University of Science and Technology Beijing

About: University of Science and Technology Beijing is a education organization based out in Beijing, China. It is known for research contribution in the topics: Microstructure & Alloy. The organization has 41558 authors who have published 44473 publications receiving 623229 citations. The organization is also known as: Beijing Steel and Iron Institute.

A DMPs-Based Framework for Robot Learning and Generalization of Humanlike Variable Impedance Skills

Abstract: One promising approach for robots efficiently learning skills is to learn manipulation skills from human tutors by demonstration and then generalize these learned skills to complete new tasks. Traditional learning and generalization methods, however, have not well considered human impedance features, which makes the skills less humanlike and restricted in physical human–robot interaction scenarios. In particular, stiffness generalization has not been well considered. This paper develops a framework that enables the robot to learn both movement and stiffness features from the human tutor. To this end, the upper limb muscle activities of the human tutor are monitored to extract variable stiffness in real time, and the estimated human arm endpoint stiffness is properly mapped into the robot impedance controller. Then, a dynamic movement primitives model is extended and employed to simultaneously encode the movement trajectories and the stiffness profiles. In this way, both position trajectory and stiffness profile are considered for robot motion control in this paper to realize a more complete skill transfer process. More importantly, stiffness generalization and movement generalization can be efficiently realized by the proposed framework. Experimental tests have been performed on a dual-arm Baxter robot to verify the effectiveness of the proposed method.

pH-Regulated Synthesis of Multi-Shelled Manganese Oxide Hollow Microspheres as Supercapacitor Electrodes Using Carbonaceous Microspheres as Templates.

Abstract: Multi-shelled Mn2O3 hollow microspheres have been achieved through a pH-regulated method and used as supercapacitor electrodes. The designed unique architecture allows efficient use of pseudo-capacitive Mn2O3 nanomaterials for charge storage with facilitated transport for both ions and electrons, rendering them high specific capacitance, good rate capability, and remarkable cycling performance.