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Self-organizing method for collaboration in multi-robot system on basis of balance principle

DONG Yangbin, JIANG Jinping, HE Yan

Frontiers of Mechanical Engineering 2008, Volume 3, Issue 3,   Pages 283-287 doi: 10.1007/s11465-008-0044-z

Abstract: Simulation shows the validity of the algorithm on self-organizing task allocation in a multi-robot system

Keywords： algorithm     self-organizing principle     validity     Simulation     allocation    

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Behavioral control task supervisor with memory based on reinforcement learning for human–multi-robot Research Article

Jie HUANG, Zhibin MO, Zhenyi ZHANG, Yutao CHEN,yutao.chen@fzu.edu.cn

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 8,   Pages 1174-1188 doi: 10.1631/FITEE.2100280

Abstract: and large task tracking errors caused by repeated human intervention, which restricts the autonomy of multi-robotSpecifically, the proposed RLTS with memory begins by memorizing human intervention history when the robot

Keywords： Human–     multi-robot coordination systems     Null-space-based behavioral control     Task supervisor     Reinforcement    

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A-STC: auction-based spanning tree coverage algorithm formotion planning of cooperative robots Research Article

Guan-qiang GAO, Bin XIN

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 1,   Pages 18-31 doi: 10.1631/FITEE.1800551

Abstract:

The multi-robot coverage motion planning (MCMP) problem in which every reachable area must be coveredis common in multi-robot systems.A robot that circumnavigates a spanning tree of the graph can generate a coverage trajectory.In this mechanism, an auctioneer robot chooses a suitable vertex of the graph as an auction item fromwith the spanning tree of the robot and the estimated length of its trajectory.

Keywords： Coverage motion planning     Multi-robot system     Auction algorithm     Spanning tree coverage algorithm    

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Contact detection with multi-information fusion for quadruped robot locomotion under unstructured terrain

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0760-4

Abstract: detection for quadruped robots, a detection approach based on the probabilistic contact model with multi-informationThe approach combines the internal state information of the robot with the measurements from externalstrategy for unexpected foot-to-ground contacts can correct the control actions of each leg of the robot

Keywords： multi-information fusion     contact detection     quadruped robot     probabilistic contact model     unstructured    

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Development Strategy for Air–Ground Collaborative Multi-Modal Intelligent Robot System

Huang Qiang, Meng Fei, Yu Zhangguo, Lin Defu, Xu Bin, Duo Yingxian

Strategic Study of CAE 2021, Volume 23, Issue 5,   Pages 116-121 doi: 10.15302/J-SSCAE-2021.05.015

Abstract:

An air–ground collaborative multi-modal intelligent robot systemConsidering the major demand for developing the air–ground collaborative multi-modal intelligentrobot system in China, this study comprehensively analyzes the development status of the system in Chinaintelligent robot equipment system, and social applications.Research shows that the air–ground collaborative multi-modal intelligent robot system can be integrated

Keywords： intelligent robot     air–ground collaboration     multi-modal     artificial intelligence    

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Ultrasound-guided prostate percutaneous intervention robot system and calibration by informative particle

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 1,   Pages 3-3 doi: 10.1007/s11465-021-0659-x

Abstract: Applying a robot system in ultrasound-guided percutaneous intervention is an effective approach for prostateThe limited space for robot manipulation restricts structure volume and motion.In this paper, an 8-degree-of-freedom robot system is proposed for ultrasound probe manipulation, needleA novel parallel structure is employed in the robot system for space saving, structural rigidity, andVerification experiments prove that the robot system can realize motions needed in targeting.

Keywords： ultrasound image guidance     prostate percutaneous intervention     parallel robot     kinematics identification    

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Design of a novel side-mounted leg mechanism with high flexibility for a multi-mission quadruped earth

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0740-0

Abstract: Earth rover is a class of emerging wheeled-leg robots for nature exploration. At present, few methods for these robots’ leg design utilize a side-mounted spatial parallel mechanism. Thus, this paper presents a complete design process of a novel 5-degree-of-freedom (5-DOF) hybrid leg mechanism for our quadruped earth rover BJTUBOT. First, a general approach is proposed for constructing the novel leg mechanism. Subsequently, by evaluating the basic locomotion task (LT) of the rover based on screw theory, we determine the desired motion characteristic of the side-mounted leg and carry out its two feasible configurations. With regard to the synthesis method of the parallel mechanism, a family of concise hybrid leg mechanisms using the 6-DOF limbs and an L1F1C limb (which can provide a constraint force and a couple) is designed. In verifying the motion characteristics of this kind of leg, we select a typical (3-UPRU&RRRR)&R mechanism and then analyze its kinematic model, singularities, velocity mapping, workspace, dexterity, statics, and kinetostatic performance. Furthermore, the virtual quadruped rover equipped with this innovative leg mechanism is built. Various basic and specific LTs of the rover are demonstrated by simulation, which indicates that the flexibility of the legs can help the rover achieve multitasking.

Keywords： design synthesis     parallel mechanism     hybrid leg mechanism     screw theory     quadruped robot    

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A novel motion coordination method for variable-sized multi-mobile robots Research Article

Zichao XING, Xingkai WANG, Shuo WANG, Weimin WU, Ruifen HU,zcxing@zju.edu.cn,wmwu@iipc.zju.edu.cn

Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 4,   Pages 521-535 doi: 10.1631/FITEE.2200160

Abstract: In an MMRS, is important as collisions and deadlocks may lead to losses or system stagnation.However, in some scenarios, robot sizes are different when loaded and unloaded, which means that theThe zone-control-based methods are not accurate enough for variable-sized multi-mobile robots and reducethe efficiency of the system.

Keywords： Multi-mobile robot system     Collision avoidance     Deadlock avoidance     Glued nodes     Motion coordination    

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Continuous path control of robot arm in network-based remote control

Zheng Hua, Cong Shuang

Strategic Study of CAE 2008, Volume 10, Issue 10,   Pages 91-95

Abstract:

By discussing the drawbacks of a 2-dof robot arm remote control basedpoint-to-point control, the continuous path control method is applied to the joint-coordinate-space-based serial robotremote control system.It's verified that better accuracy in remote system can be obtained by means of continuous path control

Keywords： remote control     continuous path control     robot arm system    

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Review of human–robot coordination control for rehabilitation based on motor function evaluation

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 2, doi: 10.1007/s11465-022-0684-4

Abstract: As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliaryOne of the main elements of such a human–robot coupling system is a control system to ensure human–robotThis review aims to summarise the development of human–robot coordination control and the associatedsystems with new structures and assessment methods with different etiologies based on multi-mode sensorsare discussed in detail, suggesting development directions of human–robot coordination and providing

Keywords： human–robot coupling     lower limb rehabilitation     exoskeleton robot     motor assessment     dynamical model    

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Robot Pilot: A New Autonomous System Toward Flying Manned Aerial Vehicles Article

Zibo Jin, Daochun Li, Jinwu Xiang

Engineering 2023, Volume 27, Issue 8,   Pages 242-253 doi: 10.1016/j.eng.2022.10.018

Abstract:

The robot pilot is a new concept of a robot system that pilots a manned aircraft, thereby forminga new type of unmanned aircraft system (UAS) that makes full use of the platform maturity, load capacityIn this research, the implementation and advantages of the robot pilot concept are discussed in
detail, and a helicopter robot pilot is proposed to fly manned helicopters.robot flight controller to reduce the time delay and control error of the robot servo process.

Keywords： Helicopter     Robot pilot     Flight control     Unmanned system    

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Technological development of multi-energy complementary system based on solar PVs and MGT

Xiaojing LV, Yu WENG, Xiaoyi DING, Shilie WENG, Yiwu WENG

Frontiers in Energy 2018, Volume 12, Issue 4,   Pages 509-517 doi: 10.1007/s11708-018-0598-3

Abstract:

The complementary micro-energy network system consisting of solar photovoltaic power generation (solarof actual work, this research described the domestic and foreign development of micro-energy network systemMoreover, it analyzed the challenges and future development regarding the micro-energy network systemFurthermore, it predicted the future development of the key technology of the multi-energy complementarysystem.

Keywords： renewable energy     solar photovoltaic power generation     micro gas turbine     multi-energy complementary system    

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Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 4, doi: 10.1007/s11465-022-0687-1

Abstract: linear actuator (CDLA) capable of bidirectional motion is proposed in this study to design a masticatory robotThis work also exploits the proposed CDLA and designs a masticatory robot called Southeast Universitymasticatory robot (SMAR) to solve existing problems, such as bulky driving linkage and position changeChewing experiments are carried out on the developed masticatory robot to verify whether the CDLA can

Keywords： masticatory robot     cable-driven     linear actuator     parallel robot     stiffness analysis    

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Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 2,   Pages 271-284 doi: 10.1007/s11465-020-0623-1

Abstract: A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposedThe dynamic alternating tripod trotting gait is developed to control the robot, and the parameters ofFinally, the method is integrated on a hexapod robot and tested by real experiments.Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam.

Keywords： terrain classification     hexapod robot     legged robot     adaptive locomotion     gait control    

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Optimal dispatch of multi energy system using power-to-gas technology considering flexible load on user

Zi LING, Xiu YANG, Zilin LI

Frontiers in Energy 2018, Volume 12, Issue 4,   Pages 569-581 doi: 10.1007/s11708-018-0595-6

Abstract: Meanwhile, the participation of flexible load on user side in system optimization has attracted muchthe concept of energy hub, according to its series characteristic, this paper established a generic multi-energysystem model using the P2G technology.Finally, a concrete analysis was made on the optimal dispatch result of the multi-energy system usingThe results indicate that cooperative dispatch of multi-energy system using the P2G technology considering

Keywords： multi-energy system     energy hub     series characteristic     optimal dispatch     flexible load    

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Title Author Date Type Operation

Self-organizing method for collaboration in multi-robot system on basis of balance principle

DONG Yangbin, JIANG Jinping, HE Yan

Journal Article

Behavioral control task supervisor with memory based on reinforcement learning for human–multi-robot

Jie HUANG, Zhibin MO, Zhenyi ZHANG, Yutao CHEN,yutao.chen@fzu.edu.cn

Journal Article

A-STC: auction-based spanning tree coverage algorithm formotion planning of cooperative robots

Guan-qiang GAO, Bin XIN

Journal Article

Contact detection with multi-information fusion for quadruped robot locomotion under unstructured terrain

Journal Article

Development Strategy for Air–Ground Collaborative Multi-Modal Intelligent Robot System

Huang Qiang, Meng Fei, Yu Zhangguo, Lin Defu, Xu Bin, Duo Yingxian

Journal Article

Ultrasound-guided prostate percutaneous intervention robot system and calibration by informative particle

Journal Article

Design of a novel side-mounted leg mechanism with high flexibility for a multi-mission quadruped earth

Journal Article

A novel motion coordination method for variable-sized multi-mobile robots

Zichao XING, Xingkai WANG, Shuo WANG, Weimin WU, Ruifen HU,zcxing@zju.edu.cn,wmwu@iipc.zju.edu.cn

Journal Article

Continuous path control of robot arm in network-based remote control

Zheng Hua, Cong Shuang

Journal Article

Review of human–robot coordination control for rehabilitation based on motor function evaluation

Journal Article

Robot Pilot: A New Autonomous System Toward Flying Manned Aerial Vehicles

Zibo Jin, Daochun Li, Jinwu Xiang

Journal Article

Technological development of multi-energy complementary system based on solar PVs and MGT

Xiaojing LV, Yu WENG, Xiaoyi DING, Shilie WENG, Yiwu WENG

Journal Article

Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

Journal Article

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Journal Article

Optimal dispatch of multi energy system using power-to-gas technology considering flexible load on user

Zi LING, Xiu YANG, Zilin LI

Journal Article