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This paper presents a newly developed upper-body humanoid robot platform. The system has more than 52 degree of freedom (DOF), including two 7-DOF arms, two 15-DOF dexterous hands, a 3-DOF head, a 2-DOF waist and a 3-DOF mobile vehicle. To shorten development period and reduce cost, all the DOFs of the arms and the waist are designed with the modular joints. The two arms and two dexterous hands are...
This paper proposes the MHIC (Modified Hybrid Impedance Control) strategy of the redundant robot for ORU replacements based on the ground testbed. First, the operation process is analyzed and the corresponding strategies of ORU replacements are proposed. Then, based on the traditional hybrid impedance control method, MHIC of redundant robots is proposed achieving compliance or force tracking in different...
In this paper, we investigate a new communication system architecture for ERTMS/ETCS, the most advanced standard for managing and controlling of railway traffic, integrating Public Land Mobile Networks (PLMNs), usually offering best-effort packet services only, with a Quality of Service (QoS) guaranteed satellite network, as a cost-effective substitution for dedicated 4G and 5G networks that should...
Facing current on-orbit servicing tasks, a space arm-hand system is designed and developed in this paper. Firstly, through contrast and analysis, the arm configuration of non-biased elbow and spherical wrist is identified, and the space hand system adopts the five-fingered dexterous robot hand. Secondly, the 6-DOF space arm system is accomplished including humanoid links and two different types of...
No-reference video quality assessment is a challenging task since the quality evaluation is not based on a priori knowledge of the original signal. In this paper we propose a no-reference quality metric for IP-based video transmission. The video quality is estimated based on the evaluation of the artifacts introduced by H.264/AVC coding and by the impairments caused by the IP transmission system....
The traditional six-dimensional force/torque sensor calibration method requires a lot of precision loading force and can only be off-line calibration. In this paper, to solve the problem, an online calibration and decoupling method based on the shape from motion combined with complex algorithm is proposed. It does not require accurate and redundant loading force information, and have better noise...
This paper proposes the design and development of an integrated serial elastic actuator (SEA) which is used as the elbow joint in the soft humanoid arm. First, requirements of SEA are illustrated. And six different types of elastic elements (e.g. the discoid element, the cylindrical) are analyzed using the design of experiment (DOE) method. And then, a discoid elastic element with larger flexibility...
In this paper, we present an novel sensor selection technique for multi-target tracking where the sensor selection criterion is the Cauchy-Schwarz divergence between the predicted and updated densities. The proposed approach is attractive in that the multi-target states are modeled as Poisson random finite sets (RFS) that allow the objective function to be calculated in closed form. Simulation results...
This paper proposes kinematic optimizations of 7R humanoid arms based on the joint parameterization and the self-optimizing method. Because self-motions of the redundant robots, inverse kinematic optimizations of joint limits avoidance are discussed in this paper. Firstly, the evaluation criterion of kinematic optimizations is defined, and the self-optimizing method is proposed. Then, inverse kinematics...
This paper proposes the optimal inverse kinematic solutions of a 7R humanoid arm using the reconfiguration method and the self-optimizing method. Firstly, based on analyses of the humanoid arm with offset wrist, the reconfiguration method is proposed. Given the specified hand pose in Cartesian space, a closed-loop robot is developed by virtually connecting two ends of the humanoid arm. And then, the...
With the development of Chinese space technology, the space robot will take a critical function in the future. As one of the important intelligent sensors, six-dimension force/torque sensor (F/T sensor) is usually used in the space robot. The precision of F/T sensor is the most significant index. Not only the designing and optimizing mechanical structure of the F/T sensor has significant impact on...
Not only output of the six-dimension force/torque sensor changes with force or torque, but also be susceptible to ambient temperature, thus limiting measurement accuracy of the sensor. In order to overcome the above drawbacks of six-dimension force/torque sensor, this paper proposes a temperature compensation method based on Radial Basis Function (RBF) Neural Network. Compared with the conventional...
This paper presents a novel six-axis force/torque sensor based on strain gauges. Firstly, the six-axis force/torque sensor's design criterion is systematically expounded by calibration matrix, condition number, coupling error, sensor accuracy, strain gauge sensitivity, sensor sensitivity and sensor stiffness. Secondly, a novel sensing element is designed and simulated by finite element method. Then,...
A highly integrated joint controller using in a humanoid robot arm has been developed in the paper. The joint controller is highly integrated with position sensors — the hall sensors, the magnetic sensor and the photoelectrical sensor, the torque sensors, the temperature sensor and so on. Besides, it can control and drive the motor in PWM and SVPWM modes. What is more, the joint controller has been...
The paper proposes an integrated approach to solve the inverse kinematics of the 7-DOF humanoid arm with offset wrist. Firstly, according to the arm's configuration, the closed-form solutions of inverse kinematics for 7-DOFs arms are developed based on the reverse coordinates method. Secondly, an integrated inverse kinematic approach, termed the modified gradient projection method, is proposed on...
Six-axis force/torque sensor plays an important role in many fields. A novel six-axis force/torque sensor based on strain gauge was designed and optimized with design of experiments (DOE) approach and response surface methodology. In order to reduce the errors bonding strain gauges, we adopted strain distribution analysis to acquire the accurately positions. The strain compliance matrix was attained...
This paper proposes an analytical approach to solve inverse kinematics of 6-DOF manipulators. Since the manipulator discussed here is designed with the S-RRR configuration, it is difficult to solve the inverse kinematics analytically. So, the reverse coordinates method is developed. This paper obtains a new 6-DOF manipulator with RRR-S configuration by inverting the base and the end effector of the...
This paper mainly describes the design and development of the humanoid robot arm. First, according to the requirements of tasks and anthropomorphic characteristics, the 7-DOF humanoid arm with non-offset S-R-S configuration is identified by evaluating four alternatives. The humanoid arm is accomplished with modular design, and is composed of links and modular joints. Cables between joints pass through...
A dexterous, light weight arm with high precision, high speed manoeuvrability has been built for playing ping-pong. It is based on the modular design concept. The 6 DOFs robot arm consists of two shoulder joints, two elbow joints and one wrist joint. Brushless DC motors and harmonic reducer with a large central hole are applied on the shoulder joints and the elbow joints. The wrist joints are characterized...
In this paper, the author proposes a cross-coupling control approach based on neuron network, of which multiple parameters can be adjusted on line. According to the demand on the convergence of synchronization error in cross-coupling control, synchronization error item is introduced in this method to improve the performance function of BP (back propagation) neuron network, therefore it decreases synchronization...
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