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Fabrication of a biomimetic controllable adhesive surface by ultraprecision multistep and layered scribing and casting molding

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Science China(Technological Sciences) 2021年第8期64卷 1814-1826页

作者： WANG Wei xie zongwu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

Wedge-shaped microstructures have the ability to reproduce the excellent adhesive properties of geckos’feet because of their unique anisotropic *** particular,the controllability of the wedge-shaped microstructures on adhesion is beneficial to the undisturbed grasp or the capture of space ***,the problem currently remains of how to process it efficiently and with high *** a strategy called ultraprecision multistep and layered scribing is proposed for the manufacture of the biomimetic controllable adhesive *** results show that the metal master mold prepared based on the manufacturing strategy has not only good surface topography but also high reliability and ***,the controllable adhesive surface of 1.96 cm2,fabricated by the proposed manufacturing strategy,has a normal adhesion of 1.012 N,and the corresponding shear friction and adhesion coefficient are 3.105 N and 4.82,***,the controllable adhesive surface has been shown to be approximately superhydrophobic and also to possess the properties of controllable adhesion and dynamic ***,after 250 adhesion-detachment cycles,the normal adhesion and shear friction only decrease by 5%and 3%,*** research realizes an environmentally friendly and efficient method by which to manufacture a durable metal mold for fabricating a biomimetic controllable adhesive surface,laying a foundation for its effective application in the adherence of space-floating targets.

关键词： continuous and tilted wedge-shaped microstructures biomimetic controllable adhesive surface ultraprecision multistep and layered scribing controllable adhesion dynamic adhesion

Three-line structured light vision system for non-cooperative satellites in proximity operations

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Chinese Journal of Aeronautics 2020年第5期33卷 1494-1504页

作者： Yang LIU zongwu xie Hong LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150000China

Adapter ring is a commonly used component in non-cooperative satellites,which has high strength and is suitable to be recognized and grasped by the space *** proximity operations,this circle feature may be occluded by the robot arm or limited field of ***,the captured images may be underexposed when there is not enough *** address these problems,this paper presents a structured light vision system with three line lasers and a monocular *** lasers project lines onto the surface of the satellite,and six break points are formed along both sides of the adapter ring.A closed-form solution for real-time pose estimation is given using these break ***,a virtual structured light platform is constructed to simulate synthetic images of the target *** with the predefined camera parameters and relative positions,the proposed method is demonstrated to be more effective,especially at a close ***,a physical space verification system is set up to prove the effectiveness and robustness of our method under different light *** results indicate that it is a practical and effective method for the pose measurement of on-orbit tasks.

关键词： Adapter ring Line detection Non-cooperative target Pose measurement Space robot Structured light

A noncontact robot demonstration method with human supervision

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Science China(Technological Sciences) 2021年第11期64卷 2360-2372页

作者： ZHANG Qi xie zongwu LIU Yang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

The widely used kinesthetic demonstration method of dragging robotic manipulators cannot obtain reliable information for autonomous robot manipulation because an additional external force rather than pure contact force will be reflected on the force sensor in end-constrained manipulation tasks. Therefore, a noncontact robot demonstration method with human supervision is proposed to avoid external influence. A human demonstrator sends motion commands by mouse and observes force data reflected in a monitor to protect the robotic manipulator. Simultaneously, the human demonstrator supervises the positionorientation relationship between the end-effector and the manipulated object. The wrench insertion task is adopted to illustrate the advantage of the proposed method. A contact model is established according to demonstration data acquired from the proposed demonstration method, and an orientation adjustment strategy is verified. The strategy verification experiment illustrates not only the effectiveness of the simplified contact model and corresponding strategy but also the advantage of the proposed demonstration method.

关键词： Robot demonstration contact model orientation adjustment

Gecko-Like Dry Adhesive Surfaces and Their Applications: A Review

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Journal of Bionic Engineering 2021年第5期18卷 1011-1044页

作者： Wei Wang Yang Liu zongwu xie State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Gecko has the ability to climb flexibly on various natural surfaces because of its fine layered adhesion system of foot,which has motivated researchers to carry out a lot of researches on *** progresses have been made in the gecko-like dry adhesive surfaces in the past 2 decades,such as the mechanical measurement of adhesive characteristics,the theoretical modeling of adhesive mechanism and the production of synthetic dry adhesive *** application researches have been carried out as *** paper focuses on the investigations made in recent years on the gecko-like dry adhesive surfaces,so as to lay the foundation for further research ***,the adhesion system of gecko’s foot and its excellent adhesive characteristics are reviewed,and the adhesive models describing the gecko adhesion are summarily reviewed according to the diff erent contact ***,some gecko-like dry adhesive surfaces with outstanding adhesive characteristics are ***,some application researches based on the gecko-like dry adhesive surfaces are ***,the full text is summarized and the problems to be solved on the gecko-like dry adhesive surfaces are prospected.

关键词： Gecko adhesion Gecko-like dry adhesive surfaces Climbing robot Robot gripper Medical adhesive tape

Robot learning from demonstration for path planning: A review

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Science China(Technological Sciences) 2020年第8期63卷 1325-1334页

作者： xie zongwu ZHANG Qi JIANG ZaiNan LIU Hong State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Learning from demonstration(LfD)is an appealing method of helping robots learn new *** papers have presented methods of LfD with good performance in ***,complicated robot tasks that need to carefully regulate path planning strategies remain *** or non-contact constraints in specific robot tasks make the path planning problem more difficult,as the interaction between the robot and the environment is *** this paper,we focus on the path planning of complex robot tasks in the domain of LfD and give a novel perspective for classifying imitation learning and inverse reinforcement *** classification is based on constraints and obstacle ***,we summarize these methods and present promising directions for robot application and LfD theory.

关键词： learning from demonstration path planning imitation learning inverse reinforcement learning obstacle avoidance

A policy iteration method for improving robot assembly trajectory efficiency

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Chinese Journal of Aeronautics 2023年第3期36卷 436-448页

作者： Qi ZHANG zongwu xie Baoshi CAO Yang LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Bolt assembly by robots is a vital and difficult task for replacing astronauts in extravehicular activities(EVA),but the trajectory efficiency still needs to be improved during the wrench insertion into hex hole of *** this paper,a policy iteration method based on reinforcement learning(RL)is proposed,by which the problem of trajectory efficiency improvement is constructed as an issue of RL-based objective ***,the projection relation between raw data and state-action space is established,and then a policy iteration initialization method is designed based on the projection to provide the initialization policy for *** iteration based on the protective policy is applied to continuously evaluating and optimizing the action-value function of all state-action pairs till the convergence is *** verify the feasibility and effectiveness of the proposed method,a noncontact demonstration experiment with human supervision is *** results show that the initialization policy and the generated policy can be obtained by the policy iteration method in a limited number of demonstrations.A comparison between the experiments with two different assembly tolerances shows that the convergent generated policy possesses higher trajectory efficiency than the conservative *** addition,this method can ensure safety during the training process and improve utilization efficiency of demonstration data.

关键词： Bolt assembly Policy initialization Policy iteration Reinforcement learning(RL) Robotic assembly Trajectory efficiency

Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

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Frontiers of Mechanical Engineering 2021年第3期16卷 435-450页

作者： Boyu MA zongwu xie Zainan JIANG Hong LIU School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Seven-degree-of-freedom redundant manipulators with link offset have many advantages,including obvious geometric significance and suitability for configuration *** configuration is similar to that of the experimental module manipulator(EMM)in the Chinese Space Station Remote Manipulator ***,finding the analytical solution of an EMM on the basis of arm angle parameterization is *** study proposes a high-precision,semi-analytical inverse method for ***,the analytical inverse kinematic solution is established based on joint angle ***,the analytical inverse kinematic solution for a non-offset spherical-roll-spherical(SRS)redundant manipulator is derived based on arm angle *** approximate solution of the EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS ***,the error is corrected using a numerical method through the analytical inverse solution based on joint angle *** selecting the stride and termination condition,the precise inverse solution is computed for the EMM based on arm angle ***,case solutions confirm that this method has high precision,and the arm angle parameterization method is superior to the joint angle parameterization method in terms of parameter selection.

关键词： 7-DOF redundant manipulator inverse kinematics semi-analytical arm angle link offset

基于元启发式优化的机器人智能体无碰撞轨迹规划

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载人航天 2024年第4期30卷 510-515页

作者：谢宗武马博宇孙万东杨晓航姬一明谢光虎哈尔滨工业大学机器人技术与系统全国重点实验室哈尔滨150001

针对机器人智能体在复杂三维环境中的安全运动,提出一种基于元启发式优化的无碰撞轨迹规划方案。轨迹点采用五次样条插值,以确保运动轨迹足够平滑,且起始点和目标点的速度与加速度均为零。以轨迹长度最短为优化目标,将轨迹与障碍物的最... 详细信息

针对机器人智能体在复杂三维环境中的安全运动,提出一种基于元启发式优化的无碰撞轨迹规划方案。轨迹点采用五次样条插值,以确保运动轨迹足够平滑,且起始点和目标点的速度与加速度均为零。以轨迹长度最短为优化目标,将轨迹与障碍物的最近距离限制在约束条件中,从而表述为一个优化问题,并采用基于元启发式的灰狼算法进行求解。随后,在复杂的三维地形中对该方案开展2个模拟仿真。结果表明:该方案能够有效地在规划空间内求解出预定数目的最优轨迹插值点,通过五次样条插值形成的轨迹长度达到最短,且不与障碍物发生任何碰撞。

关键词：机器人智能体轨迹规划无碰撞五次样条插值灰狼算法元启发式

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A force feedback master finger in exoskeleton type

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High Technology Letters 2010年第3期16卷 299-305页

作者： Fang Honggen Liu Hong xie zongwu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P.R. China Institute of Robotics and Mechatronic German Aerospace Center Wessling DLR 82230 Germany

In order to eliminate the drawbacks of conventional force feedback gloves, a new type of master fin- ger has been developed. By utilizing three ＂four-bar mechanism joint＂ in series and wire coupling mecha- nism, the master finger transmission ratio is kept exactly 1：1.4：1 in the whole movement range and it can make active motions in both extension and flexion directions. Additionally, to assure faster data transmission and near zero delay in the master-slave operation, a digital signal processing/field programmable gate array （DSP/FPGA-FPGA） structure with 200μs cycle time is designed. The operating modes of the master finger can be contact or non-contact, which depends on the motion states of a slave finger, free motion or constrained motion. The position control employed in non-contact mode ensures unconstrained motion and the force control adopted in contact mode guarantees natural contact sensation. To evaluate the performances of the master finger, an experiment between the master finger and a DLR/HTT dexterous finger is conducted. The results demonstrate that this new type master finger can augment telepresence.

关键词： force feedback master finger digital signal processing (DSP) field programmable gate array (FPGA) telepresence