A5100400676- Teleoperation and Haptic Systems
- Soft Robotics and Applications
- Robot Manipulation and Learning
- Robotic Locomotion and Control
- Soil Mechanics and Vehicle Dynamics
- Robotic Path Planning Algorithms
- Autonomous Vehicle Technology and Safety
- Robotics and Automated Systems
- Control and Dynamics of Mobile Robots
- Vehicle Dynamics and Control Systems
- Robotics and Sensor-Based Localization
- Robotic Mechanisms and Dynamics
- Prosthetics and Rehabilitation Robotics
- Planetary Science and Exploration
- Hand Gesture Recognition Systems
- Muscle activation and electromyography studies
- Transportation Safety and Impact Analysis
- Dynamics and Control of Mechanical Systems
- Agriculture and Farm Safety
- Agricultural Engineering and Mechanization
- Advanced Battery Technologies Research
- Cellular and Composite Structures
- Advancements in Battery Materials
- Gaze Tracking and Assistive Technology
- Polydiacetylene-based materials and applications
Harbin Institute of Technology
2015-2024
Wuhu Hit Robot Technology Research Institute
2023-2024
State Key Laboratory of Robotics and Systems
2016
University of Alberta
2015-2016
The increasing application of wheeled mobile robots (WMR) in many fields has brought new challenges on its control and teleoperation, two which are induced by contact slippage phenomenon between wheel terrain as well time delays the master-slave communication channel. In WMR bilateral tele-driving system, this paper, linear velocity slave robot follows position command from haptic master while slippage-induced error is fed back a force felt human operator. To cope with nonpassivity constant...
With the increasing applications of wheeled mobile manipulators (WMMs), consisting a platform (MP) and manipulator, in diverse fields, new challenges have arisen achieving multiple tasks such as obstacle avoidance constrained environment during end-effector (EE) operation. A WMM is usually redundant due to combination MP making multitask control possible via employing its null space. Dual-user/two-handed teleoperation desirable for where it important simultaneously poses both EE. The...
With the increasing applications of wheeled mobile robots (WMRs) in various fields, some new challenges have arisen on designing its teleoperation system. One such is caused by wheel's slippage. This paper proposes a approach for haptic teledriving WMR coupled with In this system, WMR's linear velocity and angular velocity, respectively, follow master interface's positions. The proposed controller also includes an acceleration-level control law so that loss induced slippage can be...
Planetary rovers may traverse terrains with complex geometries and variable physical properties, but their mobility behaviors are complicated difficult to simulate precisely. This article focuses on high-fidelity dynamic modeling simulation for a type of that incorporate single-input-multi-output joints enhance terrain adaptability, which has been used China's Tianwen-1 Mars rover. A novel multibody model its solutions derived first consideration joints. Then, unified terramechanics is...
The increasing application requirements of multilegged walking robots in outdoor environments pose new challenges regarding the design their teleoperation systems. Some these arise from multiple degrees freedom telerobotic system and nonpassive exogenous disturbance. Herein, a novel control based on dual-master/single-slave bilateral haptic framework using semiautonomous strategy for hexapod deformable rough terrains is proposed. In this system, body velocities postures robot are determined...
The increasing demand for a wheeled mobile robot (WMR) in many special fields (e.g., planetary exploration) has generated new difficulties, one of which is caused by the wheel longitudinal slippage on soft terrains. Compared with general teleoperation under pure rolling (no slippage), introduction creates issues that potentially cause WMR instability. A bilateral teleoperator coupling dynamic presented this article. traditional model augmented presence slippage, whereas slippage-induced...
When a wheeled mobile robot (WMR) runs on loose soil (such as the planetary rover surface of planet), its wheels generally slip or skip. Since slippage wheel directly affects motion control and safety, it becomes urgent to effectively estimate slippage. In this paper, an intuitive estimation method is proposed based wheel-ruts images, which aims reduce number extra sensors take advantages visual information effectively. image samples sometimes are difficult collect, few-shot learning...
With the widespread use of wheeled mobile robots (WMR) in various applications, new challenges have emerged terms designing its teleoperation system. One such is caused by wheel slippage and another due to strict need for ensuring WMR safety. This letter proposes a trilateral scheme haptic control (slave) with longitudinal slippage. In this system, virtual model (predictor) slave utilized at master site guide human operator issue more effective commands and, mediating between WMR, ensure...
With the widespread use of wheeled mobile robots (WMRs) in various applications, new challenges have arisen terms designing its control system. One such is caused by wheel slippage. This study proposes a method for haptic teleoperation WMR with longitudinal slippage (not including sliding). In this system, robot's linear velocity follows master interface's position. The proposed controller also includes an acceleration‐level law robot that loss compensated for. Information about magnitude...
The slippage appears on soft terrains for wheeled mobile robots (WMR), and generates a motion deviation at the contact area, which can induce poor command-tracking performance (meaning difference between WMR's actual operator's command) instability its teleoperation. Our previous studies have presented some approaches to conservatively ensure system stability, new slippage-dependent teleoperator is proposed herein further improve teleoperation performance. kinematic model augmented in...
Interaction with the terrain is essential for legged robots to adapt complex environment. Field could be steep, slippery, and muddy. Legged may sink on sand or mud slip ice snow. To address such problems, foot–terrain interaction models have been developed preestimate state of robot are switched different terrain. However, it difficult switch model precisely, which causes problems in its application field. This article proposes a unified avoid switching multiphysical characteristic terrains....