Baoyuan Wu

Research on calibration system error of 6-axis force/torque sensor integrated in humanoid robot foot

With the fast development of humanoid robot with high intelligence and accuracy, the improvement of comprehensive performance of 6-axis force/toque sensor(F/T sensor) has been constantly emphasized and further put forward to a higher demand. Except that a good proper mechanical design to guarantee the precision of the F/T sensor, the calibration quality is one of the most important factors of influencing the precision of F/T sensor too. The influencing factor of the precision of F/T sensor and system error source have been analysed from the view point of the calibration in this correspondence for the improvement of optimization design of sensor structure and calibration system in order to reduce or eliminate the error effects, which offers the theoretical foundation for improving the comprehensive performance and measurement accuracy of the F/T sensor.

Signal Processing and Application of Six-axis Force/Torque Sensor Integrated in Humanoid Robot Foot

Six-axis force/torque sensor (F/T sensor) that can detect three orthogonal forces and torques has been extensively adopted in humanoid robot foot for stable control. Due to the F/T sensors being seriously influenced by the electromagnetic interference from ankle generator, signal stability of F/T sensor is still one of the main influencing factors for accurately dynamical and stable control. Though the problem with influencing electromagnetic noise can be solved generally and partially by shielding of the sensor and wires, this traditional method will to some extend face implementation difficulty induced by special mounting space and application environment especially in humanoid robot ankle. Therefore, the research on the output signal stability and precision of the F/T sensors has still been one of the most essential subjects for humanoid robot dynamic equilibrium control. In this paper, some various signal processing methods have been adopted and analyzed comparatively with the aim at the output signal anti-interference processing of F/T sensors. And the filtering effect and its feasibility were verified experimentally in the dynamic walking motion of humanoid robot platform BHR-2.

DEVELOPMENT OF AN INTEGRATED PERCEPTUAL FOOT SYSTEM FOR HUMANOID ROBOTS

The realization of dynamic and stable walking anthropomorphically for humanoid robots to step on various kinds of uneven environments has long been considered as the research emphasis in the field of humanoid robot. The foot system constitutes the element which ensures the interaction between the humanoid robot and the environment. Apart from supporting the whole weight of robot and sensing the external forces exerted by the foot system on the ground during walk, perception of effective contact area (ECA) and foot postures are indispensably important information supports for various control schemes. This paper describes our research efforts aimed at an integrated perceptual foot (IPF) system which is designed by the conception derived from human foot motion mechanism. The IPF system possesses the capability to perceive the external forces/torques, ECA distribution, foot postures, zero moment point trajectory and topography conditions, etc. And the feasibility and validity of each sensor system in IPF system are experimentally tested on the humanoid robot platform BHR-2, which provide useful information support as possible to achieve some new and effective control schemes for humanoid robots.

A novel f-pad for handwriting force information acquisition

This paper presents a novel pad for handwriting force information acquisition. The pad named F-Pad (force-pad) is capable of capturing both the dynamic handwriting information and the static trajectory of the writing pen. With the core part of the multi-dimension force/torque sensor, the F-Pad can capture the 3-D forces and 2-D torques directly. And with the specially designed structure, other dynamic and static information such as the velocities, accelerations, handwriting shape and slants can be got indirectly. Ordinary pens can be used to write on the pad and the pad provides a real-time visual feedback to gain a natural writing feeling. Basic experiments in which characters are written demonstrate the possibility of handwriting force information detection.

Research on the Tokamak Equipment CAsk (TECA) for Remote Handling in Experimental Advanced Superconducting Tokamak (EAST)

The tele-operated transfer cask is required for maintenance in nuclear fusion environment. A type of the transfer cask system, namely TECA (Tokamak Equipment CAsk) is designed for Experimental Advanced Superconducting Tokamak (EAST). The whole TECA system schemes, composed of the Air Cushion Vehicle (ACV), the Docking Pallet (DP), and the Conservation Cask (CC), are designed, and the prototype is accomplished. The motion and control of the ACV, the DP, and the DSD are detailedly analyzed. The motion control experiments validate the TECA applicable.

Control System Design and Implementation of Flexible Multi-joint Snake-Like Robot for Inspecting Vessel

In nuclear fusion research, inspecting tokamak vessel by controlling remote-handling robot is promising. To achieve collision-free, precise robot movement in tokamak vessel, it is necessary for the control system to perform motion planning, closed-loop control, interface operation and other functions. In this paper, a control system based on Ethernet and CAN network for a developed snake-like robot for inspecting tokamak vessel is proposed. Then, the robot kinematics model is built. Motion planning procedure is completed by a stepwise iterative algorithm. And a dual-loop control method for each joint is realized. A control software is developed to perform control computation and interface operation. Finally, the effectiveness of the control system for the robot is verified by actual experiments.

Design and implementation of a standardized sensor network node based on virtual instrument and IEEE1451

Its the trend that sensor network become more standardized and unified as internet of things develops continuously. Aiming at resolving the problems arising from variety of sensors type and interface, this paper presents a design idea of a standardized sensor network node based on virtual instrument and IEEE 1451 standard, and expounds the realization of this sensor node. A concept of sensor node user program API is introduced to facilitate upper sensor network or host interacting with this standard sensor node. Test results show that this sensor network node could meet the practical application.