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Author

Yili Fu

Bio: Yili Fu is an academic researcher from Harbin Institute of Technology. The author has contributed to research in topics: Computer science & Artificial intelligence. The author has an hindex of 13, co-authored 71 publications receiving 748 citations.


Papers
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Proceedings ArticleDOI
01 Dec 2007
TL;DR: A novel prototype of self-contained wall-climbing robot used for special tasks such as rescue, inspection, surveillance and reconnaissance is developed and the wheel-leg hybrid locomotion mechanism enable the robot to achieve quick motion on wall surface, as well as obstacle- spanning on wall surfaces and smooth wall-to-wall transitions.
Abstract: A novel prototype of self-contained wall-climbing robot used for special tasks such as rescue, inspection, surveillance and reconnaissance is developed. The wheel-leg hybrid locomotion mechanism enable the robot to achieve quick motion on wall surface, as well as obstacle- spanning on wall surfaces and smooth wall-to-wall transitions. The robot is composed of a base body and a mechanical leg with 3 DOF. The base body is a big flat suction cup with three-wheeled locomotion mechanism inside, and there is a small flat sucker in the end of the mechanical leg. The new designed chamber seal has simple structure and has steady and reliable performance. A distributed embedded control system is also described which enable the robot operating manually and semi-autonomously in wheeled motion mode or legged motion mode. Kinematics model of the robot is established to analyze the robot's motion on the wall. And the locomotion gait of the robot is discussed. Safety analysis of the robot on vertical surfaces shows the robot's reliable adhesion ability to working on wall surfaces.

16 citations

Journal ArticleDOI
TL;DR: In this article, a joint stiffness identification algorithm for serial industrial robots is presented, and a deformation compensation algorithm is proposed to improve the accuracy of the position and orientation of the end-effector (EE).
Abstract: As the application of industrial robots is limited by low stiffness that causes low precision, a joint stiffness identification algorithm for serial robots is presented. In addition, a deformation compensation algorithm is proposed for the accuracy improvement. Both of these algorithms are formulated by dual quaternion algebra, which offers a compact, efficient, and singularity-free way in robot analysis. The joint stiffness identification algorithm is derived from stiffness modeling, which is the combination of the principle of virtual work and dual quaternion algebra. To validate the effectiveness of the proposed identification algorithm and deformation compensation algorithm, an experiment was conducted on a dual arm industrial robot SDA5F. The robot performed a drilling operation during the experiment, and the forces and torques that acted on the end-effector (EE) of both arms were measured in order to apply the deformation compensation algorithm. The results of the experiment show that the proposed identification algorithm is able to identify the joint stiffness parameters of serial industrial robots, and the deformation compensation algorithm can improve the accuracy of the position and orientation of the EE. Furthermore, the performance of the forces and torques that acted on the EE during the operation were improved as well.

16 citations

Journal ArticleDOI
TL;DR: The error model formulated by dual quaternion algebra contains all the basic geometrical parameters of serial robot during the kinematic calibration process and can be used for serial robot calibration.
Abstract: The purpose of this paper is to propose an error model for serial robot kinematic calibration based on dual quaternions.,The dual quaternions are the combination of dual-number theory and quaternion algebra, which means that they can represent spatial transformation. The dual quaternions can represent the screw displacement in a compact and efficient way, so that they are used for the kinematic analysis of serial robot. The error model proposed in this paper is derived from the forward kinematic equations via using dual quaternion algebra. The full pose measurements are considered to apply the error model to the serial robot by using Leica Geosystems Absolute Tracker (AT960) and tracker machine control (T-MAC) probe.,Two kinematic-parameter identification algorithms are derived from the proposed error model based on dual quaternions, and they can be used for serial robot calibration. The error model uses Denavit–Hartenberg (DH) notation in the kinematic analysis, so that it gives the intuitive geometrical meaning of the kinematic parameters. The absolute tracker system can measure the position and orientation of the end-effector (EE) simultaneously via using T-MAC.,The error model formulated by dual quaternion algebra contains all the basic geometrical parameters of serial robot during the kinematic calibration process. The vector of dual quaternion error can be used as an indicator to represent the trend of error change of robot’s EE between the nominal value and the actual value. The accuracy of the EE is improved after nearly 20 measurements in the experiment conduct on robot SDA5F. The simulation and experiment verify the effectiveness of the error model and the calibration algorithms.

13 citations

Journal ArticleDOI
TL;DR: In this article, a single leg platform for quadruped robots is designed based on the motivation of high-speed locomotion, and the leg is designed for lightweight and low inertia with a structure of three joints by imitating quadruped animals.
Abstract: In this paper, a single leg platform for quadruped robots is designed based on the motivation of high-speed locomotion. The leg is designed for lightweight and low inertia with a structure of three joints by imitating quadruped animals. Because high acceleration and extensive loadings will be involved on the legs during the high-speed locomotion, the trade-off between the leg mass and strength is specifically designed and evaluated with the finite element analysis. Moreover, quadruped animals usually increase stride frequency and decrease contact time as the locomotion speed increases, while maintaining the swing duration during trot gait. Inspired by this phenomenon, the foot-end trajectory for quadruped robots with a high-speed trot gait is proposed. The gait trajectory is planned for swing and stance phase; thus the robot can keep its stability with adjustable trajectories while following a specific gait pattern. Especially for the swing phase, the proposed trajectory can minimize the maximum acceleration of legs and ensure the continuity of position, speed, and acceleration. Then, based on the kinematics analysis, the proposed trajectory is compared with the trajectory of Bezier curve for the power consumption. Finally, a simulation with Webots software is carried out for verifying the motion stability with two trajectory planning schemes respectively. Moreover, a motion capture device is used for evaluating the tracking accuracy of two schemes for obtaining an optimal gait trajectory suitable for high-speed trot gait.

13 citations

Proceedings ArticleDOI
01 Dec 2006
TL;DR: Four primitive behaviors called move-to-goal, avoid-static-obstacle,avoid-dynamic obstacle and avoid-robot behaviors are introduced for the path planning of multi-ro robot based on cooperation and inclination intensity algorithm.
Abstract: Four primitive behaviors called move-to-goal, avoid-static-obstacle, avoid-dynamic obstacle and avoid-robot behaviors are introduced for the path planning of multi-robot. This path planning is based on cooperation and inclination intensity algorithm. The robots dynamically assume and exchange roles in a synchronized manner in order to perform the task successfully and adapt to unexpected events in the environment. This method also can be used for robot team in formation or even for coordinating multiple robots in the execution of cooperative tasks. The results of simulation show its effectiveness.

13 citations


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Journal ArticleDOI
TL;DR: The state of the art in continuum robot manipulators and systems intended for application to interventional medicine are described, and relevant research in design, modeling, control, and sensing for continuum manipulators are discussed.
Abstract: In this paper, we describe the state of the art in continuum robot manipulators and systems intended for application to interventional medicine. Inspired by biological trunks, tentacles, and snakes, continuum robot designs can traverse confined spaces, manipulate objects in complex environments, and conform to curvilinear paths in space. In addition, many designs offer inherent structural compliance and ease of miniaturization. After decades of pioneering research, a host of designs have now been investigated and have demonstrated capabilities beyond the scope of conventional rigid-link robots. Recently, we have seen increasing efforts aimed at leveraging these qualities to improve the frontiers of minimally invasive surgical interventions. Several concepts have now been commercialized, which are inspiring and enabling a current paradigm shift in surgical approaches toward flexible access routes, e.g., through natural orifices such as the nose. In this paper, we provide an overview of the current state of this field from the perspectives of both robotics science and medical applications. We discuss relevant research in design, modeling, control, and sensing for continuum manipulators, and we highlight how this work is being used to build robotic systems for specific surgical procedures. We provide perspective for the future by discussing current limitations, open questions, and challenges.

986 citations

Journal ArticleDOI
28 Aug 2019
TL;DR: A submillimeter-scale, self-lubricating soft continuum robot with omnidirectional steering and navigating capabilities based on magnetic actuation, enabled by programming ferromagnetic domains in its soft body while growing hydrogel skin on its surface is presented.
Abstract: Small-scale soft continuum robots capable of active steering and navigation in a remotely controllable manner hold great promise in diverse areas, particularly in medical applications. Existing continuum robots, however, are often limited to millimeter or centimeter scales due to miniaturization challenges inherent in conventional actuation mechanisms, such as pulling mechanical wires, inflating pneumatic or hydraulic chambers, or embedding rigid magnets for manipulation. In addition, the friction experienced by the continuum robots during navigation poses another challenge for their applications. Here, we present a submillimeter-scale, self-lubricating soft continuum robot with omnidirectional steering and navigating capabilities based on magnetic actuation, which are enabled by programming ferromagnetic domains in its soft body while growing hydrogel skin on its surface. The robot's body, composed of a homogeneous continuum of a soft polymer matrix with uniformly dispersed ferromagnetic microparticles, can be miniaturized below a few hundreds of micrometers in diameter, and the hydrogel skin reduces the friction by more than 10 times. We demonstrate the capability of navigating through complex and constrained environments, such as a tortuous cerebrovascular phantom with multiple aneurysms. We further demonstrate additional functionalities, such as steerable laser delivery through a functional core incorporated in the robot's body. Given their compact, self-contained actuation and intuitive manipulation, our ferromagnetic soft continuum robots may open avenues to minimally invasive robotic surgery for previously inaccessible lesions, thereby addressing challenges and unmet needs in healthcare.

594 citations