Journal of Agricultural and Biological Engineering 2015年第1期8卷 57-63页

作者： Shao Tiefeng Zhang Libin Du Mingyu bao guanjun Yang Qinghua Key Laboratory of E&M(Zhejiang University of Technology) Ministry of Education&Zhejiang ProvinceHangzhou 310032China China Jiliang University Hangzhou 310018China

By combining the investigation of the biomechanics and behavior of elephant trunk in the performance of a wide range of dexterous manipulations,a novel approach in the design and kinematics modeling of a fruit harvesting continuum manipulator was *** comparing the structure of two different species of elephant trunk,a new continuum structure which matched the key features of elephant trunk was *** on analysis of the underlying elephant trunk’s grasping mode,a novel kinematics model was *** to traditional robot kinematics which focused on end effector’s position and posture,the proposed continuum manipulator kinematics focus on the center of manipulator’s position and posture,which is more effective when trunk robot realizing grasp and establishes the foundation for its ***,three typical grasping experiments were *** experiment results showed that the manipulator could conduct wrap/pinch manipulations effectively for both small objects and bigger ones.

关键词： fruit harvesting continuum manipulator kinematics bionics Jacobian singularities

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Nondestructive identification of softness via bioinspired multisensory electronic skins integrated on a robotic hand

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npj Flexible Electronics 2022年第1期6卷 479-488页

作者： Ye Qiu Shenshen Sun Xueer Wang Kuanqiang Shi Zhiqiang Wang Xiaolong Ma Wenan Zhang guanjun bao Ye Tian Zheng Zhang Hao Ding Hao Chai Aiping Liu Huaping Wu College of Mechanical Engineering Zhejiang University of TechnologyHangzhou 310023China Key Laboratory of Special Purpose Equipment and Advanced Processing Technology Ministry of Education and Zhejiang ProvinceZhejiang University of TechnologyHangzhou 310023China Collaborative Innovation Center of High-end Laser Manufacturing Equipment(National“2011 Plan”) Zhejiang University of TechnologyHangzhouChina College of Information Engineering Zhejiang University of TechnologyHangzhou 310023China Zhijiang College of Zhejiang University of Technology Shaoxing 312030China Center for Optoelectronics Materials and Devices Zhejiang Sci-Tech UniversityHangzhou 310018China

Tactile sensing is essentially required for dexterous manipulation in robotic *** human perception of softness identification in a non-invasive fashion,thus achieving satisfactory interaction with fragile objects remains a grand ***,a scatheless measuring methodology based on the multisensory electronic skins to quantify the elastic coefficient of soft materials is *** recognition approach lies in the preliminary classification of softness by piezoelectric signals with a modified machine learning algorithm,contributing to an appropriate contact force assignment for subsequent quantitative measurements via strain sensing *** integration of multifunctional sensing system allows the manipulator to hold capabilities of selfsensing and adaptive grasping motility in response to objects with the various softness(i.e.,kPa-MPa).As a proof-of-concept demonstration,the biomimetic manipulator cooperates with the robotic arm to realize the intelligent sorting of oranges varying in freshness,paving the way for the development of microsurgery robots,human-machine interfacing,and advanced prosthetics.

关键词： robotic electronic orange

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Tracking and recognition algorithm for a robot harvesting oscillating apples

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International Journal of Agricultural and Biological Engineering 2020年第5期13卷 163-170页

作者： Qinghua Yang Chen Chen Jiayu Dai Yi Xun guanjun bao Key Laboratory of Special Purpose Equipment and Advanced Processing Technology Ministry of Education and Zhejiang ProvinceZhejiang University of TechnologyHangzhou 310023China

Apple fruits on trees tend to swing because of wind or other natural causes,therefore reducing the accuracy of apple picking by *** increase the accuracy and to speed up the apple tracking and identifying process,tracking and recognition method combined with an affine transformation was *** method can be divided into three ***,the initial image was segmented by Otsu’s thresholding method based on the two times Red minus Green minus Blue(2R-G-B)color feature;after improving the binary image,the apples were recognized with a local parameter adaptive Hough circle transformation method,thus improving the accuracy of recognition and avoiding the long,time-consuming process and excessive fitted circles in traditional Hough circle *** process and results were verified ***,the Shi-Tomasi corners detected and extracted from the first frame image were tracked,and the corners with large positive and negative optical flow errors were *** affine transformation matrix between the two frames was calculated based on the Random Sampling Consistency algorithm(RANSAC)to correct the scale of the template image and predict the apple ***,the best positions of the target apples within 1.2 times of the prediction area were searched with a de-mean normalized cross-correlation template matching *** test results showed that the running time of each frame was 25 ms and 130 ms and the tracking error was more than 8%and 20%in the absence of template correction and apple position prediction,*** comparison,the running time of our algorithm was 25 ms,and the tracking error was less than 4%.Therefore,test results indicate that speed and efficiency can be greatly improved by using our method,and this strategy can also provide a reference for tracking and recognizing other oscillatory fruits.

关键词： apple picking robot tracking and recognition algorithm oscillating apple Hough transform pyramid LK optical flow algorithm affine transform template matching

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