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High-precision Calibration of Camera and IMU on Manipulator for bio-inspired robotic system

Journal of bionic Engineering 2022年第2期19卷 299-313页

作者： Yinlong Zhang Wei Liang Sichao Zhang Xudong Yuan Xiaofang Xia Jindong Tan Zhibo Pang State Key Laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control systems Chinese Academy of SciencesShenyang 110016China Institutes for robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China The School of Computer Science and Technology Xidian UniversityXi’an 710071China Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKonxville 37996USA Department of Automation Technology ABB Corporate Research Sweden72178 VästerasSweden

inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured *** robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical *** paper introduces a novel calibration ***,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint ***,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent *** calibration has been evaluated on our collected visual inertial-manipulator *** systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.

关键词： bio-inspired robotic system Monocular camera IMU Manipulator Calibration

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Motion Control and Optimal Design of a biomimetic Manipulator Based on Snake Coiling and Stretching

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Journal of bionic Engineering 2023年第4期20卷 1514-1531页

作者： Jiangjie Han Yongshang Wang Mengbo Qian Zhejiang A&F University LinanHangzhou311300China

The traditionally articulated manipulator had a single control method,and the limited motion trajectory space was unsuitable for working in an unstructured *** paper introduces a control method and optimization for a multijoint manipulator inspired by snakes'curling and stretching ***,we analyze the manipulator’s connection mode and motion planning and propose a new motion *** addition,we calculated the relevant positions and angles and subdivided the motion of some joints based on the principle of the meta-heuristic ***,the manipulator in this mode has a larger workspace and more flexible motion *** experimental results are consistent with the theoretical analysis,which further proves the feasibility and scalability of the scheme.

关键词： bio-inspired robotic system Manipulator motion control Continuum robots Flexible robots Snake-like

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