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The micro-operation technology is developing rapidly since the miniaturization of the research object and the precision of the operation. As the actuator of micro-operation, the piezoelectric material with the inverse piezoelectric effect has been widely used in this field. A new type of actuator based on piezoelectric single crystals is characterized in this paper, and a set of test system is designed...
3D LiDAR is widely used for mobile robots environment perception nowadays, which has high precision of distance measurement. In this paper, a calibration method which is suitable for Velodyne VLP-16 is firstly introduced. And then we utilize statistical filtering for isolated points removal. After statistical filtering, a slope location and orientation estimation method is presented based on PROSAC...
The consistency between the axis of manipulators and image is very significant since the visual servo is the most important tool in the nano manipulation. This paper proposed an automated axis alignment method for a nano manipulator inside the SEM by recognizing the position of a closed-loop controlled the end-effector, which can characterize the relationship of these two axes and the rotation matrix...
As legged robots are suitable to be used in unstructured environments, it becomes a popular field of research nowadays. In this paper, the development of quadruped robots is summarized. And several typical and recent robot systems are addressed in details, such as HyQ series, StarlETH, ANYmal, MIT Cheetah and BigDog, etc. Furthermore, some key techniques of environment perception for quadruped robots,...
Probing nanostructures (e.g., nanoelectronics) requires accurate and precise nanopositioning. Furthermore, since measuring I–V data from dc to GHz typically takes more than a minute, tolerance for position drift is stringent during the data collection process. This paper reports a closed-loop controlled nanomanipulation system for operation inside a scanning electron microscope. A new position sensing...
This paper presents a collision-free path planning approach based on Bezier curve for a mobile manipulator with the endpoints restricted by the manipulator. Based on these candidate endpoints and the initial posture of mobile manipulator, a series of feasible Bezier paths are obtained with the constraints from velocity, acceleration and environment. And then the optimal collision-free path is determined...
A general vision approach for environment understanding of mobile robot is proposed, which is inspired by biological visual cortex. Gray level image from robot camera is firstly processed in the selective attention layer, and then in S and C layers for meaningful structure elements. With the help of the Sc layer designed for endpoints detection, the line segments map is generated to serve as the form...
This paper proposes a new forward passageway (FP) based real-time collision-free target tracking approach for a mobile robot with local sensing. After the position of the target is estimated and localized in robot coordinate system through the combination of vision system and encoder, the sonar information and the target position are converted to a uniform environment model framework called decision-making...
This paper proposes a hunting control approach for multiple mobile robots with local sensing. Predator Robot (PR) requires the sensing information and makes decision without communication with other PRs. The cooperation may emerge by local interactions among the robots. The invader (IR) is given the intelligent ability to escape. Experiments results show the validity of the proposed approach.
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