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Singularity analysis and avoidance for an SSRMS-type reconfigurable space manipulator with a non-spherical wrist and two lockable passive telescopic links

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Chinese Journal of Aeronautics 2024年第8期37卷 435-459页

作者： Zhiyuan ZHAO Xiaohang YANG Yuntao LI Zichun XU Jingdong ZHAO Hong LIU State Key laboratory of robotics and System Harbin Institute of TechnologyHarbin 150001China

This study focuses on addressing kinematic singularity analysis and avoidance issues for a space station remote manipulator system(SSRMS)-type reconfigurable space *** manipulator is equipped with a non-spherical wrist and two lockable passive telescopic links(LPTLs),which enable it to have both active revolute and passive prismatic joints and operate in two distinct *** begin with the kinematic singularity analysis,the study derives the differential kinematic equations for the manipulator and identifies the dominant Jacobian matrix that causes ***,an in-depth analysis of singularities from multiple perspectives is ***,a kinematic singularity map method is proposed to capture the distribution of singularities within the reachable ***,the influence of the two LPTLs on singularities is thoroughly ***,a new method based on the matrix rank equivalence principle is introduced to determine singularity conditions,enabling the identification of all the singular configurations for the SSRMS-type reconfigurable ***,this method significantly reduces computational complexity,and the singularity conditions obtained have more concise *** the singularity avoidance problem,a novel method is developed,which simultaneously addresses the requirements of real-time performance,high precision,and the avoidance of both kinematic singularities and joint limit *** from these excellent properties,the proposed method can effectively resolve the singularity issues encountered separately by the SSRMS-type reconfigurable manipulator in its two operational *** typical simulations validate the utility of all the proposed methods.

关键词： Reconfigurable space manipulator Redundant manipulator Kinematics Singularity analysis Singularity avoidance

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Reorientation and obstacle avoidance control of free-floating modular robots using sinusoidal oscillator

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Chinese Journal of Aeronautics 2024年第6期37卷 262-275页

作者： Zhiyuan YANG Mingzhu LAI Jian QI Ning ZHAO Xin SUI Jie ZHAO Yanhe ZHU State Key laboratory of robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mathematics and Statistics Hainan Normal UniversityHaikou 571158China

This paper presents that a serpentine curve-based controller can solve locomotion control problems for articulated space robots with extensive flight phases,such as obstacle avoidance during free floating or attitude adjustment before *** proposed algorithm achieves articulated robots to use closed paths in the joint space to accomplish the above *** snakes,which can shuttle through gaps and adjust their landing posture by swinging their body during gliding in jungle environments,inspired the design of two *** first maneuver generates a rotation of the system by varying the moment of inertia between the joints of the robot,with the magnitude of the net rotation depending on the controller *** maneuver can be repeated to allow the robot to reach arbitrary *** second maneuver involves periodic undulations,allowing the robot to avoid collisions when the trajectory of the global Center of Mass(CM)passes through the *** maneuvers are based on the improved serpenoid curve,which can adapt to redundant systems consisting of different numbers of ***,the simulation illustrates that combining the two maneuvers can help a free-floating chain-type robot traverse complex *** proposed algorithm can be used with similar articulated robot models.

关键词： Collision avoidance Modularrobots Reorientation Free-floating space robots Nonholonomic systems Biologically inspired controllers Serpenoid curve

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Towards robustness and generalization of point cloud representation:A geometry coding method and a large-scale object-level dataset

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Computational Visual Media 2024年第1期10卷 27-43页

作者： Mingye Xu Zhipeng Zhou Yali Wang Yu Qiao Guangdong-Hong Kong-Macao joint laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen518000China University of Chinese Academy of Sciences Beijing065001China Shanghai AI laboratory Shanghai200001China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for SocietyShenzhen518000China Alibaba DAMO Academy Hangzhou242332China

Robustness and generalization are two challenging problems for learning point cloud *** tackle these problems,we first design a novel geometry coding model,which can effectively use an invariant eigengraph to group points with similar geometric information,even when such points are far from each *** also introduce a large-scale point cloud dataset,*** consists of 184 categories and 51,915 synthetic objects,which brings new challenges for point cloud classification,and provides a new benchmark to assess point cloud cross-domain ***,we perform extensive experiments on point cloud classification,using ModelNet40,ScanObjectNN,and our PCNet184,and segmentation,using ShapeNetPart and *** method achieves comparable performance to state-of-the-art methods on these datasets,for both supervised and unsupervised *** and our dataset are available at https://***/MingyeXu/PCNet184.

关键词： geometry coding self-supervised learning point cloud classification segmentation 3D analysis

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Dynamic compliance of energy-saving legged elastic parallel joints for quadruped robots:design and realization

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Frontiers of Mechanical Engineering 2024年第2期19卷 45-58页

作者： Yaguang ZHU Minghuan ZHANG Xiaoyu ZHANG Haipeng QIN Key laboratory of Road Construction Technology and Equipment of Ministry of Education School of Engineering MachineryChang’an UniversityXi’an 710064China State Key laboratory of robotics and Systems Harbin Institute of TechnologyHarbin 150001China

Achieving dynamic compliance for energy-efficient legged robot motion is a longstanding *** recent predictive control methods based on single-rigid-body models can generate dynamic motion,they all assume infinite energy,making them unsuitable for prolonged robot *** this issue necessitates a mechanical structure with energy storage and a dynamic control strategy that incorporates feedback to ensure *** work draws inspiration from the efficiency of bio-inspired muscle–tendon networks and proposes a controllable torsion spring leg *** design integrates a spring-loaded inverted pendulum model and adopts feedback delays and yield springs to enhance the delay effects.A leg control model that incorporates motor loads is developed to validate the response and dynamic performance of a leg with elastic *** model provides torque to the knee joint,effectively reducing the robot’s energy consumption through active or passive control *** benefits of the proposed approach in agile maneuvering of quadruped robot legs in a realistic scenario are demonstrated to validate the dynamic motion performance of the leg with elastic joints with the advantage of energy-efficient legs.

关键词： dynamic responsiveness energy dissipation legged locomotion parallel joints quadruped robot

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Neural network-based estimation of lower limb joint kinematics:A minimally intrusive approach for gait analysis

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Medicine in Novel Technology and Devices 2024年第3期23卷 81-97页

作者： Farid Kenas Nadia Saadia Amina Ababou Noureddine Ababou Mahdi Zabat Karim BenSiSaid laboratory of robotics Parallelism and Embedded Systems University of Science and Technology Houari Boumediene AlgiersAlgeria laboratory of Instrumentation University of Science and Technology Houari Boumediene AlgiersAlgeria

The establishment of a quantitative gait analysis system holds paramount importance,particularly in the context of functional rehabilitation of the lower *** emphasize the imperative for sensors to be portable,compact,integrated,and non-intrusive,crucial characteristics in the rehabilitation field to facilitate their use and ensure optimal integration into care *** study investigates an innovative approach aimed at reducing the reliance on body-fixed sensors by harnessing their data within a neural network,thus concentrating on the joint kinematics of the lower *** primary objective is to estimate the flexion-extension angles of the hip,knee,and ankle during walking,utilizing data collected by two sensors positioned on the subject's ***,the neural network undergoes training with calculated data(leg tilt angles and angular velocities)sourced from the OpenSim database,followed by further refinement with experimental data obtained from a subject walking on a treadmill,wherein leg tilt angles and angular velocities are *** significance of this research is underscored by the demonstrated capability,through conducted tests,of the implemented networks to efficiently fuse data from a minimal set of ***,the proposed approach emerges as both practical and minimally intrusive,facilitating a robust evaluation of gait kinematic parameters.

关键词： Artificial neural network joint angle Inertial measurement unit Kinematic gait analysis Treadmill

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Efficient Dynamic Locomotion of Quadruped Robot via Adaptive Diagonal Gait

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Journal of Bionic Engineering 2024年第1期21卷 126-136页

作者： Jian Bi Teng Chen Xuewen Rong Guoteng Zhang Guanglin Lu Jingxuan Cao Han Jiang Yibin Li The Center for robotics School of Control Science and EngineeringShandong UniversityJi Nan 250000China

Quadruped animals in the nature realize high energy efficiency locomotion by automatically changing their gait at different *** by this character,an efficient adaptive diagonal gait locomotion controller is designed for quadruped robot.A unique gait planning method is proposed in this *** the speed of robot varies,the gait cycle time and the proportion of stance and swing phase of each leg are adjusted to form a variety of *** optimal joint torque is calculated by the controller combined with Virtual Model Control(VMC)and Whole-Body Control(WBC)to realize the desired *** gait and step frequency of the robot can automatically adapt to the change of *** experiments are done with a quadruped robot made by our laboratory to verify that the gait can change automatically from slow-trotting to flying-trot during the period when speed is from 0 to 4 m/*** ratio of swing phase is from less than 0.5 to more than 0.5 to realize the running motion with four feet off the *** have shown that the controller can indeed consume less energy when robot runs at a wide range of speeds comparing to the basic controller.

关键词： Quadruped robot Gait transition Adaptive gait Energy efficiency

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TrinityMag: A novel magnetically actuated miniature robot manipulating system with a human-scale workspace

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Science China Technological Sciences 2024年第11期67卷 3546-3558页

作者： LI Dong CHEN BinHan HUANG ChenYang XU Sheng WU XinYu XU TianTian Guangdong Provincial Key laboratory of robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences Key laboratory of Biomedical Imaging Science and System Shenzhen Institute of Advanced TechnologyChinese Academy of Sciences

The development of the magnetic manipulating system is essential for applications of magnetically actuated miniature robots in biomedical practice, such as targeted therapy and precise surgery. However, the workspaces of existing magnetic manipulating systems for miniature robots are mostly insufficient to manipulate miniature robots inside human bodies. The present study proposes an innovative electromagnets-based manipulating system, TrinityMag, which can produce dynamic three-dimensional(3D) magnetic fields in a human-scale spherical workspace with a 2.6 m diameter. The magnetic field of a single electromagnet is simulated, and a new calibration technic is designed based on deep learning networks. Then, the arrangement of three electromagnets is optimized to produce maximal 3D arbitrary magnetic fields with limited currents. Moreover, a target-tracking algorithm is developed so that the TrinityMag can track the miniature robot in real time. Finally, the TrinityMag is validated in experiments to manipulate a soft millirobot to move in human-scale tortuous tracks with two types of locomotions. The maximum speed of the soft millirobot reaches 11.05 body length/s. Our work contributes to a significant increment in the workspace of the electromagnets-based manipulating system for miniature robots. We further expect that the TrinityMag could push the applications of miniature robots from laboratory to clinical practice.

关键词： magnetic manipulating system human-scale workspace magnetically actuated miniature robots

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Design of Control Method for Pointing Control Mechanism of Large Space Flexible Antenna

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Journal of Harbin Institute of Technology(New series) 2024年

作者： Fuchenglong Zhao Junlin Li Shenyang Institute of Automation Chinese Academy of Sciences State Key laboratory of robotics Chinese Academy of Sciences

An innovative design method is outlined in this paper for the pointing control mechanism of large space flexible antennas. This method focuses on enhancing the accuracy and stability that are crucial for large spacecraft applications,such as space solar power stations. Utilizing potential energy function analysis,the dynamics of the antenna are modeled,treating it as an equivalent n-joint robotic arm. This approach simulates the rigid-flexible coupling effect through joint angle manipulations. The proposed HJI(Hamilton-Jacobi-Inequality)sliding mode robust control integrates HJI principle,dissipative system theory,and sliding mode control,offering improved pointing accuracy and *** results underscore the superiority of HJI sliding mode robust control over traditional PD(proportionalderivative)control in initial response,precision,and control smoothness,albeit at the cost of higher control torque requirements. This research underscores the potential of HJI sliding mode robust control in facilitating precise pointing control for future large space structures,enabling efficient space missions and reliable energy transmission.

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A Friction-Driven Strategy for Agile Steering Wheel Manipulation by Humanoid Robots

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Cyborg and Bionic Systems 2023年第1期4卷 14-27页

作者： Zhaoyang Cai Xin Zhu Pierre Gergondet Xuechao Chen Zhangguo Yu School of Mechatronical Engineering Beijing Institute of TechnologyBeijingChina cnrs-aist joint robotics laboratory IRLTsukubaJapan

Vehicle driving can substantially enhance the maneuverability of humanoid *** steering wheel manipulation requires rapid rotation in narrow spaces such as a cab,serving as the foundation for increasing driving speed,especially in an obstacle avoidance ***,there are 3 human driving strategies,“Hand-to-Hand,”“Hand-over-Hand,”and“One-Hand.”Based on the human driving motion data,we quantitatively analyze these strategies from 3 aspects,motion range of joint combination,motion region of the shoulder,and velocity of the ***,a friction-driven manipulation strategy using one hand is proposed utilizing the similarity between a humanoid robot and a driver(human).It effectively addresses the requirements of both a small range of motion and rapid *** prevent the deformation of the steering wheel caused by excessive force,we construct an operating force model specifically for the steering *** model accurately describes the relationship between the rotation resistance and the state of the steering *** addition,we propose a quadratic programming(QP)-based control framework to servo the robot to track the end-effector position and target wrench output by this ***,the effectiveness of this paper is evaluated through an obstacle avoidance scenario,achieving a maximum rotation velocity of 3.14 rad/s.

关键词： robot driving rotation

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Bioinspired Stretchable MXene Deformation-Insensitive Hydrogel Temperature Sensors for Plant and Skin Electronics

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Research 2024年第1期2023卷 389-401页

作者： Jun Wu Yinghui Li Shengshun Duan Zhehan Wang Xu Jing Yucheng Lin Di Zhu Wei Lei Qiongfeng Shi Li Tao joint International Research laboratory of Information Display and Visualization School of Electronic Science and EngineeringSoutheast UniversityNanjingJiangsu 210096China School of Materials Science and Engineering Southeast UniversityNanjingJiangsu 210096China Center of 2D Materials and Devices Southeast UniversityNanjingJiangsu 210096China

Temperature sensing is of high value in the wearable healthcare,robotics/prosthesis,and noncontact physiological ***,the common mechanic deformation,including pressing,bending,and stretching,usually causes undesirable feature size changes to the inner conductive network distribution of temperature sensors,which seriously influences the ***,inspired by the transient receptor potential mechanism of biological thermoreceptors that could work precisely under various skin contortions,we propose an MXene/Clay/poly(N-isopropylacrylamide)(PNIPAM)(MCP)hydrogel with high stretchability,spike response,and deformation *** dynamic spike response is triggered by the inner conductive network transformation from the 3-dimensional structure to the 2-dimensional surface after water being discharged at the threshold *** water discharge is solely determined by the thermosensitivity of PNIPAM,which is free from mechanical deformation,so the MCP hydrogels can perform precise threshold temperature(32℃)sensing under various deformation conditions,i.e.,pressing and 15%*** a proof of concept,we demonstrated the applications in plant electronics for the real-time surface temperature monitoring and skin electronics for communicating between human and *** research opens venues for the accurate temperature-threshold sensation on the complicated surface and mechanical conditions.

关键词： stretching proof precise

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