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A versatile humanoid robot platform for dexterous manipulation and human-robot collaboration

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CAAI Transactions on Intelligence Technology 2024年第2期9卷 526-540页

作者： Xin Shu Fenglei Ni Xinyang Fan Shuai Yang Changyuan Liu Baoxu Tu Yiwei Liu Hong Liu state key laboratory of robotics and System Harbin Institute of TechnologyHarbinChina

Humanoid robots have attracted much attention by virtue of their compatibility with human environments.However,biped humanoids with immense promise still cannot function steadily and reliably in real-world settings in the current state.Hence,rationally combining a humanoid robot with different stable mobile platforms is a favoured solution for diverse scenarios.Here,a new versatile humanoid robot platform,aiming to provide a generic solution that can be flexibly deployed in diverse scenarios,for example,indoors and fields is presented.Versatile humanoid robot platform incorporates multimodal perception,and extensible interfaces on hardware and software,allowing it to be rapidly integrated with different mobile platforms and end-effectors,only through easyto-assemble interfaces.Additionally,the platform has achieved impressive integration,lightness,dexterity,and strength in its class,with human-like size and rich perception,targeted to have human-intelligent manipulation skills for human-engineered environments.Overall,this article elaborates on the reasoning behind the design choices,and outlines each subsystem.Lastly,the essential performance of the platform is successfully demonstrated in a set of experiments with precise and dexterous manipulation,and human–robot collaboration requirements.

关键词： intelligent robots robotics

Vision-based docking system for an aromatic-hydrocarbon-inspired reconfigurable robot

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Science China Technological Sciences 2024年第6期67卷 1798-1816页

作者： XING FangYi XU Cheng LIU JinGuo XUE ZhiHui state key laboratory of robotics Shenyang Institute of AutomationChinese Academy of Sciences School of Automation and Electrical Engineering Shenyang Ligong University Institutes for robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences

Aromatic hydrocarbons generally refer to compounds containing benzene rings. Many types of isomers can be formed by replacing hydrogen atoms on the benzene ring. In this paper, an aromatic-hydrocarbon-inspired modular robot(AHIMR) is proposed.The robot can be reassembled into different configurations suitable for various task requirements. A vision-based docking system is designed for the AHIMR. The system primarily consists of two stages: a remote guidance stage and a precise docking stage.During the remote guidance stage, an object module is identified using an illumination adaptive target recognition algorithm,and then the active module moves to the docking area through communication with ZigBee. In the precise docking stage, the active module calculates the relative pose with the object module using a perspective-n-point method and dynamically adjusts its posture to dock. In this process, a Kalman filter is used to reduce target occlusion and jitter interference. In addition, the docking system feasibility is verified via several simulation experiments. The module docking accuracy is controlled within 0.01 m, which meets the reconfiguration task requirements of the AHIMR. In the AHIMR submodule docking experiment, the active module accurately moves to the expected position with a docking success rate of 95%.

关键词： modular robot reconfiguration aromatic hydrocarbon autonomous docking visual identification

Intuitive Human-Robot-Environment Interaction With EMG Signals:A Review

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1075-1091页

作者： Dezhen Xiong Daohui Zhang Yaqi Chu Yiwen Zhao Xingang Zhao state key laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169 University of Chinese Academy of Sciences Beijing 100049China

A long history has passed since electromyography(EMG)signals have been explored in human-centered robots for intuitive interaction.However,it still has a gap between scientific research and real-life applications.Previous studies mainly focused on EMG decoding algorithms,leaving a dynamic relationship between the human,robot,and uncertain environment in real-life scenarios seldomly concerned.To fill this gap,this paper presents a comprehensive review of EMG-based techniques in human-robot-environment interaction(HREI)systems.The general processing framework is summarized,and three interaction paradigms,including direct control,sensory feedback,and partial autonomous control,are introduced.EMG-based intention decoding is treated as a module of the proposed paradigms.Five key issues involving precision,stability,user attention,compliance,and environmental awareness in this field are discussed.Several important directions,including EMG decomposition,robust algorithms,HREI dataset,proprioception feedback,reinforcement learning,and embodied intelligence,are proposed to pave the way for future research.To the best of what we know,this is the first time that a review of EMG-based methods in the HREI system is summarized.It provides a novel and broader perspective to improve the practicability of current myoelectric interaction systems,in which factors in human-robot interaction,robot-environment interaction,and state perception by human sensations are considered,which has never been done by previous studies.

关键词： robot summarized Robot

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NUMERICAL SIMULATION OF BATOID LOCOMOTION

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Journal of Hydrodynamics 2011年第5期23卷 594-600页

作者： CHEN Wei-shan WU Zhi-jun LIU Jun-kao SHI Sheng-jun ZHOU Yang state key laboratory of robotics and System Harbin Institute of Technology Harbin 150001 China

The hydrodynamics of batoid swimming motions is investigated using the three-dimensional simulation of a self-propelled body in still water. The kinematics of batoid swimming is characterized by large amplitude undulations of the pectoral fins while the middle part of the body remains straight. The majority of the thrust is generated by pectoral fins. Linear and quadratic amplitude variations are used for the pectoral fins in analyzing the locomotion of the batoid. Navier-Stokes equations are used to solve the unsteady fluid flow. A user defined function and a dynamic mesh method are applied to track the batoid locomotion. The mean swimming velocities of 1.6 BL/s and 1.3 BL/s are achieved, respectively, with thrust coefficients of 0.13 in and 0.095 in the dynamical simulation, where BL/s is the body length per second. The maximum propulsive efficiency 19% is achieved when the frequency of the undulation is 2.2 Hz in both amplitude variations.

关键词： batoid fish undulation pectoral fin dynamical simulation

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Micelle-directed self-assembly of single-crystal-like mesoporous stoichiometric oxides for high-performance lithium storage

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National Science Review 2024年第4期11卷 195-205页

作者： Yanhua Wan Changyao Wang Xingmiao Zhang Yang Yin Mengmeng Liu Bing Ma Linlin Duan Yuzhu Ma Wei Zhang Changlin Zheng Dongliang Chao Fei Wang Yongyao Xia Wei Li Department of Chemistry Laboratory of Advanced Materials Shanghai Key Laboratory of Molecular Catalysis and Innovative Materials State Key Laboratory of Molecular Engineering of Polymers College of Chemistry and Materials ScienceFudan University state key laboratory of Surface Physics and Department of Physics Fudan University

Due to their uncontrollable assembly and crystallization process,the synthesis of mesoporous metal oxide single crystals remains a formidable challenge.Herein,we report the synthesis of single-crystal-like mesoporous Li2TiSiO5by using soft micelles as templates.The key lies in the atomic-scale self-assembly and step-crystallization processes,which ensure the formation of single-crystal-like mesoporous Li2TiSiO5microparticles via an oriented attachment growth mechanism under the confinement of an in-situ formed carbon matrix.The mesoporous Li2TiSiO5anode achieves a superior rate capability(148 mAh g-1at5.0 A g-1) and outstanding long-term cycling stability(138 mAh g-1after 3000 cycles at 2.0 A g-1) for lithium storage as a result of the ultrafast Li+diffusion caused by penetrating mesochannels and nanosized crystal frameworks（5-10 nm）.In comparison,bulk Li2TiSiO5exhibits poor rate capability and cycle performance due to micron-scale diffusion lengths.This method is very simple and reproducible,heralding a new way of designing and synthesizing mesoporous single crystals with controllable frameworks and chemical functionalities.

关键词： mesoporous materials micelles single-crystal-like Li2TiSiO5 lithium-ion batteries

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 challenge.Although 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 operation.Addressing this issue necessitates a mechanical structure with energy storage and a dynamic control strategy that incorporates feedback to ensure stability.This work draws inspiration from the efficiency of bio-inspired muscle–tendon networks and proposes a controllable torsion spring leg structure.The 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 joints.This model provides torque to the knee joint,effectively reducing the robot’s energy consumption through active or passive control strategies.The 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

Conversion of a single-layer ANN to photonic SNN for pattern recognition

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Science China(Information Sciences) 2024年第1期67卷 261-270页

作者： Yanan HAN Shuiying XIANG Tianrui ZHANG Yahui ZHANG Xingxing GUO Yuechun SHI state key laboratory of Integrated Service Networks State Key Discipline Laboratory of Wide Bandgap Semiconductor TechnologyXidian University Yongjiang laboratory

This work presents a complete conversion scheme for photonic spiking neural networks(SNNs).We verified that the output of an artificial neural network(ANN) trained with the simulated optical activation function can be directly converted into the spike rate of a photonic spiking neuron model.To reveal the feasibility of hardware implementation,we considered the effects of different bit precisions of data and weight,noise level,and bias current mismatch on the converted results.The proposed scheme was evaluated using the Deterding vowel,IRIS,TIDIGITS,and MNIST datasets for pattern recognition,and achieved mean accuracies of 95.80%,98.67%,96.19%,and 92.33%,respectively.The proposed scheme can convert an ANN into a photonic SNN with almost no precision loss,and the performance was comparable to that of an ANN trained with the rectified linear unit function.The proposed scheme can enable the high-performance implementation of photonic SNNs.

关键词： photonic SNN conversion optical computing pattern recognition artificial neural network

Cable-driven legged landing gear for unmanned helicopter:Prototype design,optimization and performance assessment

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Science China(Technological Sciences) 2024年第4期67卷 1196-1214页

作者： TIAN BaoLin GAO HaiBo YU HaiTao SHAN HaoMin HOU JunChen YU HongYing DENG ZongQuan state key laboratory of robotics and System Harbin Institute of TechnologyHarbin 150001China China Academy of Aerospace Science and Innovation Beijing 100048China

Unmanned helicopters equipped with adaptive landing gear will dramatically extend their application especially in dealing with challenging terrains.This study presents a novel cable-driven legged landing gear(CLG)with differential transmission for unmanned helicopters in complex landing environments.To obtain the preferred configuration of the legged mechanism,a multi-objective optimization framework for the CLG is constructed by concurrently considering terrain adaptability,landing stability and reasonable linkage of internal forces.The non-dominated sorting genetic algorithmⅡis employed to numerically acquire the optimal scale parameters that guide the mechanical design of the CLG.An unmanned helicopter prototype equipped with the devised CLG is developed with key performance assessment.Experimental results show that the devised CLG can provide energy-efficient support over uneven terrains(totally driven torque demand less than 0.1 N m)in quasi-static landing tests,and favorable terrain adaptability(posture fluctuation of the fuselage less than±1°)in unknown slope landing tests.These exhibited merits give the proposed CLG the potential to enhance the landing performance of future aircraft in extreme environments.

关键词： unmanned helicopter adaptive landing gear experimental verification

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Hemispherical resonator with low subsurface damage machined by small ball-end fine diamond grinding wheel:A novel grinding technique

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Chinese Journal of Aeronautics 2024年第5期37卷 570-585页

作者： Biao QIN Henan LIU Jian CHENG Jinchuan TIAN Jiangang SUN Zihan ZHOU Chuanzhen MA Mingjun CHEN state key laboratory of robotics and System Harbin Institute of TechnologyHarbin 150001China Center for Precision Engineering Harbin Institute of TechnologyHarbin 150001China

As for the ultra-precision grinding of the hemispherical fused silica resonator,due to the hard and brittle nature of fused silica,subsurface damage(SSD)is easily generated,which enormously influences the performance of such components.Hence,ultra-precision grinding experiments are carried out to investigate the surface/subsurface quality of the hemispherical resonator machined by the small ball-end fine diamond grinding wheel.The influence of grinding parameters on the surface roughness(SR)and SSD depth of fused silica samples is then analyzed.The experimental results indicate that the SR and SSD depth decreased with the increase of grinding speed and the decrease of feed rate and grinding depth.In addition,based on the material strain rate and the maximum undeformed chip thickness,the effect of grinding parameters on the subsurface damage mechanism of fused silica samples is analyzed.Furthermore,a multi-step ultra-precision grinding technique of the hemispherical resonator is proposed based on the interaction influence between grinding depth and feed rate.Finally,the hemispherical resonator is processed by the proposed grinding technique,and the SR is improved from 454.328 nm to 110.449 nm while the SSD depth is reduced by 94%from 40μm to 2.379μm.The multi-step grinding technique proposed in this paper can guide the fabrication of the hemispherical resonator.

关键词： Fused silica Ultra-precision grinding Hemispherical resonator Subsurface damage Grinding technique