Baoling Han

Survey on robot multi-sensor information fusion technology

Multi-sensor information fusion technology is an emerging technology, which is the foundation of robot intelligent control. This paper introduces the definition of multi-sensor information fusion technology from bionic, mathematic and engineering aspects respectively. Multi-sensor information fusion technologypsilas working process is explained. The principles, advantages and shortcomings of some common multi-sensor information algorithms such as weighted average method, Kalman filtering, Bayes estimation, Dempster-Shafer evidential reasoning, fuzzy logic and neural networks are proposed. This survey overviews and analyses the study status of multi-sensor information fusion technology applied in robotics field. Some typical applications are given to illustrate the advantages of robot multi-sensor information fusion technology. The authors forecast the developing trend of robot multi-sensor information fusion technology from the following four aspects: sensor manufacture, sampling rate, information fusion algorithm and bio-inspired information.

A novel ultrasonic ranging system based on the self-correlation of pseudo-random sequence

A novel ultrasonic ranging system based on the self-correlation of pseudo-random sequence is designed in this paper. Modular design is applied in this ultrasonic ranging system, which can measure the ultrasonic propagation velocity and transit time accurately, and then calculates the obstacles distance. Low power consumption and high performance TMS320VC5509A DSP is used as the ultrasonic ranging systems signal processor. In order to improve the correlation calculations real-time performance, correlation judgment algorithm based on FFT is adopted. The ultrasonic receiving circuit is improved by absolute-value circuit instead of the traditional detection circuit, which effectively demodulates the pseudo-random sequences from the received ultrasonic waves. An error correction algorithm for this ultrasonic ranging system is proposed. The ultrasonic ranging systems performance test was conducted under the interference existed environment. The experimental results demonstrate that the ultrasonic ranging system has good anti-interference performance and its ranging errors are within 1.8%.

A Research on Hexapod Walking Bio-robot's Working Space and Flexibility

Based on the character that the hexapod walking robot is composed by parallel closed loop and series open loop, choosing proportion of the robots each leg as the cut-in point, this paper analyzes the specific method of hexapod walking bio-robot structure optimizing, works out the robots feet space using the numerical analysis method calculates the robots degree of agility utilizing virtual prototyping technique, measures the flexibility of the robots leg and body fully. Hereby we review the robots whole working capability, which provides the theory basis on the hexapod walking bio-robots proper drive and exact control.

A novel information fusion algorithm for GPS/INS navigation system

Navigation system based on GPS/INS is modeled in this paper. According to the model, the causes of the errors in measurement equation are analyzed, concluding that HDOP (Horizontal Dilution of Precision) and VDOP (Vertical Dilution of Precision) of GPS are the crucial factors for the change of measurement noise in the mathematical model. In order to decrease the navigation errors and improve the anti-interference performance, this paper proposes a novel second order fuzzy self-adaptive filter algorithm for GPS/INS navigation system. Choosing the differences of location and velocity information provided by GPS receiver and INS device as the inputs, this filter modifies the regulation factor based on the residual sequence statistical information and PDOP (Position Dilution of Precision) provided by GPS receiver to correct the outputs of INS device using fuzzy logic. Simulation experiments were conducted. The results show that the improved adaptive Kalman filtering algorithm for GPS/ INS navigation system proposed in this paper has a strong adaptability to time-varying measurement noises, which improves the navigation precision.

Research on the real time obstacle avoidance control technology of biologically inspired hexapod robot

In order to meet the demand of the biologically inspired hexapod robotpsilas task and its working environment, this paper proposes the distribution of the compound sensing system based on multiple infrared sensors and ultrasonic sensors, which enlarges the robotpsilas sensing range and eliminates the interference. The authors use the fuzzy control obstacle avoidance strategy, which overcomes the disadvantage that the unstructured environment is difficult to model and improves the systempsilas robustness. The hardware test experiments results show that the designed sensing and control system can meet the real time demand. Using the Mobotsim software, the authors finished the simulation experiment. The experiment results show that this obstacle avoidance control method has perfect real-time performance, robustness and flexibility, not only to the immovable obstacles but also to the movable obstacles, which establishes the foundation to realize the biologically inspired hexapod robotpsilas intelligent control.

Image distortion correction algorithm based on lattice array coordinate projection

In order to improve the accuracy of image detection and target recognition, this paper presents an image distortion correction algorithm based on quadrilateral fractal approach controlling points. This method uses standard lattice image to be the measuring target, determines the coordinate by combining mathematical morphology and sliding neighborhood operation, and then Adopt simple linear regression analysis for optical center and establish coordinate system, finally proposes Two-step and one-dimensional gray linear interpolation backward mapping algorithm to define the pixel intensity. An image acquisition hardware system is designed contains TMS320DM6437 and taking a building as target. Experiments with above method have shown that this algorithm can correct distortion in short time without loss edge information.

The Configuration Design and Analysis of a Small Air-Land Amphibious Detecting Robot

In consideration of the complex operation scenes such as disaster site and field, the detecting robot must be very adaptable to different environments, such as land and sky, which means a high requirement for the configuration design is very necessary. This paper presents a small air-land amphibious detecting robot that fuses the ground robot and flying robot function. The common ground robots are wheeled robot, crawler robot, foot robot and so on. In comparison, foot robot is more suitable for complex unstructured environments, and the quadruped robot is considered the most promising robot insides. In contrast, the flying robots are often used in the form of the fixed wing robot, multi-propeller rotor, flapping wing robot, helicopter robot and so on. Take the advantage such as strong controllability, flexible movement, and vertical take-off and landing into account, the multi-propeller rotor is a low cost, simple and effective solution, especially quad-rotor aircraft. So this paper proposes the configuration that combining quadruped robot and quad-rotor aircraft. This paper presents a configuration design that combines the quadruped robot and quad-rotor aircraft function together, in order to make this robot has the flexibility of the quad-rotor aircraft and the ground adaptability of the quadruped robot.

The Optimization Algorithm for Gait Planning and Foot Trajectory on the Quadruped Robot

The legged robot has strong structural flexibility and environmental adaptability, and can walk reliably under unstructured terrain such as mountains and hills. It has various uses and has become a research hotspot in the field of intelligent robots in recent years. In this paper, a quadruped robot is taken as the platform, and the gait planning of quadruped robot and the optimization method of its foot trajectory are studied: 1. the optimization design based on gait parameters. The optimization of step sequence focusing on static gait stability of quadruped robot problem, the optimal step sequence based on the stability margin of the support polygon is studied. 2. The optimization design based on foot trajectory. The influence of quadruped robot’s motion performance by changing the local geometric characteristics of foot trajectory was studied. 3. The structure design and the idea of the physical prototype of the quadruped bio-robot are expounded systematically in the paper. Using the optimized Bezier curve as the robot foot trajectory, the validity of the optimal design of the foot trajectory was reliably verified.

Circuit design for the SMAẠ hexapod walking bio-robot

Based on a thorough analysis of the function modules circuit in the SMAẠ hexapod walking bio-robot, this paper accomplished the corresponding work of device selection, parameter setting and circuit design. After the software and hardware simulations of the designed circuit, we find the results consistent with the theoretical analysis, which accordingly verifies the validity of circuit design for the SMẠ hexapod walking bio-robot.

The biomimetic research on new-style hexapod robot’s locomotion planning

We observe the movement of Camponotus japionicus Mary with the use of high speed digital photography and computer assistant analysis. The experiment not only provides biomimetic foundation to multi-legged robotspsila polynomial trajectory planning which is deduced by mathematics, but also gives five conclusions which apply to hexapod bio-robots marching locomotion planning. The first is the fundamental strategy of multi-legged robotspsila feet trajectory planning. The second can enhance static and dynamic stability of multi-legged robots. The third can improve falling pointspsila validity and feasibility of multi-legged robotspsila feet. The last two give criterion of multi-legged robotspsila feet trajectory figures and recommendatory restricting terms in practice. This locomotion planning accords with biomimetic and mathematical principle, and establishes theoretic foundation of multi-legged robots linear locomotion planning. Also the conjunction way of experimentation and biomimetics research improves biomimetic robots technology effectively.