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An Adaptive Rapidly-Exploring Random Tree

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IEEE/CAA Journal of Automatica Sinica 2022年第2期9卷 283-294页

作者： Binghui Li Badong Chen Institute of Artificial Intelligence and robotics Xi’an Jiaotong UniversityXi’an 710049China IEEE

Sampling-based planning algorithms play an important role in high degree-of-freedom motion planning(MP)problems,in which rapidly-exploring random tree(RRT)and the faster bidirectional RRT(named RRT-Connect)algorithms have achieved good results in many planning ***,sampling-based methods have the inherent defect of having difficultly in solving planning problems with narrow ***,several algorithms have been proposed to overcome these *** one of the improved algorithms,Rapidlyexploring random vines(RRV)can achieve better results,but it may perform worse in cluttered environments and has a certain environmental *** this paper,we present a new improved planning method based on RRT-Connect and RRV,named adaptive RRT-Connect(ARRT-Connect),which deals well with the narrow passage environments while retaining the ability of RRT algorithms to plan paths in other *** proposed planner is shown to be adaptable to a variety of environments and can accomplish path planning in a short time.

关键词： Narrow passage path planning rapidly-exploring random tree(RRT)-Connect sampling-based algorithm

Variable Curvature Modeling Method of Soft Continuum Robots with Constraints

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Chinese Journal of Mechanical Engineering 2023年第6期36卷 51-61页

作者： Yuwang Liu Wenping Shi Peng Chen Liang Cheng Qing Ding Zhaoyan Deng State Key laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110016China School of Mechanical Engineering Northeastern UniversityShenyang 110016China University of Chinese Academy of Sciences Beijing 100049China School of Automation and Electrical Engineering Shenyang Ligong UniversityShenyang 110016China

The inherent compliance of continuum robots holds great promise in the fields of soft manipulation and safe human–robot *** compliance reduces the risk of damage to the manipulated object and its ***,continuum robots possess theoretically infinite degrees of freedom,and this high flexibility usually leads to complex deformations when subjected to external forces and positional *** these complex deformations is the main challenge in modeling continuum *** this study,we investigated a novel variable curvature modeling method for continuum robots,considering external forces and positional *** robot configuration curve is described using the developed mechanical model,and then the robot is fitted to the curve.A ten-section continuum robot prototype with a length of 1 m was developed in order to validate the *** feasibility and accuracy of the model were verified by the ability of the robot to reach target points and track complex trajectories with a *** work was able to serve as a new perspective for the design analysis and motion control of continuum robots.

关键词： Continuum robots Variable curvature modeling Boundary conditions Nonlinear mechanics

Unscented Kalman-filter-based sliding mode control for an underwater gliding snake-like robot

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Science China(Information Sciences) 2020年第1期63卷 213-225页

作者： Jingge TANG Bin LI Jian CHANG Aiqun ZHANG State Key laboratory of robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for robotics and Intelligent Manufacturing Chinese Academy of Sciences

With its strong endurance and high maneuverability, an underwater gliding snake-like robot(UGSR) is a strong potential candidate for aquatic exploration and monitoring. The major feature of the UGSR, which distinguishes it from other snake-like robots, is long range and long operation duration by gliding. This study establishes a gliding motion control system for the UGSR based on a sliding mode controller(SMC). The control system stabilizes the system and suppresses the uncertainties and unknown disturbances. In this strategy, chattering is reduced based on the reaching law method. To circumvent the difficulty of velocity measurements, a nonlinear observer based on an unscented Kalman filter(UKF) is employed for state estimation and random noise handling. The effectiveness of the proposed controller and observer is verified by simulating the UKF-based SMC closed-loop system.

关键词： underwater gliding snake-like robot sliding mode control reaching law nonlinear observer unscented Kalman filter robustness

A Robotic System with Robust Remote Center of motion Constraint for Endometrial Regeneration Surgery

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Chinese Journal of Mechanical Engineering 2022年第4期35卷 169-181页

作者： Jianhua Li Chongyang Wang Zhenxing Wang Xiong Zheng Zhidong Wang Jichun Tan Hao Liu State Key laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Shenyang Jianzhu University Shenyang 110168China Chiba Institute of Technology Chiba 275-0016Japan Shengjing Hospital of China Medical University Shenyang 110016China

Surgical robots have been widely used in diferent procedures to improve and facilitate the ***,there is no robot designed for endometrial regeneration surgery,which is a new therapy for restoring fertility in women using stem *** regeneration surgery requires processing of the endometrium and transplantation of stem cells with minimal trauma to the *** this paper,we introduce a surgical robotic system that consists of a dexterous hysteroscope,supporting arm,and additional novel instruments to facilitate the operation and decrease trauma to the *** center of motion(RCM)constraint is required to protect the cervix of the ***,the supporting arm and hysteroscope are controlled separately in kinematics to ensure that the RCM constraint and hysteroscope’s shape and posture are ***,a task-decoupled method is used to improve the robustness of the RCM *** confrm that the proposed method is more robust and achieves higher RCM *** addition,the master-slave control of a robot with RCM constraint is also *** study proposes the realization of a robot with robust RCM control for endometrial regeneration surgery.

关键词： Endometrial regeneration Surgical robot Remote center of motion Task decoupled

1U-Sized Deployable Space Manipulator for Future On-Orbit Servicing,Assembly,and Manufacturing

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Space(Science & Technology) 2022年第1期2022卷 500-513页

作者： Jinguo Liu Pengyuan Zhao Keli Chen Xin Zhang Xiang Zhang State Key laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China National Innovation Institute of Defense Technology Academy of Military SciencesBeijingChina

Miniaturized,multifunctional,and economical on-orbit service satellites have been increasingly used with the continuous increase of space exploration *** this paper,an innovative deployable manipulator is designed,named Cubot,which can be stowed in 1 U-sized(10 cm×10 cm×10 cm)*** CubeSat as the carrier,the deployable Cubot aims to achieve a variety of on-orbit operation tasks including space debris removal and space station on-orbit maintenance,for future on-orbit servicing,assembly,and manufacturing(OSAM).A kinematics modeling method of a space manipulator with passive joints is proposed,and the motion equation of the manipulator is *** the elastic potential energy stored in the passive joint during deployment,the momentum change of Cubot is simulated and *** the main forced element,the end effector is analyzed using *** stress response with respect to the force distribution and the clamping angle is analyzed to evaluate mechanical performances of the end-effector *** tests are conducted to verify the feasibility of Cubot based on a principled prototype,which aims to provide engineering and practical experience for the development of this field.

关键词： passive sized Cube

An Energy-based Nonlinear Coupling Control for Offshore Ship-mounted Cranes

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International Journal of Automation and computing 2018年第5期15卷 570-581页

作者： Yu-Zhe Qian Yong-Chun Fang Tong Yang Institute of robotics and Automatic Information System Nankai University Tianjin Key laboratory of Intelligent robotics Nankai University

This paper proposes a novel nonlinear energy-based coupling control for an underactuated offshore ship-mounted crane,which guarantees both precise trolley positioning and payload swing suppressing performances under external sea wave disturbance. In addition to having such typical nonlinear underactuated property, as it is well known, an offshore ship-mounted crane also suffers from much unexpected persistent disturbances induced by sea waves or currents, which, essentially different from an overhead crane fixed on land, cause much difficulty in modeling and controller design. Inspired by the desire to achieve appropriate control performance against those challenging factors, in this paper, through carefully analyzing the inherent mechanism of the nonlinear dynamics, we first construct a new composite signal to enhance the coupling behavior of the trolley motion as well as the payload swing in the presence of ship′s roll motion disturbance. Based on which, an energy-based coupling control law is presented to achieve asymptotic stability of the crane control system′s equilibrium point. Without any linearization of the complex nonlinear dynamics, unlike traditional feedback controllers, the proposed control law takes a much simpler structure independent of the system parameters. To support the theoretical derivations and to further verify the actual control performance, Lyapunov-based mathematical analysis as well as numerical simulation/experimental results are carried out, which clarify the feasibility and superior performance of the proposed method over complicated disturbances.

关键词： Energy-based control offshore ship-mounted cranes Lyapunov methods underactuated nonlinear control systems.

High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System

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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

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

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