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A unified dynamic model for locomotion and manipulation of a snake-like robot based on differential geometry

Science china(Information sciences) 2011年第2期54卷 318-333页

作者： wang zhifeng1,3. ma shugen1,2, li bin1 & wang yuechao1 1state key laboratory of robotics,{3., chinese academy of sciences, shenyang 110016, china 2Department of robotics, Ritsumeikan University, Shiga-ken 525-8577, Japan 3.raduate University of chinese academy of sciences, Beijing 10003., china 1. state key laboratory of {3. Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China3. Graduate University of Chinese Academy of Sciences Beijing 100039 China2. Department of Robotics Ritsumeikan University Shiga-ken 525-8577 Japan

A snake-like robot, whose body is a seried-wound articulated mechanism, can move in various environments. In addition, when one end is fixed on a base, the robot can manipulate objects. A method of dynamic modeling for locomotion and manipulation of the snake-like robot is developed in order to unify the dynamic equations of two states. The transformation from locomotion to manipulation is a mechanism reconfiguration, that is, the robot in locomotion has not a fixed base, but it in manipulation has one. First, a virtual structure method unifies the two states in mechanism (e.g., an embedding in the configuration space); second, the product-of-exponentials formula describes the kinematics; third, the dynamics of locomotion and manipulation are established in a Riemannian manifold; finally, based on the analysis of the dynamic model, the dynamics of manipulation can be directly degenerated from those of locomotion, and this degeneration relation is proved through using the Gauss equations. In the differential geometry formulation, this method realizes the unification of the dynamics of locomotion and manipulation. According to a geometrical point of view, the unified dynamic model for locomotion and manipulation is considered as a submanifold problem endowed with geometric meaning. In addition, the unified model offers an insight into the dynamics of the snake-like robot beyond the dynamic model separately established for locomotion or manipulation.

关键词： snake-like robot dynamics unified model differential geometry locomotion manipulation

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Fuzzy Theory Based Control Method for an In-pipe Robot to Move in Variable Resistance Environment

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chinese Journal of Mechanical Engineering 2015年第6期28卷 1213-1221页

作者： li Te ma shugen li bin wang Minghui wang yuechao state key laboratory of {3. Shenyang Institute of Automation Chinese Academy of Sciences University of chinese academy of sciences Department of robotics Ritsumeikan University

Most of the existing screw drive in-pipe robots cannot actively adjust the maximum traction capacity, which limits the adaptability to the wide range of variable environment resistance, especially in curved pipes. In order to solve this problem, a screw drive in-pipe robot based on adaptive linkage mechanism is proposed. The differential property of the adaptive linkage mechanism allows the robot to move without motion interference in the straight and varied curved pipes by adjusting inclining angles of rollers self-adaptively. The maximum traction capacity of the robot can be changed by actively adjusting the inclining angles of rollers. In order to improve the adaptability to the variable resistance, a torque control method based on the fuzzy controller is proposed. For the variable environment resistance, the proposed control method can not only ensure enough traction force, but also limit the output torque in a feasible region. In the simulations, the robot with the proposed control method is compared to the robot with fixed inclining angles of rollers. The results show that the combination of the torque control method and the proposed robot achieves the better adaptability to the variable resistance in the straight and curved pipes.

关键词： screw drive in-pipe robot fuzzy control torque control

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Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes

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Science china(Technological sciences) 2016年第2期59卷 191-202页

作者： li Te ma shugen li bin wang MingHui wang yuechao state key laboratory of {3. Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China University of chinese academy of sciences Beijing 100049 China Department of robotics Ritsumeikan University Shiga-ken 525-8577 Japan

A screw drive in-pipe robot is promising inspection equipment for small pipes. However, most of the existing screw drive in-pipe robots have problems of motion interference and slipping inside curved or irregular pipes. These problems result from the coupled relations among the steering motion, the motion speed and the load ability of the robot. In order to deal with the problems, the axiomatic design （AD） theory is applied to evaluate and analyze the existing designs. Then an uncoupled con- cept design based on the AD theory is proposed and the complete AD decomposition process is presented. After that, the pro- posed robot based on a tri-axial differential angle modulation mechanism is designed to realize the uncoupled concept. Finally, the uncoupled property is verified in a dynamics simulation system. The simulation results indicate that the mc tion speed, load ability and steering motion of the proposed robot can be adjusted individually compared with the robots taat have inclin- ing-angle-fixed rollers. Owing to the uncoupled design, the proposed robot can mechanically adapt to straight pipes and curved pipes with less roller slipping.

关键词： screw drive in-pipe robot axiomatic design tri-axial differential mechanism

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Modeling and optimal torque control of a snake-like robot based on the fiber bundle theory

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Science china(Information sciences) 2015年第3期58卷 183-195页

作者： GUO Xian ma shugen li bin wang MingHui wang yuechao state key laboratory of {3. Shenyang Institute of Automation Chinese Academy of Sciences University of chinese academy of sciences Department of robotics Ritsumeikan University

For the snake-like robot with passive wheels,the side constraint force provides the required thrust which is less than the maximum static *** the side constraint force can reduce possibility of skidding which is important to ensure stable and efficient motion of the *** this paper we model the snakelike robot based on the fiber bundle *** method can reduce the complexity of the dynamics and derive the exact analytical solution for the side constraint force which is linear to the redundant *** the linear relation,we can derive directly the optimal torque by minimizing the side constraint *** the nonholonomic constraint can be used for constructing the connection of the fiber *** the connection,we can select the gait of the snake-like *** position and orientation of the head can be described in terms of the special Euclidean group SE(2)which is also the structure group of the fiber *** the symmetry of the structure group,we can reduce the dynamics equations and derive the analytical solution for the side constraint *** and dynamics simulations validate the proposed methods.

关键词： snake-like robot redundant torque fiber bundle theory nonholonomic optimal control

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Analysis of the constraint relation between ground and self-adaptive mobile mechanism of a transformable wheel-track robot

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Science china(Technological sciences) 2011年第3期54卷 610-624页

作者： li ZhiQing ma shugen li bin wang MingHui wang yuechao state key laboratory of {3. Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Department of robotics Ritsumeikan University Shiga-ken 525-8577 Japan Graduate School of the chinese academy of sciences Beijing 100039 China

To maneuver in unstructured terrains where the ground might be soft, hard, flat or rough, a transformable wheel-track robot (NEZA-I) with a self-adaptive mobile mechanism is proposed and developed. The robot consists of a control system unit, two symmetric transformable wheel-track (TWT) units, and a rear-wheel unit. The TWT unit is the main mobile mechanism for the NEZA-I robot, with the rear-wheel unit acting as an assistant mechanism. Driven only by one servomotor, each TWT unit can efficiently select between track mode and wheel mode for optimal locomotion, autonomously switching locomotion mode and track configuration with changes in the terrain. In this paper, the mechanism structure, the self-adaptive drive system, the locomotion mode and posture of the NEZA-I robot are presented, the kinematic relation of the inside parts of the TWT unit is analysed, and the mathematic model of the constraint relation between the mobile mechanism and the ground, abbreviated to "MGCR model" is set up for the NEZA-I robot to go through some typical unstructured environments. The mechanism parameters, which influence the self-adaptability of the NEZA-I robot, are found and optimized. Basic experiments show that the mobile mechanism has the self-adaptability to navigate in unstructured terrains and has superior obstacle-negotiating performance, and that the MGCR model and the analysis method of mechanism parameters are reasonable. From a mechanism point of view, it can provide an idea for research on the adaptive control of the robot.

关键词： self-adaptive mobile mechanism transformable track wheel-track hybrid robot mechanism design

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ANALYSIS OF TIPOVER STABIliTY FOR NOVEL SHAPE SHIFTING MODULAR ROBOT

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chinese Journal of Mechanical Engineering 2006年第2期19卷 181-186页

作者： liU Jinguo wang yuechao ma shugen li {3. robotics laboratory Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110016 China Department of Systems Engineering Ibaraki UniversityIbaraki 316-8511 Japan robotics laboratory Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 China

A novel three-module robot has been introduced. It can change its configuration to adapt to the uneven terrain and to improve its tipover stability. This three-module tracked robot has three kinds of symmetry configuration. They are line type, triangle type, and row type. After the factors and the countermeasures of mobile robot＇s tipover problem are analyzed, stability pyramid and tipover stabil-ity index are proposed to globally determinate the mobile robot＇s static stability and dynamic stability. The shape shifting robot is tested by this technique under the combined disturbance of pitch, roll and yaw in simulation. The simulation result shows that this technique is effective for the analysis of mobile robot＇s tipover stability, especially for the reconfigurable or shape shifting modular robot. Experiments on three symmetry configurations are made under unstructured environments. The environment experiment shows the same result as that of the simulation that the triangle type configuration has the best stability. Both simulation and experiment provide a valid reference for the reconfigurable robot＇s potential application.

关键词： Reconfigurable modular robot Shape shifting robot Stability pyramid Tipover stability index Unstructured environment

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Adaptive controller design for underwater snake robot with unmatched uncertainties

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Science china(Information sciences) 2016年第5期59卷 217-231页

作者： Anfan ZHANG shugen ma bin li Minghui wang Xian GUO {3. wang state key laboratory of {3. Shenyang Institute of Automation Chinese Academy of Sciences University of chinese academy of sciences Department of robotics Ritsumeikan University

Because of hydrodynamic model error of the present dynamic model, there is a challenge in controller design for the underwater snake-like robot. To tackle this challenge, this paper proposes an adaptive control schemes based on dynamic model for a planar, underwater snake-like robot with model error and time-varying noise. The adaptive control schemes aim to achieve the adaptive control of joint angles tracking and the direction of locomotion control. First, through approximation and reducibility using Taylor expansion method, a simplified dynamics model of a planar amphibious snake-like robot is derived. Then, the L1 adaptive controller based on piecewise constant adaptive law is applied on the simplified planar, underwater snake-like robot, which can deal with both matched and unmatched nonlinear uncertainties. Finally, to control the direction of locomotion, an auxiliary bias signal is used as the control input to regulate the locomotion direction. Simulation results show that this L1 adaptive controller is valid to deal with different uncertainties and achieve the joint angles tracking and fast adaptive at the same time. The modified L1 adaptive controller, in which the auxiliary bias item is added, has the ability to change the direction of locomotion, that is, the orientation angle is periodic with arbitrarily given constant on average.

关键词： underwater snake-like robot adaptive control simplified system piecewise constant law unmatched uncertainties underactuated robots

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Configuration representation and reconfiguration optimization for the reconfigurable robots with independent manipulation

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Science in china(Series F) 2009年第4期52卷 674-687页

作者： wang MingHui ma shugen li bin wang yuechao state key laboratory of {3. Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Department of robotics Ritsumeikan University Kusatsu-Shi 525-8577 Japan

Single module of the reconfigurable robots with independent manipulation can perform the actions of locomotion and manipulation. In conformity with the request for achieving autonomous operation in the unstructurized environment instead of fixed operation in the structurized environment, these robots are applied in the complicated and dangerous environment. The existing researches on the configuration theory focus on the reconfigurable robots with limited locomotion and the ones with independent locomotion, not being applicable to the reconfigurable robots with independent manipulation. The vector configuration is put forward, the research content of which contains the topology and locomotion direction of configuration, the posture and orientation and connection relation between modules. Module state vector and configuration state matrix are proposed for representation methodology for the swarm configuration of these reconfigurable robots, which supports transformation operation to represent and trigger behavior motion of the module and reconfiguration between configurations. Optimization algorithm of assembly reconfiguration applying workload as the optimization target is presented, as well as optimization algorithm of transformation reconfiguration applying the integration of posture_orientation_workload and connection_workload. The result of optimization is the relation of state transformation between the initial configuration and the object one as the basic of reconfigurallon plan and control.

关键词： reconfigurable robots with independent manipulation configuration representation reconfiguration optimization

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Kinematics analysis of a robotic rock grinder

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chinese Science Bulletin 2007年第23期52卷 3299-3304页

作者： liU JinGuo wang yuechao li bin ma {3. robotics laboratory of chinese academy of sciences Shenyang Institute of Automation Shenyang 110016 China Graduate School of chinese academy of sciences Beijing 100039 China COE Research institute Ritsumeikan University Shiga-ken 525-8577 Japan

With the aim to discover water, life and resources in other planets, robotic sampling instrument is a crucial part of the space exploration robot. To remove dusty and weathered surfaces and expose the fresh rock underneath the planetary surface, a robotic rock grinder is considered to replace the geolo- gist’s rock hammer to carry out the geological investigation. A primary prototype of the robotic rock grinder with three degrees of freedom has been developed in this paper. Planetary transmission system is used in the grinding driving system with two inputs (rotation motor and revolution motor) and two outputs (grinding wheel and cutting brush). The grinding wheel with two teeth has been used to abrade the rock. The cutting brush is used to sweep the debris. The third actuator is to feed the grinding sys- tem. Kinematics of the grinding system has been analyzed. To get a continuous and smooth fresh face over the rock, grinding trajectory of the grinding wheel has been discussed and planned. Lastly, abra- sion experiments have been made to testify the feasibility and the basic function of this system.

关键词：岩石机器人研磨技术行星粉碎机

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Gaits-transferable CPG controller for a snake-like robot

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Science in china(Series F) 2008年第3期51卷 293-305页

作者： LU Zhenli ma shugen li bin wang {3. robotics laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Organization for Promotion of the COE Program Ritsumeikan University Shiga-Kan 525-8577 Japan Graduate School of the chinese academy of sciences Beijing 100039 China shenyang ligong University Shenyang 110168 China

With slim and legless body, particular ball articulation, and rhythmic locomotion, a nature snake adapted itself to many terrains under the control of a neuron system. Based on analyzing the locomotion mechanism, the main functional features of the motor system in snakes are specified in detail. Furthermore, a bidirectional cyclic inhibitory （BCl） CPG model is applied for the first time to imitate the pattern generation for the locomotion control of the snake-like robot, and its characteristics are discussed, particularly for the generation of three kinds of rhythmic locomotion. Moreover, we introduce the neuron network organized by the BCI-CPGs connected in line with unilateral excitation to switch automatically locomotion pattern of a snake-like robot under different commands from the higher level control neuron and present a necessary condition for the CPG neuron network to sustain a rhythmic output. The validity for the generation of different kinds of rhythmic locomotion modes by the CPG network are verified by the dynamic simulations and experiments. This research provided a new method to model the generation mechanism of the rhythmic pattern of the snake.

关键词： snake-like robot bidirectional cyclic inhibition (BCI) central pattern generator (CPG) stability analysis,locomotion control

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