A5006416939- Space Satellite Systems and Control
- Robot Manipulation and Learning
- Teleoperation and Haptic Systems
- Astro and Planetary Science
- Soft Robotics and Applications
- Planetary Science and Exploration
- Robotic Mechanisms and Dynamics
- Robotics and Sensor-Based Localization
- Robotic Path Planning Algorithms
- Image and Object Detection Techniques
- Muscle activation and electromyography studies
- Advanced Vision and Imaging
- Adaptive Control of Nonlinear Systems
- Robotics and Automated Systems
- Neuroscience and Neural Engineering
- Image Processing Techniques and Applications
- Spacecraft Dynamics and Control
- Video Surveillance and Tracking Methods
- Modular Robots and Swarm Intelligence
- Dynamics and Control of Mechanical Systems
- Advanced Image and Video Retrieval Techniques
- EEG and Brain-Computer Interfaces
- Robotic Locomotion and Control
- Prosthetics and Rehabilitation Robotics
- Sensorless Control of Electric Motors
Harbin Institute of Technology
2016-2025
State Key Laboratory of Robotics and Systems
2021-2025
Hangzhou Wanxiang Polytechnic
2023
Zhejiang University
2023
Center for Special Minimally Invasive and Robotic Surgery
2018
Robotic Technology (United States)
2018
Robotic Research (United States)
2018
Liuyang City Maternal and Child Health Hospital
2018
Azur Space Solar Power
2018
Wuhu Hit Robot Technology Research Institute
2006-2017
A new fault detection and tolerance (FDT) control strategy for current sensors of permanent magnet synchronous machine drive in filed-oriented mode was introduced this paper, based on the reasonable estimation amplitude. The propounded method can be applied to deal with a single or double signal-loss faults (two concurrent independent faults), shows capability online revision gain variation zero offset. Compared conventional observer-/model-based methods sensors, proposed only requires...
Edge detection is one of the most fundamental operations in field image analysis and computer vision as a critical preprocessing step for high-level tasks. It difficult to give generic threshold that works well on all images contents are totally different. This paper presents an adaptive, robust effective edge detector real-time applications. According 2D entropy, can be clarified into three groups, each attached with reference percentage value based proportion statistics. Compared points...
This paper presents hardware and software architecture of the newly developed compact multisensory German aerospace research (DLR)-Harbin Institute Technology (HIT)-Hand. The hand has four identical fingers an extra degree freedom for palm. In each finger, there is a field-programmable gate array (FPGA) data collection, brushless dc motors control, communication accomplished with palm's FPGA by point-to-point serial (PPSeCo). kernel system peripheral component interconnect (PCI)- based...
From the optimization perspective, this article proposes a novel actual shape-based obstacle avoidance synthesized by velocity–acceleration minimization (ASOA-VAM) scheme that performs operational tasks safely in complex environment utilizing redundant manipulators. Concretely, an (ASOA) strategy with variable magnitude escape acceleration using Gilbert–Johnson–Keerthi distance algorithm is presented. Trajectory tracking, end-effector's errors feedback, and joint multilevel physical limits...
This paper presents a surface Electromyography (EMG) motion pattern classifier which combines Levenberg-Marquardt (LM) based neural network with parametric Autoregressive (AR) model. can successfully identify three types of thumb, index finger and middle finger, by measuring the EMG through two electrodes mounted on flexor digitorum profundus pollicis longus. Furthermore, via continuously controlling single finger's motion, five-fingered underactuated prosthetic hand achieve more prehensile...
Abstract Seven-degree-of-freedom redundant manipulators with link offset have many advantages, including obvious geometric significance and suitability for configuration control. Their is similar to that of the experimental module manipulator (EMM) in Chinese Space Station Remote Manipulator System. However, finding analytical solution an EMM on basis arm angle parameterization difficult. This study proposes a high-precision, semi-analytical inverse method EMMs. Firstly, kinematic...
This paper describes a master-slave teleoperation system which is developed to evaluate the effectiveness of teleopresence in telerobotics applications. The operator wears dataglove augmented with an arm-grounded force feedback device control dexterous hand and utilizes spaceball robot arm. Contact forces measured by finger sensors can be visual telepresence systems collect remote operation scenes display stereo helmet. A primitive autonomous grasp based on parallel joint torque/position...
We propose NEDS-SLAM, a dense semantic SLAM system based on 3D Gaussian representation, that enables robust mapping, accurate camera tracking, and highquality rendering in real-time.In the system, we Spatially Consistent Feature Fusion model to reduce effect of erroneous estimates from pre-trained segmentation head reconstruction, achieving mapping.Additionally, employ lightweight encoderdecoder compress high-dimensional features into compact mitigating burden excessive memory...
This paper presents the current work progress of HIT/DLR Dexterous Hand. Based on technology DLR Hand II, HIT and are jointly developing a smaller easier manufactured robot hand. The prototype one finger has been successfully built. three DOF four joints, last two joints mechanically coupled by rigid linkage. All actuators commercial brushless DC motors with integrated analog Hall sensors. DSP based control system is implemented in PCI bus architecture serial communication between hand needs...
A new five-fingered underactuated prosthetic hand control system is presented in this paper. The part based on an EMG motion pattern classifier which combines VLR (variable learning rate) neural network with wavelet transform and sample entropy. This can successfully identify flexion extension of the thumb, index finger middle finger, by measuring surface signals through three electrodes mounted flexor digitorum profundus, pollicis longus extensor digitorum. Furthermore, via continuously...
The calibration of kinematic parameters has been widely used to improve the pose (position and orientation) accuracy robot arm. Intelligent measuring equipment with high is usually provided for industrial manipulator. Unfortunately, large noise exists in vision measurement system, which space manipulators. To overcome adverse effect optimality calibrating time, a method based on extended Kalman filter (EKF) manipulators proposed this paper. Firstly, identification model Denavit–Hartenberg...
This research presents the design, modeling, and control for a bio-inspired robotic hand with antagonistic variable stiffness (AVS). A key design character is integrated modular finger unit. The unit developed based on actuation principle has physical impact absorption adjustment capabilities to achieve safer grasping manipulation in interactions adjustable system bandwidth. Compared of previous version, optimized terms mechanism, cable path, transmission gap, manufacturing process,...
A five-fingered underactuated prosthetic hand controlled by surface electromyographic (EMG) signals is presented in this paper. The control part based on an EMG motion pattern classifier which combines Levenberg-Marquardt (LM) or variable learning rate (VLR) neural network with parametric autoregressive (AR) model and wavelet transform. This can successfully identify flexion extension of the thumb, index finger middle finger, measuring through three electrodes mounted flexor digitorum...
Adapter ring is a commonly used component in non-cooperative satellites, which has high strength and suitable to be recognized grasped by the space manipulator. During proximity operations, this circle feature may occluded robot arm or limited field of view. Moreover, captured images underexposed when there not enough illumination. To address these problems, paper presents structured light vision system with three line lasers monocular camera. The project lines onto surface satellite, six...
Purpose – The purpose of this paper is to solve the ground verification and test method for space robot system capturing target satellite based on visual servoing with time-delay in 3-dimensional prior being launched. Design/methodology/approach To implement approaching task, a motion planning manipulator capture moving presented. This mainly used problem control uncertainty satellite. verify feasibility reliability three-dimensional (3D) operating space, set hardware-in-the-loop simulation...