论文发表

LVIO-Fusion:Tightly-Coupled LiDAR-Visual-Inertial Odometry and Mapping in Degenerate Environments
This letter presented a tightly-coupled LiDAR-inertial-visual framework, which couples the LiDAR and camera at the measurement level.
LVIO-Fusion:Tightly-Coupled LiDAR-Visual-Inertial Odometry and Mapping in Degenerate Environments
Optimal Exciting Trajectories for Identifying Dynamic Parameters of Serial Robots
In this paper, we concentrate on the design of optimal excitation trajectories, a novel parameter optimization algorithm is proposed by taking advantages of two types of optimization objective functions. On the basis of the above-mentioned, the Lie-theory-based identification methodology of serial robots is introduced to demonstrate the impact of excitation trajectory optimization. Whereafter, we have conducted an experimental analysis on the performance of three different optimization methods. The results reveal that the proposed approach can significantly decrease the computation time required for trajectory optimization while maintaining the robust identification.
Optimal Exciting Trajectories for Identifying Dynamic Parameters of Serial Robots
Design of a Differential Modular Joint-based Nursing Manipulator and its Digital Twin System
This paper describes the design and construction of a 6- DoF nursing robotic arm based on DMJs, aimed at addressing the nursing transfer scenario. The structural parameters and performance indicators of each part of the robotic arm are provided. The transmission principle of the modular joint arm is analyzed and its kinematics are decoupled. The modified DH method is utilized for kinematic modeling of nursing robotic arms. A nursing robotic arm digital twin system is built on Unity3D, enabling bi-directional information interaction and mapping between the real and virtual system. We conducted experiments on both the physical robot and the digital twin system using pre-determined lifting motion trajectories. The results demonstrated the robot’s proficiency in completing nursing transfer tasks and the accuracy of the virtual-physical mapping in the digital twin system.
Design of a Differential Modular Joint-based Nursing Manipulator and its Digital Twin System
Trajectory Optimization Algorithm of Trajectory Rehabilitation Training Mode for Rehabilitation Robot
This paper proposes a trajectory optimization algorithm with an intelligent decision mechanism and a trajectory smoothing improvement algorithm for robot-assisted rehabilitation therapy. An improved genetic algorithm and an adaptive variable time weight improved trapezoidal velocity algorithm are designed to obtain a better solution and provide comfortable and high-quality rehabilitation training for patients.
Trajectory Optimization Algorithm of Trajectory Rehabilitation Training Mode for Rehabilitation Robot
Structural design and analysis of a permanent-magnet wheeled pipe robot with pipe diameter adaption capability
A permanent-magnet wheeled pipe robot with a differential mechanism and slide block and slide rail structure is proposed to enable movement in pipes with variable diameters, and its design is analyzed through CAD modeling, numerical analysis in MATLAB, and magnetic field strength simulation in ANSYS ELECTRONICS software.
Structural design and analysis of a permanent-magnet wheeled pipe robot with pipe diameter adaption capability
Dynamic modeling and analysis for a differential modular robot joint with the friction model
Friction modeling for differential modular robot joint (DMRJ) is established based on the coupling characteristic of MIMO system and Coulomb-Viscous friction model, and the coefficients are identified through experiments. The accuracy of the model is verified by building an inertial dynamic model and using a Fourier series trajectory.
Dynamic modeling and analysis for a differential modular robot joint with the friction model
A Parameter Identification Method for Coupled Dynamics of Robotic Manipulator with Differential Modular Joints
This paper presents a coupled dynamics identification method based on the MIMO feature for a robotic manipulator with differential modular joints (DMJs) designed for lifting in daily nursing care, which can accurately obtain dynamic model parameters and lay a foundation for future force-control research.
A Parameter Identification Method for Coupled Dynamics of Robotic Manipulator with Differential Modular Joints
Multi-Objective Geometric Optimization of A Multi-Link Manipulator Using Parameterized Design Method
This paper proposes a generalized optimization framework for multi-link manipulators that considers joint configuration, link lengths, and geometric parameters to optimize the manipulator’s working range, efficiency, and flexibility, and demonstrates its feasibility and generality in various scenarios.
Multi-Objective Geometric Optimization of A Multi-Link Manipulator Using Parameterized Design Method
Design of a modular continuum robot with alterable compliance using tubular-actuation
This study proposes a modular continuum robot with alterable compliance for high precision manipulation and environmental adaptation, utilizing a tubular-screw mechanism for non-slippage transmission, and demonstrates its potential for non-structural inspection tasks in restricted and hazardous environments.
Design of a modular continuum robot with alterable compliance using tubular-actuation
A Robotic Gripper Design and Integrated Solution Towards Tunnel Boring Construction Equipment
A robotic solution for disc cutter replacement in tunnel boring machines has been proposed and tested, using an eccentric-locking mechanism and a high-dexterity robotic manipulator for heavy lifting in confined spaces.
A Robotic Gripper Design and Integrated Solution Towards Tunnel Boring Construction Equipment
Stiffness modeling of redundant robots with large load capacity and workspace
This paper proposes an effective method for modeling the stiffness of a redundant heavy-duty robot system, which considers joint and moving platform compliances. The method derives the relationship equations of the joints and end-effector deformation, establishes static equilibrium equations of the moving platform, and derives the whole stiffness model of the system. The simulations show the correctness of the model, which can be used for motion planning and optimization of machining operations.
Stiffness modeling of redundant robots with large load capacity and workspace
Underactuated Picking Gripper for Grasping and Cutting Citrus
This paper describes the design and fabrication of an underactuated picking gripper with a differential gear train for autonomous harvesting of citrus, which can adapt to the size of the fruit and maintain constant grasping force for cutting using only one motor.
Underactuated Picking Gripper for Grasping and Cutting Citrus
Integration mode of standing balance and trajectory training based on lower limb rehabilitation exoskeleton
This paper introduces a prototype of a Lower limb rehabilitation exoskeleton (LLRE) designed to help patients exercise their balance ability. The paper establishes the kinematic models of the leg abduction mechanism and the unilateral mechanical leg and analyzes their workspaces. An innovative rehabilitation mode integrating standing balance and trajectory training is designed, and the training effects are demonstrated in human subject experiments. The proposed mode is shown to effectively transfer the patient’s center of gravity and improve the training effect, promising to enrich the rehabilitation mode of exoskeleton robots.
Integration mode of standing balance and trajectory training based on lower limb rehabilitation exoskeleton
An Integrated Software System Designed for Upper Limb Rehabilitation Robot
An integrated software system combining therapist administration and evaluation with rehabilitation robot training and testing functions improves treatment efficiency and safety for spinal cord injury patients, addressing the shortage of therapists and poorly integrated robot software systems.
An Integrated Software System Designed for Upper Limb Rehabilitation Robot
A Joint Friction Model of Robotic Manipulator for Low-speed Motion
This paper proposes a joint friction model for robotic manipulators based on the Stribeck model, taking into account the effects of velocity and load torque, which shows that joint friction and velocity are nonlinearly related and load torque affects the degree of nonlinearity. The proposed model has higher accuracy than other models, especially at lower speeds, making it better suited for force control of manipulators.
A Joint Friction Model of Robotic Manipulator for Low-speed Motion
A bio-inspired continuum robot for out-pipe climbing and confined space navigating
The development of a continuum robot with compliant mechanisms that imitates the locomotion of caterpillars and inch-worms is proposed for climbing pipes and navigating confined spaces, with kinematic analysis and simulations, and primary experiments demonstrating potential for narrow gap exploration.
A bio-inspired continuum robot for out-pipe climbing and confined space navigating
Robots for pipeline inspection tasks—A survey of design philosophy and implementation technologies
This paper reviews the characteristics, applications, and challenges of developing pipe robots, categorizing them into modular design, bio-inspired, and soft structure, and concludes that more research is needed to develop out-pipe robotic solutions with greater adaptability to confined and staggered environments.
Design and analysis of a robotic out-pipe grinding system with friction actuating
A planetary gear transmission and friction actuating mechanism is proposed to improve the efficiency and labor-saving of out-pipe surface grinding tasks, with the self-rotation and revolution motions of every polishing tool actuated by the same motor and friction force produced in the grinding process used as tractive force. The proposed robotic grinding system has advantages in manufacturing costs, control complexity, and smooth grinding performance.
Design and analysis of a robotic out-pipe grinding system with friction actuating
Service Robots in Wuhan Cabin Hospitals
The article describes a multi-robot architecture designed for highly autonomous services in COVID-19 cabin hospitals, with a focus on sensors, human-centered multi-robot collaboration, and cloud-based central controllers.
Service Robots in Wuhan Cabin Hospitals
Visualized Small-size Pipeline Model Building Using Multilink-articulated Wheeled In-pipe Inspection Robot
This paper proposes a solution using a wheeled robot and IMU/encoder sensors to create a visual model of small pipelines, with a multi-sensor fusion algorithm and gravity error elimination, verified through experiments in a U-shaped pipeline.
Visualized Small-size Pipeline Model Building Using Multilink-articulated Wheeled In-pipe Inspection Robot
Design of a standalone joint module toward real EAST in-vessel operation use
The paper proposes a novel guide robot for blind people that uses an elastic rope and force sensor, which has a simple structure, low cost, and offers a comfortable guiding experience.
Design of a standalone joint module toward real EAST in-vessel operation use
A Robotic Gripper Design and Integrated Solution Towards Tunnel Boring Construction Equipment
This paper presents a robot that solves the disc-cutter replacement challenges in underground TBMs.
A Robotic Gripper Design and Integrated Solution Towards Tunnel Boring Construction Equipment
Paper Made Grippers for Soft Food Grasping
In this paper, we propose two paper-made grippers for the increasing soft object grasping requirements in the food processing field.
Paper Made Grippers for Soft Food Grasping
Design and experimental tests of an active cooling system for a kind of in-vessel inspection manipulator
A teleoperated robotic hot stick platform for the overhead live powerline maintenance tasks
This paper presents a teleoperated robotic hot stick platform for the overhead live powerline maintenance tasks.
A teleoperated robotic hot stick platform for the overhead live powerline maintenance tasks
Design of a standalone joint module toward real EAST in-vessel operation use
This paper mainly presents the joint module design and related vacuum environment tests result of this prototype joint module.
Active cooling system for Tokamak in-vessel operation manipulator
In this paper, we propose an active cooling system embedded into such manipulator.
Active cooling system for Tokamak in-vessel operation manipulator