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This paper proposes a piezoelectric wheelbarrow based on stick-slip principle. The mechanical structure and the motion principle are presented. A series of experiments are carried out to investigate the performance of the wheelbarrow and the experimental results indicate that the displacement outputs under various driving voltages and various driving frequencies show good linear relationships with...
Due to the surgical robot flexible joint state vectors are not all measurable, in order to reduce the effect of the modeling errors and nonlinear factors of the flexible-joint manipulator caused by gravity and friction, an extended high-gain observer (EHGO) based adaptive control algorithm is designed to perform the position tracking control of the flexible-joint manipulator. First, gravity and friction...
Intelligent robot such as Unmanned Ground Mobile Robot or Vehicle is a kind of automatic equipment without a manual operation to complete the task. This paper presents a method of trajectory planning for intelligent robots based on the ant colony algorithm under an environment with obstacles. The robot can autonomously avoid obstacles from the starting point to reach the target point during maneuver...
Recently, the optimal motion planning problem has attracted a considerable amount of attention, giving rise to new algorithms like RRG, RRT* and PRM*. However, these algorithms have some difficulty in handling the high-dimensional situation like manipulation, which needs a large amount of samples to explore a huge configuration space. In this context, we present a novel incremental sampling-based...
In order to estimate the state of charge (SOC) of LiFePO4 battery more accurately, an improved Extended Kalman Filter (EFK) algorithm is proposed to estimate the parameters in the least squared identification model. A second-order RC equivalent circuit is used as the battery model, and an additive term is introduced into the state equation for real-time parameter update. Besides, a fuzzy controller...
Motivated by the demand of detecting surroundings for a humanoid robot, we developed an omnidirectional vision system for robot perception (OVROP) with 5 Degrees of Freedom (DOFs). OVROP is mainly composed by three components: hardware, control architecture and image processing. Endowed with compatible hardware and software interfaces, OVROP can be applied to a variety of robots. With the utilization...
Long-term visual SLAM, in familiar, semi-dynamic, and partially changing environments is an important area of research in robotics. The main problem we faced is the question of how to describe a scene discriminatively and compactly-both of which are necessary in order to cope with changes in appearance and a large amount of visual information. In this study, we address the above issues by mining visual...
This paper proposes a patch-based keypoints clustering method for long term robust visual tracking. We plan to employ a parallel framework with keypoints matching and estimation for tracking purpose. Patch-based method is implemented in our algorithm to improve the flexibility of system. The template is divided into patches to ensure the spatial constraint of local keypoints. The motion cue of patches...
The moving target visual servoing with hand eye cameras fixed at hand is inevitably affected by dynamic oscillatory, so that it's difficult to remain target position at the center of the camera's view, because the tracing ability of the system is influenced by non-linear dynamics of the entire manipulator. To overcome this defect of the fixed hand-eye system, hand-eye-vergence system in which left...
The space robotic system is expected to perform the on orbit servicing mission. It is a challenging task to estimate the pose of the non-cooperative spacecraft (no facilities are mounted onboard for relative pose measurement) during the phase of closing, capturing, and maintenance. In addition, the spacecraft with a high value is always very large, which pose difficulties for the cameras to photo...
In order to achieve the grasping mission in deep space, a novel and highly underactuated robotic hand which composed of bars and tendons, is proposed. The hand contains two fingers, and each finger has three joints controlled by a single motor during the grasping process. To describe the structure and the grasping properties of the of tendon-bar robotic hand, one finger is taken as research object...
In this paper, we propose a method to correct the over- and underexposed regions in images. For the correction of over- and underexposed regions, multiple light sources are used to obtain several images whose over- and underexposed regions are in different positions. The image processing consists of four steps. Firstly, multiple images are captured by alternately turning on and off the illuminations...
Wind estimation is quite important for the control and applications of quadrotors. On the basis of the freestream-velocity estimation method using inclination-angle measurement, this paper proposes a correction method considering the acceleration's influence on the quadrotor. Both the original and correction methods use the data that totally come from the inertial measurement units (IMUs) of the quadrotor...
During the teleoperation of construction machines, it is highly needed to visualize the machine body itself. This is because the operator needs to perform a visual confirmation of the construction machine. In addition, information of crawler parts' shoe slip is indispensable. Therefore, not only the surrounding environment but also the vehicle body are needed to be visualized. This paper proposes...
In the paper, a dexterous hand for space service is introduced. Its structure such as fingers, wrist and drive are discussed, there are position sensor, force sensor and tension sensor in the finger. Then the kinematic and joint angle mapping of the three DOF finger are built. The control system is built too. Finally, some tests are carried out to verify the capability of the hand.
This paper presents the development of the electrical simulator for the space station manipulator to support the design of the space manipulator's controller and the data communication verification between the space station and the manipulator. The assembly of the space manipulator model consists of the joint controller model, the joint dynamics model and the serial manipulator model. Besides, the...
The rapid development of aerospace technology means that the roles of space robots are becoming important. In order to reduce fuel consumption and successfully accomplish on-orbit service tasks, the base attitude disturbance should be as small as possible. When the particle swarm optimization (PSO) algorithm based trajectory planning method is applied to solve the problem, it is falling into local...
Spherical cameras are widely used for robot perception because of their full 360 degree fields of view. However, the robot body is always seen in the view, causing occlusions. In this paper, we propose a video completion method which is able to remove occlusions fast and recover the occluded background accurately. We first estimate motion in a 2D dense spherical optical flow field. Then we interpolate...
Learning and perception from multiple sensory modalities are crucial processes for the development of intelligent systems capable of interacting with humans. We present an integrated probabilistic framework for perception, learning and memory in robotics. The core component of our framework is a computational Synthetic Autobiographical Memory model which uses Gaussian Processes as a foundation and...
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