In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-ey...In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.展开更多
Recent years have witnessed unprecedented development in humanoid robotics,with dexterous hand grasping emerging as a focal research area across industrial and academic sectors.To track the state-of-the-art dexterous ...Recent years have witnessed unprecedented development in humanoid robotics,with dexterous hand grasping emerging as a focal research area across industrial and academic sectors.To track the state-of-the-art dexterous hand grasp,a review of dexterous hand grasp based on bibliometric analysis is executed.The related studies on dexterous hand grasp are collected from the Web of Science for analysis,where the publication details and cooperation situations from the perspectives of country,institute,etc.are discussed.The keywords cluster is adopted to find the hot research topic of dexterous hand grasp.The development trend of dexterous hand grasp is explored based on the top 25 keywords with the strongest citation bursts.The review findings indicate that precision control via multimodal fusion,autonomous task understanding and intelligent decision,and in-hand dexterous manipulation are top three hotspots in future.展开更多
Shared control with multiple functions of myoelectric prosthetic hand enables individuals with amputation to achieve more precise control with less fatigue,which improves the acceptance of myoelectric prosthetic hands...Shared control with multiple functions of myoelectric prosthetic hand enables individuals with amputation to achieve more precise control with less fatigue,which improves the acceptance of myoelectric prosthetic hands.In this paper,we propose introducing two new functions for prosthetic hands enabled by a shared control based on fingertip tactile sensing:multi-stage grasping and force level switching.A user study involving eight able-bodied and three amputee participants is conducted to assess the performance of our proposed functions in selected common daily life tasks.The purpose of the assessment is to determine if the proposed functions based on tactile sensing can improve the objective performance of the prosthetic hand as well as the subjective experience of users.The results demonstrate the potential benefit of our proposed functions,allowing for faster completion of multiple objects grasp-and-place tasks compared to existing myoelectric control,as well as a higher success rate of force adjustment tasks.Moreover,the tactile-based shared control with our proposed functions reduces muscle use and obtains positive user feedback.展开更多
Manipulating cells at a small scale is widely acknowledged as a complex and challenging task,especially when it comes to cell grasping and transportation.Various precise methods have been developed to remotely control...Manipulating cells at a small scale is widely acknowledged as a complex and challenging task,especially when it comes to cell grasping and transportation.Various precise methods have been developed to remotely control the movement of microrobots.However,the manipulation of micro-objects necessitates the use of end-effectors.This paper presents a study on the control of movement and grasping operations of a magnetic microrobot,utilizing only 3 pairs of electromagnetic coils.A specially designed microgripper is employed on the microrobot for efficient cell grasping and transportation.To ensure precise grasping,a bending deformation model of the microgripper is formulated and subsequently validated.To achieve precise and reliable transportation of cells to specific positions,an approach that combines an extended Kalman filter with a model predictive control method is adopted to accomplish the trajectory tracking task.Through experiments,we observe that by applying the proposed control strategy,the mean absolute error of path tracking is found to be less than 0.155 mm.Remarkably,this value accounts for only 1.55% of the microrobot’s size,demonstrating the efficacy and accuracy of our control strategy.Furthermore,an experiment involving the grasping and transportation of a zebrafish embryonic cell(diameter:800μm)is successfully conducted.The results of this experiment not only validate the precision and effectiveness of the proposed microrobot and its associated models but also highlight its tremendous potential for cell manipulation in vitro and in vivo.展开更多
基金Project(2006AA04Z202)supported by the National High Technology Research and Development Program of ChinaProject(51105281)supported by the National Natural Science Foundation of China
文摘In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.
基金Supported by the National Natural Science Foundation of China(Grant No.52405530)the Beijing Natural Science Foundation(Grant No.L243009)the Beijing Institute of Technology Research Fund Program for Young Scholars。
文摘Recent years have witnessed unprecedented development in humanoid robotics,with dexterous hand grasping emerging as a focal research area across industrial and academic sectors.To track the state-of-the-art dexterous hand grasp,a review of dexterous hand grasp based on bibliometric analysis is executed.The related studies on dexterous hand grasp are collected from the Web of Science for analysis,where the publication details and cooperation situations from the perspectives of country,institute,etc.are discussed.The keywords cluster is adopted to find the hot research topic of dexterous hand grasp.The development trend of dexterous hand grasp is explored based on the top 25 keywords with the strongest citation bursts.The review findings indicate that precision control via multimodal fusion,autonomous task understanding and intelligent decision,and in-hand dexterous manipulation are top three hotspots in future.
基金supported by the National Natural Science Foundation of China(Nos.62173197 and 62073249)the Beijing Natural Science Foundation(No.L222012).
文摘Shared control with multiple functions of myoelectric prosthetic hand enables individuals with amputation to achieve more precise control with less fatigue,which improves the acceptance of myoelectric prosthetic hands.In this paper,we propose introducing two new functions for prosthetic hands enabled by a shared control based on fingertip tactile sensing:multi-stage grasping and force level switching.A user study involving eight able-bodied and three amputee participants is conducted to assess the performance of our proposed functions in selected common daily life tasks.The purpose of the assessment is to determine if the proposed functions based on tactile sensing can improve the objective performance of the prosthetic hand as well as the subjective experience of users.The results demonstrate the potential benefit of our proposed functions,allowing for faster completion of multiple objects grasp-and-place tasks compared to existing myoelectric control,as well as a higher success rate of force adjustment tasks.Moreover,the tactile-based shared control with our proposed functions reduces muscle use and obtains positive user feedback.
基金partially supported by the ZJU 100 Young Talent Program(Grant No.2019M650419).
文摘Manipulating cells at a small scale is widely acknowledged as a complex and challenging task,especially when it comes to cell grasping and transportation.Various precise methods have been developed to remotely control the movement of microrobots.However,the manipulation of micro-objects necessitates the use of end-effectors.This paper presents a study on the control of movement and grasping operations of a magnetic microrobot,utilizing only 3 pairs of electromagnetic coils.A specially designed microgripper is employed on the microrobot for efficient cell grasping and transportation.To ensure precise grasping,a bending deformation model of the microgripper is formulated and subsequently validated.To achieve precise and reliable transportation of cells to specific positions,an approach that combines an extended Kalman filter with a model predictive control method is adopted to accomplish the trajectory tracking task.Through experiments,we observe that by applying the proposed control strategy,the mean absolute error of path tracking is found to be less than 0.155 mm.Remarkably,this value accounts for only 1.55% of the microrobot’s size,demonstrating the efficacy and accuracy of our control strategy.Furthermore,an experiment involving the grasping and transportation of a zebrafish embryonic cell(diameter:800μm)is successfully conducted.The results of this experiment not only validate the precision and effectiveness of the proposed microrobot and its associated models but also highlight its tremendous potential for cell manipulation in vitro and in vivo.
