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Ai Y.,State Key Laboratory of Robotics and System | Pan B.,State Key Laboratory of Robotics and System | Niu G.,State Key Laboratory of Robotics and System | Fu Y.,State Key Laboratory of Robotics and System | Wang S.,State Key Laboratory of Robotics and System
2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 | Year: 2016

The master-slave control technology of isomeric surgical robot for minimally invasive surgery (MIS) is studied in order to meeting the requirement for robot MIS. The master-slave control hardware platform is built based on distributed fieldbus. The incremental control method based on separation of gesture from position is proposed by analyzing the master-slave structure configuration of the MIS robotic system, which solves the workspace mismatch problem between the master hand and slave arm caused by the isomeric structure, and realizes the hand-eye coordination control of MIS robot, position and gesture adjustment of the master hands, and operating precision selecting, et al. The master-slave trajectory tracking and animal experiments are carried out. The experimental results show that the master-slave control hardware platform for MIS robot built in this paper can satisfy the master-slave operation requirement of the surgical robot for MIS. The proposed master-slave control method based on separation of gesture from position is able to eliminate the influence caused by isomeric master-slave structure, and achieve the hand-eye coordination operation for the doctor. Meanwhile, the realization of control functions, such as adjusting master hands, operation precision selecting, and so on, increases the usability of the surgical robotic system. © 2016 IEEE.

Xiang L.,Shanghai University | Xin L.,Shanghai University | Xin L.,State Key Laboratory of Robotics and System | Xin L.,Shanghai Key Laboratory of Power Station Automation Technology
Journal of Computers | Year: 2011

Speech emotion recognition is an important issue in the development of human-computer interactions. In this paper a series of novel robust features for speech emotion recognition is proposed. Those features, which derived from the Hilbert-Huang transform (HHT) and Teager energy operator (TEO), have the characteristics of multi-resolution, self-adaptability and high precision of distinguish ability. In the experiments, seven status of emotion were selected to be recognized and the highest 85% recognition rate was achieved within the classification accuracy of boredom reached up to 100%. The numerical results indicate that the proposed features are robust and the performance of speech emotion recognition is improved substantially. © 2011 ACADEMY PUBLISHER.

Yue M.,State Key Laboratory of Robotics and System | Zhang Y.,Dalian University of Technology | Tang F.,Dalian University of Technology
Transactions of the Institute of Measurement and Control | Year: 2013

A two-wheeled surveillance vehicle with the mass centre of the vehicle body below its configuration centre, which is different from the traditional structure design, is investigated in this paper. In order to avoid the vehicle body turning over, the output torque of each motor is set to a pre-calculated upper bound value. Because these bound constraints should be introduced on a dynamics level, sliding mode control is developed based on a power exponent approaching law to control the dynamic system with some robust properties. With this method, the control effects can be adjusted by regulating the corresponding parameters. To track a desired trajectory, another controller based on a kinematics level has also been designed on a special error space of the system. The simulation verifies the effectiveness of the proposed two-degree controller. © 2012 The Author(s).

Ding L.,State Key Laboratory of Robotics and System | Gao H.,State Key Laboratory of Robotics and System | Guo J.,State Key Laboratory of Robotics and System | Li N.,State Key Laboratory of Robotics and System | And 2 more authors.
Chinese Control Conference, CCC | Year: 2012

Wheeled mobile robots such as planetary rovers are required to traverse over rough and deformable terrain, making obvious longitudinal slip and lateral skid occur to the wheels. Thus new challenges are brought to the control of mobile robots. Wheel-soil interaction terramechanics is the basic theory of analyzing wheel slip and skid. This paper takes the planetary rovers as examples to present the problems of slip and skid caused by rough and deformable terrain. Terramechanics models of wheels moving forward with slip or lateral skid during the process of wheel-soil interaction are introduced. The dynamics models of pure slip, pure skid, and coupling slip-skid of a two-wheeled mobile robot while climbing up, crossing, or crossing and following a straight line are analyzed, respectively. The models are simplified and the disturbances are analyzed on the control design perspective. This study provides basic models of designing control system to compensate slip and skid for mobile robots. © 2012 Chinese Assoc of Automati.

Zhai J.,Xi'an Jiaotong University | Yan W.,Xi'an Jiaotong University | Fu Z.,Xi'an Jiaotong University | Fu Z.,State Key Laboratory of Robotics and System | And 2 more authors.
2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012 | Year: 2012

The dual-arm humanoid cooking robot is able to cook dishes like a master chef in ordinary home kitchens. The kinematic analysis is carried out for the arm of the robot. Coordinate frames are assigned to each link of the arm using the Denavit-Hartenberg convention. The working space of the arm is calculated. The kinematic equations are obtained by calculating the homogeneous transformation matrix. The inverse kinematic solution is obtained and verified by simulation. The Jacobian of the arm is obtained by the vector product method. © 2012 IEEE.

Liu F.,Bohai University | Gao H.,Bohai University | Qiu J.,State Key Laboratory of Robotics and System | Qiu J.,Harbin Institute of Technology | And 3 more authors.
IEEE Transactions on Industrial Electronics | Year: 2014

This paper investigates the setpoints compensation for a class of complex industrial processes. Plants at the device layer are controlled by the local regulation controllers, and a multirate output feedback control approach for setpoints compensation is proposed such that the local plants can reach the dynamically changed setpoints and the given economic objective can also be tracked via certain economic performance index (EPI). First, a sampled-data multivariable output feedback proportional integral (PI) controller is designed to regulate the performance of local plants. Second, the outputs and control inputs of the local plants at the device layer are sampled at operation layer sampling time to form the EPI. Thus, the multirate problem is solved by a lifting method. Third, the static setpoints are generated by real-time optimization and the dynamic setpoints are calculated by the compensator according to the error between the EPI and objective at each operation layer step. Then, a networked case is studied considering unreliable data transmission described by a stochastic packet dropout model. Finally, a rougher flotation process model is employed to demonstrate the effectiveness of the proposed method. © 1982-2012 IEEE.

Zhao J.,State Key Laboratory of Robotics and System | Wu X.,State Key Laboratory of Robotics and System | Zang X.,State Key Laboratory of Robotics and System | Zhu Y.,State Key Laboratory of Robotics and System | Zhu L.,State Key Laboratory of Robotics and System
Proceedings - IEEE International Conference on Robotics and Automation | Year: 2011

The passive dynamic walking model, which can only depend on the gravity and its own inertia, presents stable, high-efficient, natural periodic gait on a slight slope. The stable periodic gait of the robot has a delicate balance of energy conversion, which makes the gait adjust itself as the parameters of the model change. In our work, the cell mapping method is combined with Newton-Raphson iteration to obtain the limit cycle of the periodic gait in the model, the track stability of the limit cycle is analyzed, and the eigenvalues change rule of Poincaré Jacobi matrix is deduced. The influence of changing parameters on the gait is analyzed and discussed by simulations on the model with different sets of parameters. The result suggests that, the location of the center of leg mass too high or too low, foot radius increase or decrease, the slope or moment of inertia increase, will lead to the occurrence of bifurcation of the gait period and chaos; while the way the gait enters chaos from period doubling bifurcation, which results from different parameters change, obeys the law all the period doubling bifurcation share, that is, it has the same Feigenbaum constant. Furthermore, the dynamic features of the robot at the entrance of the chaos are obtained by the rule of the period doubling bifurcation of the gait; meanwhile, it can be found by the analysis of the gait features in the chaos area that there is also certain periodic law in the chaotic gait. © 2011 IEEE.

Zhao J.,State Key Laboratory of Robotics and System | Cui X.,State Key Laboratory of Robotics and System | Zhu Y.,State Key Laboratory of Robotics and System | Tang S.,State Key Laboratory of Robotics and System
Proceedings - IEEE International Conference on Robotics and Automation | Year: 2011

In the paper, a concept of novel self-reconfigurable robotic system made of the autonomous robotic modules has been reviewed. Each robotic module is made of simple structure and few degrees of freedom; however, a group of the modules is able to change its connective configuration by changing their local connections and has functionality of robotic system which is capable of generating complicated motions and accomplishing a large variety of tasks, such as: transportation, exploration, inspection, construction and in-situ resource utilization. Multimode locomotion and self-reconfiguration are the basic and essential abilities for the self-reconfigurable robotic system. Based on this concept, a new self-reconfiguration system, UBot robotic system that combines the advantages from the chain-based and lattice-based robots has been proposed. Each UBot module which is cubic structure based on universal joint has two rotational DOF and four connecting surfaces that can connect to or disconnect from adjacent modules. The smart structure and the reliable connecting mechanism of the modules make the robot flexible enough to complete multimode locomotion and self-reconfiguration. This paper demonstrates the design philosophy of the UBot module and a solution for multimode motions and self-reconfiguration using the UBot system. The system can complete motion in the modes of quadruped, chain and loop configuration. Besides, the system can deform from one mode to the other though self-reconfiguration. All the proposed methods have been verified though simulations and real hardware experiments. © 2011 IEEE.

Jin H.,State Key Laboratory of Robotics and System | Zhao J.,State Key Laboratory of Robotics and System | Fan J.,State Key Laboratory of Robotics and System | Lee J.M.,Pusan National University
Proceedings - IEEE International Conference on Robotics and Automation | Year: 2011

This article presents the nonlinear dynamics and the posture stabilization control scheme for the single-wheeled pendulum robot (SWPR). Considering the maneuverability of SWPR, the steering is realized through the control for the inertia pendulum (IP) installed horizontally on the middle part of robot body. The feature of the control system modeling consists in a technique for which the posture stabilization control design is based on the parameterization of the dynamic interactions (DIT) between the lateral dynamics, the longitudinal dynamics, and the rotational dynamics. Simulation results showed the feasibility of the SWPR model and the control algorithm. © 2011 IEEE.

Huang J.,Huazhong University of Science and Technology | Huang J.,State Key Laboratory of Robotics and System | Ding F.,Huazhong University of Science and Technology | Fukuda T.,Nagoya University | Matsuno T.,Okayama University
IEEE Transactions on Control Systems Technology | Year: 2013

Traffic problems such as pollution and congestion are becoming more and more serious in urban areas. A potential solution to these problems is to develop narrow vehicles that occupy less space and have lower emissions. There has been increasing interest in underactuated mechanical systems, i.e., mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent narrow vehicles. A novel narrow vehicle based on an MWIP and a movable seat, called UW-Car, is investigated in this paper. The dynamic model of the underactuated vehicle system running on flat ground is derived by Lagrange's equation of motion. Based on the dynamic model and terminal sliding mode control method, two terminal sliding mode controllers are designed to control velocity and braking of the UW-Car. The first one is used to control the forward speed to a desired value while keeping the body upright and the seat on some fixed position. The second one is a switching sliding mode controller, composed of three terminal sliding mode controllers that quickly brakes the system according to an optimal braking scheme. All the control algorithms are tested in both Matlab simulation and a UW-Car experiment. The simulation and experimental results demonstrate the efficiency of the model and controllers. © 2013 IEEE.

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