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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 robotics 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

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 robotics 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

Vision‐audio fusion SLAM in dynamic environments

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CAAI Transactions on Intelligence Technology 2023年第4期8卷 1364-1373页

作者： Tianwei Zhang Huayan Zhang Xiaofei Li Shenzhen Institute of Artificial Intelligence and robotics for Society ShenzhenChina Department of robotics Ritsumeikan UniversityShigaJapan Westlake university and Westlake Institute for Advanced Study HangzhouChina

Moving humans,agents,and subjects bring many challenges to robot self‐localisation and environment *** adapt to dynamic environments,SLAM researchers typically apply several deep learning image segmentation models to eliminate these moving ***,these moving obstacle segmentation methods cost too much computation resource for the onboard processing of mobile *** the current industrial environment,mobile robot collaboration scenario,the noise of mobile robots could be easily found by on‐board audio‐sensing processors and the direction of sound sources can be effectively acquired by sound source estimation algorithms,but the distance estimation of sound sources is ***,in the field of visual perception,the 3D structure information of the scene is relatively easy to obtain,but the recognition and segmentation of moving objects is more *** address these problems,a novel vision‐audio fusion method that combines sound source localisation methods with a visual SLAM scheme is proposed,thereby eliminating the effect of dynamic obstacles on multi‐agent *** heterogeneous robots experiments in different dynamic scenes indicate very stable self‐localisation and environment reconstruction performance of our method.

关键词： dynamic environment intelligent robots sensor fusion

Comments on “Sidewinding with Minimal Slip: Snake and Robot Ascent of Sandy Slopes”

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机器人 2015年第2期37卷 254-256页

作者： LIU Jinguo GAO Yang WANG Yuechao MA Shugen LUO Yifan State Key Laboratory of robotics Shenyang Institute of Automation Chinese Academy of Sciences STAR Lab Surrey Space Centre University of Surrey Department of robotics College of Science and Engineering Ritsumeikan University

Marvi et al(Science,2014,vol.346,p.224)concluded a sidewinder rattlesnake increases the body contact length with the sand when granular incline angle *** also claimed the same principle should work on robotic snake *** have evidence to prove that this conclusion is only partial in describing the snake body-sand *** should be three phases that fully represent the snake locomotion behaviors during ascent of sandy slopes,namely lifting,descending,and *** snake body-sand interaction during the descending and ceasing phases helps with the climbing while such interaction during the lifting phase in fact contributes resistance.

关键词：机器人设计工业机器人应用

An omnidirectional mobile robot

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Science China(Information Sciences) 2011年第12期54卷 2651-2658页

作者： YE ChangLong 1,2 , MA ShuGen 2,3 & HUI Li 1 1 School of Mechatronics Engineering, Shenyang Aerospace university, Shenyang 110136, China 2 State robotics Laboratory, Shenyang Institute of Automation, Shenyang 110016, China 3 Department of robotics, ritsumeikan university, Kusatsu 525-8577, Japan School of Mechatronics Engineering Shenyang Aerospace University Shenyang China State robotics Laboratory Shenyang Institute of Automation Shenyang China Department of robotics Ritsumeikan University Kusatsu Japan

A novel omnidirectional wheeled mobile robot, mainly composed of three special wheeled structures-MY wheel, is developed in this paper. Based on the movement principle of sphere, the sphere of the special wheel is divided into contact part and non-contact part. The function of the omnidirectional wheel is realized utilizing the mutual complementarities of the two parts of the sphere. The passive rotational axes of two parts of the sphere are in staggered arrangement to each other at an angle of 45 degrees to realize continuous contact with the ground. At the same time, this structure also improves the strength of omnidirectional wheel. It is verified by the kinematic analysis and simulation of the wheeled mobile mechanism that the mechanism can achieve the omnidirectional movement. It is also proved by the movement experiment of the mobile robot that the omnidirectional mechanism can not only achieve the omnidirectional movements but also step over obstacles.

关键词： omnidirectional mobile robot mechanism design kinematics

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 robotics 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

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

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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, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2Department of robotics, ritsumeikan university, Shiga-ken 525-8577, Japan 3Graduate university of Chinese Academy of Sciences, Beijing 100039, China State Key Laboratory of robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate university of Chinese Academy of Sciences Beijing China Department of robotics Ritsumeikan University Shiga-ken 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

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 robotics 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

Undulatory gait planning method of multi-legged robot with passive-spine

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Biomimetic Intelligence & robotics 2022年第1期2卷 1-8页

作者： Yongchen Tang Guoteng Zhang Dingxin Ge Chao Ren Shugen Ma School of Itelligence and Information Engineering Tangshan university Tangshan 063000China Schoo of Control Science and Engineering Shandong university Jinan 250061China Tangshan Shinh Ieligent Techuology Co.Itd Tangshan 063000China School of Electrical and Information Engineering Tianjin university Tianjin 300072China departnent of robotics ritsumeikan university Shiga 5258577Japan

In this paper,we propose a new gait planning method for a multi-legged robot which has only 1 degree-of-freedom in each leg and has a passive body joint between two body *** firstly introduce the Finite State Machine(FSM)to the undulatory gait planning method of the 2n-legged ***,the undulatory gait sequence for straight line motion is achieved by undulations *** idea that legged locomotion is achievable by less actuation of 2n-legged robot as well as the gait planning methods are verified finally by simulations and experiments.

关键词： Multi-legged robot Undulatory gait FSM Gait planning Passive-spine