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Analysis on the Performance of the SLIP Runner with Nonlinear Spring Leg

Chinese Journal of Mechanical Engineering 2013年第5期26卷 892-899页

作者： YU Haitao LI Mantian cai hegao State Key Laboratory of Robotics and System Harbin Institute of Technology

The spring-loaded inverted pendulum(SLIP) has been widely studied in both animals and ***,the majority of the relevant theoretical studies deal with elastic leg,the linear leg length-force relationship of which is obviously conflict with the biological observations.A planar spring-mass model with a nonlinear spring leg is presented to explore the intrinsic mechanism of legged locomotion with elastic *** leg model is formulated via decoupling the stiffness coefficient and exponent of the leg compression in order that the unified stiffness can be scaled as convex,concave as well as linear *** apex return map of the SLIP runner is established to investigate dynamical behavior of the fixed *** basin of attraction and Floquet Multiplier are introduced to evaluate the self-stability and initial state sensitivity of the SLIP model with different stiffness *** numerical results show that larger stiffness exponent can increase top speed of stable running and also can enlarge the size of attraction domain of the fixed *** addition,the parameter variation is conducted to detect the effect of parameter dependency,and demonstrates that on the fixed energy level and stiffness profile,the faster running speed with larger convergence rate of the stable fixed point under small local perturbation can be achieved via decreasing the angle of attack and increasing the stiffness *** perturbation recovery test is implemented to judge the ability of the model resisting large external *** result shows that the convex stiffness performs best in enhancing the robustness of SLIP runner negotiating irregular *** research sheds light on the running performance of the SLIP runner with nonlinear leg spring from a theoretical perspective,and also guides the design and control of the bio-inspired legged robot.

关键词： spring-loaded inverted pendulum legged locomotion apex return map nonlinear spring

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Approximate Perturbation Stance Map of the SLIP Runner and Application to Locomotion Control

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Journal of Bionic Engineering 2012年第4期9卷 411-422页

作者： Haitao Yu Mantian Li Pengfei Wang hegao cai State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080P.R.China

This paper presents a novel method of perturbation to obtain the analytic approximate solution to the Spring-Loaded Inverted Pendulum （SLIP） dynamics in stance phase with considering the effect of gravity. This perturbation solution achieves higher accuracy in predicting the apex state variables than the typical existing analytic approximations. Particularly, our solution is validated for non-symmetric trajectory of hopping in a large angle range. Furthermore, the stance controller of the SLIP runner is developed to regulate the apex state based on the approximate apex return map. To compensate the energy variation between the current and desired apex states, a stiffness adjustment of the leg spring in stance phase is presented. The deadbeat controller of the angle of attack is designed to track the regulated apex height and velocity. The simulation demonstrates that the SLIP runner applying the proposed stance controller reveals higher tracking accuracy and more rapidly converges to the regulated apex state.

关键词： legged locomotion spring-loaded inverted pendulum perturbation apex return map stiffness adjustment

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Design Schemes and Comparison Research of the End-effector of Large Space Manipulator

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Chinese Journal of Mechanical Engineering 2012年第4期25卷 674-687页

作者： FENG Fei LIU Yiwei LIU Hong cai hegao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

The end-effector of the large space manipulator is employed to assist the manipulator in handling and manipulating large payloads on ***,there are few researches about the end-effector,and the existing end-effectors have some disadvantages,such as poor misalignment tolerance capability and complex mechanical *** to the end positioning errors and the residual vibration characters of the large space manipulators,two basic performance requirements of the end-effector which include the capabilities of misalignment tolerance and soft capture are *** the end-effector should accommodate the following misalignments of the mechanical *** translation misalignments in axial and radial directions and the angular misalignments in roll,pitch and yaw are ±100 mm,100 mm,±10°,±15°,±15°,*** end-effector schemes are presented and the capabilities of misalignment tolerance and soft capture are analyzed *** three fingers-three petals end-effector and the steel cable-snared end-effector are the most feasible schemes among the seven schemes,and they are designed in *** capabilities of misalignment tolerance and soft capture are validated and evaluated,through the experiment on the micro-gravity simulating device and the dynamic analysis in ADAMS *** results show that the misalignment tolerance capabilities of these two schemes could satisfy the *** the translation misalignment tolerances in axial and radial directions and the angular misalignment tolerances in roll,pitch and yaw of the steel cable-snared end-effector are 30mm,15mm,6°,3° and 3° larger than those of the three fingers-three petals end-effector,*** the contact force of the steel cable-snared end-effector is smaller and smoother than that of the three fingers-three petals *** end-effector schemes and research methods are beneficial to the developments of the large space manipulator end-effctor and t

关键词： end-effector large space manipulator docking mechanism soft capture misalignment tolerance passive compliance active compliance

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Combined Use of FSR Sensor Array and SVM Classifier for Finger Motion Recognition Based on Pressure Distribution Map

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Journal of Bionic Engineering 2012年第1期9卷 39-47页

作者： Nan Li Dapeng Yang Li Jiang Hong Liu hegao cai State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080P.R.China

For controlling dexterous prosthetic hand with a high number of active Degrees of Freedom （DOF）, it is necessary to reliably extract control volitions of finger motions from the human body. In this study, a large variety of finger motions are discriminated based on the diversities of the pressure distribution produced by the mechanical actions of muscles on the forearm. The pressure distribution patterns corresponding to the motions were measured by sensor array which is composed of 32 Force Sensitive Resistor （FSR） sensors. In order to map the pressure patterns with different finger motions, a multiclass classifier was designed based on the Support Vector Machine （SVM） algorithm. The multi-subject experiments show that it is possible to identify as many as seventeen different finger motions, including individual finger motions and multi-finger grasping motions, with the accuracy above 99% in the in-session validation. Further, the cross-session validation demonstrates that the performance of the proposed method is robust for use if the FSR array is not reset. The results suggest that the proposed method has great application prospects for the control of multi-DOF dexterous hand prosthesis.

关键词： finger motion recognition dexterous hand support vector machine sensor array pressure distribution map

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NOVEL APPROACH FOR ROBOT PATH PLANNING BASED ON NUMERICAL ARTIFICIAL POTENTIAL FIELD AND GENETIC ALGORITHM

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Chinese Journal of Mechanical Engineering 2006年第3期19卷 340-343页

作者： WANG Weizhong ZHAO Jie GAO Yongsheng cai hegao Robotics Institute Harbin Institute of Technology Harbin 150001 China

A novel approach for collision-free path planning of a multiple degree-of-freedom （DOF） articulated robot in a complex environment is proposed. Firstly, based on visual neighbor point （VNP）, a numerical artificial potential field is constructed in Cartesian space, which provides the heuristic information, effective distance to the goal and the motion direction for the motion of the robot joints. Secondly, a genetic algorithm, combined with the heuristic rules, is used in joint space to determine a series of contiguous configurations piecewise from initial configuration until the goal configuration is attained. A simulation shows that the method can not only handle issues on path planning of the articulated robots in environment with complex obstacles, but also improve the efficiency and quality of path planning.

关键词： Robot Path planning Artificial potential field Genetic algorithm

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Autonomous planning and control strategy for space manipulators with dynamics uncertainty based on learning from demonstrations

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Science China(Technological Sciences) 2021年第12期64卷 2662-2675页

作者： LI ChongYang LI ZhiQi JIANG ZaiNan CUI ShiPeng LIU Hong cai hegao State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Autonomous planning is a significant development direction of the space manipulator,and learning from demonstrations(LfD)is a potential strategy for complex tasks in the ***,separating control from planning may cause large torque fluctuations and energy consumptions,even instability or danger in control of space manipulators,especially for the planning based on the human ***,we present an autonomous planning and control strategy for space manipulators based on LfD and focus on the dynamics uncertainty problem,a common problem of actual *** process can be divided into three stages:firstly,we reproduced the stochastic directed trajectory based on the Gaussian process-based LfD;secondly,we built the model of the stochastic dynamics of the actual manipulator with Gaussian process;thirdly,we designed an optimal controller based on the dynamics model to obtain the improved commanded torques and trajectory,and used the separation theorem to deal with stochastic characteristics during *** evaluated the strategy with locating pre-screwed bolts experiment by Tiangong-2 manipulator system on the *** result showed that,compared with other strategies,the strategy proposed in this paper could significantly reduce torque fluctuations and energy consumptions,and its precision can meet the task requirements.

关键词： space manipulator optimal control dynamics uncertainty learning from demonstrations

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A robotic tele-drill system over network using predictive display

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High Technology Letters 2006年第1期12卷 42-46页

作者：谢小辉 Sun Lining Du Zhijiang cai hegao Robotics Research Institute Harbin Institute of Technology Harbin Heilongjiang Province 150001 P.R. China

Based on a robotic telesurgery system whose function is to liberate doctor from X-ray radiation, a robotic tele-drill system is constructed. The system is in client/server structure. Client part includes main control interface, video-audio interface and predictive display interface. Server part includes robot control server and video, audio server. For applying to teleoperation, a virtual reality environment of the system developed by using Java, Java 3D, Pro/E, etc. is established. The geometry and kinematics model of serial robot MOTOMAN sv3x, parallel robot, C-type arm and X-ray machine, surgery bed and its work environment are fulfilled in it. Simulation engine and its simulation syntax are finished, which made the environment controllable. This environment is used as predictive display interface in the telerobotics in order to tackling the problem in visualization feedback as ambiguous or time delay. Experiments that verified feasibility of the system have been done.

关键词： robotic teleoperation virtual reality predictive display Java 3D

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An Internet-based Telerobot Design and Implementation

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High Technology Letters 2001年第2期7卷 76-79页

作者：赵明国 Zhao Jie CUI Ze cai hegao Robot Research Iustitute Harbin Institute of Technology

A PUMA562 robot has been connected to the Internet and can be controlled through the web browser. The remote user receives still images of robot workspace, coordinates and gripper state and can control the gripper to pick up blocks and place them to build a structure. An Internet server and a robot server were built to implement this telerobot system. This two-layer server architecture can be used in other Internet-based telerobot system without changing most part of the system.

关键词： Teleoperation Telerobot Internet

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Distributed virtual environment-based safety control for Internet tele-robots

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High Technology Letters 2006年第2期12卷 175-181页

作者：高永生 Zhao Jie Gao Sheng cai hegao Robotics Institute Harbin Institute of Technology Harbin 150001 P.R. China Mechnical Science and Engineering Institute Daqing Petroleum Institute Daqing 163318 P. R. China

The inherent complexity and uncertainty of multi-operator multi-robot （MOMR） tele-operation system make its safeguard an essential problem. Hazardous factors in the system are analyzed using fault tree analysis（FTA） technology, and three-layer interactive safety architecture with information flow is designed in modules to control the factors according to the holistic control mode. After that, distributed virtual environment （DVE） including the characteristics of virtual guide （VG） technology is discussed to help the operators achieve some tasks through the visibility of control commands, time-delay, movement collision and operators＇ intentions. Finally an experiment is implemented to test the efficiency of safety control architecture by using two robots to place some building blocks in the same workspace.

关键词： safety architecture multi-operator multi-robot (MOMR) tele-operation distributed virtual environment (DVE) virtual guide (VG)

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Task-oriented Hierarchical Control of Modular Soft Robots with External Vision Guidance

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Journal of Bionic Engineering 2022年第3期19卷 657-667页

作者： Xin Sui Tianjiao Zheng Jian Qi Zhiyuan Yang Ning Zhao Jie Zhao hegao cai Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China

General,high-precision theoretical modeling method is not well developed in the field of soft robotics,which holds back motion control and practical application of soft *** concept of modularization brings novel structure,novel locomotion patterns as well as novel control method for soft *** paper presents the concept of hierarchical control method for modular soft robot system and a H-configuration pneumatic modular soft robot is designed as the control *** H-configuration modular soft robot is composed of two basic motion units that take worm-like locomotion *** locomotion principle of the basic motion unit is analyzed and the actuation sequence is optimized by evolution strategy in VOXCAD simulation *** differential drive method is applied to the H-configuration modular soft robot with multi motion modes and vision sensor is used to control the motion mode of the *** H-configuration modular soft robot and the basic motion unit are assembled by a cubic soft module made of silicone ***,connection mechanism is designed to ensure that the soft modules can be assembled in any direction and *** are conducted to verify the effect of the hierarchical control method of the modular soft robots.

关键词： Soft robot Modular robot Locomotion pattern optimization VOXCAD simulation software Vision feedback control

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