Search | Engineering

订阅投稿

首页工程期刊工程焦点工程成就工程前沿关于我们 English

资源类型

期刊论文 4

年份

2021 1

2019 1

2011 1

关键词

中国体征 1

标准体系 1

汽车安全 1

碰撞测试假人 1

检索范围：

排序：展示方式：

Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based

Jian Wu,Yang Yan,Yulong Liu,Yahui Liu,

《工程（英文）》 doi: 10.1016/j.eng.2023.07.018

摘要： The forward design of trajectory planning strategies requires preset trajectory optimization functions, resulting in poor adaptability of the strategy and an inability to accurately generate obstacle avoidance trajectories that conform to real driver behavior habits. In addition, owing to the strong time-varying dynamic characteristics of obstacle avoidance scenarios, it is necessary to design numerous trajectory optimization functions and adjust the corresponding parameters. Therefore, an anthropomorphic obstacle-avoidance trajectory planning strategy for adaptive driving scenarios is proposed. First, numerous expert-demonstrated trajectories are extracted from the HighD natural driving dataset. Subsequently, a trajectory expectation feature-matching algorithm is proposed that uses maximum entropy inverse reinforcement learning theory to learn the extracted expert-demonstrated trajectories and achieve automatic acquisition of the optimization function of the expert-demonstrated trajectory. Furthermore, a mapping model is constructed by combining the key driving scenario information that affects vehicle obstacle avoidance with the weight of the optimization function, and an anthropomorphic obstacle avoidance trajectory planning strategy for adaptive driving scenarios is proposed. Finally, the proposed strategy is verified based on real driving scenarios. The results show that the strategy can adjust the weight distribution of the trajectory optimization function in real time according to the “emergency degree” of obstacle avoidance and the state of the vehicle. Moreover, this strategy can generate anthropomorphic trajectories that are similar to expert-demonstrated trajectories, effectively improving the adaptability and acceptability of trajectories in driving scenarios.

关键词： Obstacle avoidance trajectory planning Inverse reinforcement theory Anthropomorphic Adaptive driving scenarios

HTML PDF 收藏

Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll–pitch–yaw spherical

《机械工程前沿（英文）》 2021年第16卷第4期页码 698-710 doi: 10.1007/s11465-021-0646-2

摘要： The demand for redundant hydraulic manipulators that can implement complex heavy-duty tasks in unstructured areas is increasing; however, current manipulator layouts that remarkably differ from human arms make intuitive kinematic operation challenging to achieve. This study proposes a seven-degree-of-freedom (7-DOF) redundant anthropomorphic hydraulically actuated manipulator with a novel roll–pitch–yaw spherical wrist. A hybrid series–parallel mechanism is presented to achieve the spherical wrist design, which consists of two parallel linear hydraulic cylinders to drive the yaw/pitch 2-DOF wrist plate connected serially to the roll structure. Designed as a 1R PRRR-1S PU mechanism (“R”, “P”, “S”, and “U” denote revolute, prismatic, spherical, and universal joints, respectively; the underlined letter indicates the active joint), the 2-DOF parallel structure is partially decoupled to obtain simple forward/inverse kinematic solutions in which a closed-loop subchain “R PRR” is included. The 7-DOF manipulator is then designed, and its third joint axis goes through the spherical center to obtain closed-form inverse kinematic computation. The analytical inverse kinematic solution is drawn by constructing self-motion manifolds. Finally, a physical prototype is developed, and the kinematic analysis is validated via numerical simulation and test results.

关键词： hydraulic manipulator inverse kinematic redundant design spherical wrist

HTML PDF 收藏

A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

《机械工程前沿（英文）》 2011年第6卷第1期页码 61-70 doi: 10.1007/s11465-011-0206-2

摘要：

The choice of non-anthropomorphic kinematic solutions for wearable robots is motivated both by the necessity of improving the ergonomics of physical Human-Robot Interaction and by the chance of exploiting the intrinsic dynamical properties of the robotic structure so to improve its performances. Under these aspects, this new class of robotic solutions is potentially advantageous over the one of anthropomorphic robotic orthoses. However, the process of kinematic synthesis of non-anthropomorphic wearable robots can be too complex to be solved uniquely by relying on conventional synthesis methods, due to the large number of open design parameters. A systematic approach can be useful for this purpose, since it allows to obtain the complete list of independent kinematic solutions with desired properties. In this perspective, this paper presents a method, which allows to generalize the problem of kinematic synthesis of a non-anthropomorphic wearable robot for the assistance of a specified set of contiguous body segments. The methodology also includes two novel tests, specifically devised to solve the problem of enumeration of kinematic structures of wearable robots: the HR-isomorphism and the HR-degeneracy tests. This method has been implemented to derive the atlas of independent kinematic solutions suitable to be used for the kinematic design of a planar wearable robot for the lower limbs.

关键词： assistive robotics non-anthropomorphic wearable robots topology kinematic synthesis HR-isomorphism test HR-degeneracy test

HTML PDF 收藏

中国体征碰撞测试假人开发路径研究

刘志新,武永强,马伟杰

《中国工程科学》 2019年第21卷第3期页码 103-107 doi: 10.15302/J-SSCAE-2019.03.022

摘要：

汽车安全是影响公共交通安全的重要因素，而碰撞测试假人是支撑汽车安全的核心技术。汽车安全设计不能最优保护中国乘员安全，以及国外独家技术垄断、核心技术受制于人，是制约当前我国汽车安全技术进一步发展的主要问题。本文通过分析国内外碰撞测试假人的发展趋势和关键技术，并结合我国技术现状，初步提出中国体征碰撞测试假人开发路径，进一步完善我国汽车安全标准体系。中国体征碰撞测试假人的开发将直接推动我国高端装备制造业发展与标准创新，对于我国建设创新型国家、增强国际竞争力具有十分重要的现实意义和长远的战略价值。

关键词：汽车安全碰撞测试假人中国体征标准体系