Jinguo Liu

Jinguo Liu
Shenyang Institute of Automation,CAS · State Key Laboratory of Robotics,

Prof. Dr

About

250
Publications
105,640
Reads
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4,062
Citations
Additional affiliations
March 2008 - January 2016
Shenyang Institute of Automation,CAS
Position
  • Managing Director
February 2014 - January 2015
University of Surrey
Position
  • Academic Visitor
January 2008 - January 2015
Shenyang Institute of Automation,Chinese Academy of Sciences
Position
  • Research Assistant

Publications

Publications (250)
Article
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Interaction stability is an important concern in variable admittance control, and it is a prerequisite for achieving the desired compliant interaction with humans or uncertain environments. Different variable admittance controllers with essential stability analyses are required for multiple interaction scenarios in a complex task, where stability a...
Article
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This paper presents a novel method for creating a hybrid 2.5D semi-semantic map, merging a 2D geometric map with a sparse 3D object map, specifically designed for expansive indoor environments. The primary motivation behind this method is to tackle the issue of temporal and viewpoint discontinuity in RGB-D observations of individual objects within...
Article
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Modular robots can be reconffgured and deformed into multiple non-isomorphic conffgurations. Different conffgurations of robots exhibit diverse motion and stability characteristics. Therefore, the stability of robots with different conffgurations is essential to improve their motion control robustness and expand their application range. In this art...
Article
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In order to improve the accuracy of gaze tracking in real-time, various attention mechanisms and long short-term memory (LSTM) networks for dynamic continuous video frames are studied in-depth in the paper. A real-time gaze-tracking method (SpatiotemporalAM) based on attention mechanism and bidirectional LSTM (Bi-LSTM) is proposed. Firstly, convolu...
Article
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A purely geometric planning method for a mobile robot in unknown environments is proposed to ensure robot collision avoidance against obstacles within the safety time interval while moving to the goal. The robot initially detects a point cloud of obstacles using a 2D LiDAR. Euclidean clustering is employed to classify the point cloud into point cla...
Article
Human–robot collaborative polishing can integrate the capabilities of humans and automation to deal with complex polishing tasks. Traditional impedance-control-based human–robot collaboration (HRC) requires operators to physically interact with robots for a good polishing performance, which brings unsafety to operators. To address this issue, a cor...
Article
Brain-computer interfaces based on motor imagery have played important roles in motor rehabilitation, brain function regulation, disease monitoring, etc. However, due to the low signal-to-noise ratio and spatial resolution of the EEG, their decoding performance still needs to be further improved. In this paper, we propose a multi scale fusion convo...
Article
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A weight-unbalanced $k$ -winner-take-all (WU- $k$ WTA) network with finite-time convergence is constructed, analyzed, and applied to undirected and directed multirobot systems with unbalanced weights of communication topology. The convergent time of the finite-time $k$ WTA network is theoretically derived with theorems proof. Furthermore, comp...
Article
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The dual-arm space robot usually forms a closed-chain constraint system with a target through collaborative operations when performing tasks. Most previous related research has focused on the performance of open-chain robots themselves. Studying the manipulation performance of a closed-chain robot system is of great significance. This article propo...
Article
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Plugging and unplugging rocket electrical connec- tors (RECs) are crucial technical processes for checking the electrical performance of the system before a launching mission. Due to the complexity of their structures, plugging and unplug- ging RECs face several demanding requirements. Specifically, the precise insertion force and the damage caused...
Article
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Space deployable masts, as one of the most widely used branches of space deployable structures, can provide driving, positioning, and transmission functions for spacecraft in orbit, which are irreplaceable in complex space activities. The nonmagnetic telescopic tubular mast (NMTTM) is designed and manufactured by the Shenyang Institute of Automatio...
Article
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The generation of images from electroencephalography (EEG) signals has become a popular research topic in recent research because it can bridge the gap between brain signals and visual stimuli and has wide application prospects in neuroscience and computer vision. However, due to the high complexity of EEG signals, the reconstruction of visual stim...
Article
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The low‐velocity penetrator (LVP) is a planetary penetration device that can drive itself to a target depth through its internal periodic impacts. When LVP generates impact energy, it inevitably produces a recoil that can only be counteracted by friction with the soil, if there is no other auxiliary device. Unfortunately, LVP is extraordinarily sen...
Article
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A planetary penetrator is a kind of machine that can use its special structure to independently penetrate an exoplanet and sample it for storage. It is a hot research topic in the world and has important development potential in the field of deep space exploration. Based on the analysis of relevant literature, this paper classifies and compares var...
Article
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Origami-inspired space deployable structures can be transformed from the folded states into the deployed states in orbit, which satisfied the demands of complex space missions and had been widely used in the space field. It remains to be investigated how the space deployable structures realized a large deployable ratio in the crease design process...
Article
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Aromatic hydrocarbons generally refer to compounds containing benzene rings in their molecules. Many kinds of isomers could be formed by replacing hydrogen atoms on the benzene ring. Inspired by aromatic hydrocarbon, an aromatic-hydrocarbon-inspired modular robot (AHIMR) is proposed, which could reassemble into different configurations suitable for...
Article
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This paper investigates the consensus control problem for a class of nonlinear multi-agent systems (MASs) with communication link faults and denial-of-service (DoS) attacks. First, considering simultaneously the communication link faults and DoS attacks, an adaptive event-triggered control strategy of MASs is proposed based on distributed adjacency...
Article
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The Space Advanced Technology demonstration satellite (SATech-01), a mission for low-cost space science and new technology experiments, organized by Chinese Academy of Sciences (CAS), was successfully launched into a Sun-synchronous orbit at an altitude of ∼500 km on July 27, 2022, from the Jiuquan Satellite Launch Centre. Serving as an experimenta...
Article
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Lunar dust particles are an environmental threat to lunar astronauts, and inhalation of lunar dust can cause lung damage. The current study explored the mechanism of lunar dust simulant (CLDS-i) inducing inflammatory pulmonary injury. Wistar rats were exposed to CLDS-i for 4 h/d and 7d/week for 4 weeks. Pathological results showed that a large numb...
Article
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Gestures have long been recognized as an interaction technique that can provide a more natural, creative, and intuitive way to communicate with computers. However, some existing difficulties include the high probability that the same type of movement done at different speeds will be recognized as a different category of movement; cluttered, occlude...
Article
This paper proposes a novel finite-time integrated guidance and control (IGC) design for skid-to-turn (STT) missiles, taking full state constraints into account. Firstly, the actuator saturation is converted into a state constraint. Secondly, to handle full state constraints effectively, the “non-constrained” IGC (NCIGC) model is constructed by com...
Article
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Flasher origami pattern has been widely utilized to improve the stowage efficiency of deployable structures. Nevertheless, flasher origami cannot be folded fully flat, and they still have great potential for optimization in terms of storage volume and folding creases. In this paper, a flat foldable equiangular spiral folding pattern inspired by the...
Article
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Inflammatory response and oxidative stress are considered to be important mechanisms of lung injury induced by lunar dust. However, the pulmonary toxicological mechanism remains unclear. In the present study, Wistar rats were exposed to CLDS-i 7 days/week, 4 h/day, for 4 weeks in the mouth and nose. Lung tissue samples were collected for histopatho...
Article
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This paper addresses a long-standing yet well-documented open problem on trajectory tracking control of manipulators, which is simultaneously affected by unknown kinematics and uncertain dynamics. A theoretical framework for implementing exponential tracking control is established by unifying two novel controllers, i.e., the Jacobian matrix adaptio...
Cover Page
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The cover image is based on the Research Article Q-Whex: A simple and highly mobile quasi-wheeled hexapod robot by Guoteng Zhang et al., https://doi.org/10.1002/rob.22186
Article
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Strap-down seeker is rigidly fixed onto the missile body, which results in detection information being coupled to the missile's attitude and having a narrow field-of-view (FOV). During the terminal guidance flight, attitude adjustment of the missile may lose the target's lock and reduce interception accuracy. Therefore, this paper investigates thre...
Article
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Compliant interaction control is a key technology for robots performing contact-rich manipulation tasks. The design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance, especially for some industrial robots with low bandwidth sensors. This paper focu...
Article
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This paper presents a trajectory planning method for a dual-arm space robot that is free-floating and receives no actuation from the base spacecraft. The task is to capture a target by a mission arm and accomplish base manoeuvring with the coupling effects by a manoeuvring arm. Three manoeuvring cases for the base are discussed concerning attitude...
Article
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Gas generators have been gradually utilized to inflate inflatable space structures, and normally they use high-energy nitrogenous compounds and solid propellants as gas-generating agents. However, gas generators with a high combustion temperature, fast reaction speed, and massive energy generation will lead to an excessively high gas temperature in...
Article
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Please cite this article as: P. Zhao, J. Liu, C. Wu et al., Deployment analysis of membranes with creases using a nonlinear torsion spring model. A R T I C L E I N F O Keywords: membrane dynamics membrane crease torsion spring model finite element analysis solar sails A B S T R A C T Membranes have been widely applied in spacecrafts, such as solar...
Article
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This paper presents the design and control of Q-Whex, an untethered, quasi-wheeled hexapod robot. Q-Whex has only six actuators-one motor located at each hip-achieving mechanical simplicity that promotes reliable and robust operation in real-world tasks. All of the robot's mechanical parts are simply fabricated with carbon fiber plates, which makes...
Article
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Large-scale solar sails can provide power to spacecraft for deep space exploration. A new type of telescopic tubular mast (TTM) driven by a bistable carbon fiber-reinforced polymer tube was designed in this study to solve the problem of contact between the sail membrane and the spacecraft under light pressure. Compared with the traditional TTM, it...
Conference Paper
Due to the difficulty of traditional spacecraft to meet the requirements of the multi-mission, the modular reconfigurable space robot is proposed which combines the modular reconfigurable concept with the design of the space robot. Contrary to the traditional spacecraft with only one fixed configuration, the modular reconfigurable space robot has r...
Article
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Long-stroke hydraulic manipulators are utilized in various grasping-handling tasks, and the flexible deformation of these manipulators is the primary obstacle that affects precise position control of the end-effectors in Cartesian space. This deformation is manifested in the following three aspects: joint deformation, structural deformation and cle...
Chapter
This paper analyzes and summarizes the principles, advantages, and disadvantages of the current operation methods of supernumerary robotic limbs. There is a phenomenon of visual area switching in the existing operation methods, which reduces the operation efficiency. In response to this problem, this paper proposes a new and efficient operation met...
Article
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In this paper, a finite element model updating (FEMU) method is proposed based on the response surface model (RSM) and genetic algorithm (GA) to establish a high-precision finite element (FE) model of space station scientific experiment racks. First, the fine solid and mixed FE models are established, respectively, and a comparison of the modal tes...
Article
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By introducing modular and reconfigurable designs, the Multi-limb Reconfigurable Modular Robots (MLRMR) have many different configurations instead of a single fixed configuration, which greatly expands the boundaries of the operation. However, the number of non-isomorphic configurations increases exponentially with the number of modules, making it...
Article
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The existing collision detection algorithms are commonly based on triangle patch models, which leads to complex detection logic. Aiming at this problem, this paper proposes a new collision detection algorithm. It has simple detection logic and fast detection speed, and it is mainly used for human-SRL cooperative motion planning. The algorithm is ba...
Article
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Please cite this article as: Q. Gao, J. Li, Y. Zhu et al., Hand gesture teleoperation for dexterous manipulators in space station by using monocular hand motion capture, Acta Astronautica (2022), Abstract Space robots in the space station can assist or substitute astronauts to conduct some in-cabin tasks to alleviate the problems of heavy tasks and...
Article
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At present, there is a problem of visual area switching in the existing SRL (supernumerary robotic limb) operation methods. In response to this problem, the authors’ previous work proposed a new SRL operation method called relatively independent operation, and proposed a corresponding software architecture. The purpose of this paper is to solve the...
Article
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Output accuracy performance is directly determined by geometric errors and working poses of a mechanism. Accuracy sensitivity as geometric error transmission coefficient, closely relates to pose configuration and geometric parameters. This research focuses on accuracy of a 3-RPR planar parallel mechanism: firstly, established 3 models in an analyti...
Article
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Miniaturized, multifunctional, and economical on-orbit service satellites have been increasingly used with the continuous increase of space exploration missions. In this paper, an innovative deployable manipulator is designed, named Cubot, which can be stowed in 1 U-sized ( 10 cm × 10 cm × 10 cm ) space. With CubeSat as the carrier, the deployable...
Article
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Space assistant robots can help astronauts or their assistants perform certain tasks. A ground microgravity simulation environment is built for the space assistant robot AAR-2. The hardware requirements of the ground simulation by the 3-DOF microgravity air flotation platform. An algorithm is designed for this simulation system. By using momentum a...
Article
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Global temporal information and local semantic information are essential cues for high-performance online object detection in videos. However, despite their promising detection accuracy in most cases, most state-of-the-art approaches have following two limitations: invalid background/scale suppression and inadequate temporal information mining betw...
Article
This paper deals with centroid alignment for the spaceflight vehicles that work on orbit under microgravity environment, due to the unavailability of centroid measurement on ground, which is based on the principle of mass–radius products in different configurations of static equilibrium. A physical prototype of articulated mechanism for centroid al...
Article
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In order to address the coordination constraints and physical constraints subjected to the dual-arm robot simultaneously, a novel four-criterion-optimization coordination motion (FCOCM) scheme is proposed, which combines four optimization criteria, namely, the repetitive motion planning (RMP), minimum velocity norm (MVN), maximize manipulability (M...
Article
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By introducing the modular and reconfigurable design, the limbs of hexapod robot can be assembled into different configurations to meet various task requirements. Contrary to the fixed configuration system, the task capabilities of the modular reconfigurable robot vary with the configurations. This paper addresses the problem of the configuration e...
Article
For a multi-vectored propeller aerostat with actuator faults, this study presents a fault-tolerant tracking control strategy, which includes fault modeling, observer, force estimation and tracking controller. Fault modeling considers the four types of faults of vectored propellers, namely, thrust offset, thrust efficiency loss, vectored angle offse...
Article
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Eclosion is a rapid process of morphological changes in insects, especially for the wings of butterflies. The orange oakleaf butterfly (Kallima inachus) transits from pupae to adults with a 9.3 fold instant increase in the surface area of their wings. To explore the mechanism for the rapid morphological changes in butterfly wings, we analyzed chang...
Article
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Gaze tracking is widely used in driver safety driving, visual impairment detection, virtual reality, human robot interaction , and reading process tracking. However, varying illumination , various head poses, different distances between human and cameras, occlusion of hair or glasses, and low-quality images pose huge challenges to accurate gaze tra...
Article
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This paper investigates the static and dynamic performances of sandwich plates with magnetorheological elastomer (MRE) core, in which the MRE core includes two copper wire layers, two inner metal layers, and one MRE layer. First, based on the complex modulus method, the Jolly theory and the pre-defined magnetic coefficients, the dynamic moduli, and...
Article
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The distributed resilient tracking problem for multiagent systems (MASs) is investigated in the presence of actuator/sensor faults over directed topology. Both actuator fault and sensor fault are taken into account. Meanwhile, using the local information, the fault compensators are introduced. Then, based on the fuzzy-logic systems (FLSs) and modif...
Article
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Soft manipulator is a kind of special manipulator that uses soft material or flexible structure to perform manipulation task under the specific drive mode inspired by the soft tissue. It is developing gradually as an important component of the soft robot. In this paper, the typical design cases of the soft manipulators as well as the related resear...
Article
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Solar sails, characterized by passive propulsion, have attracted an increasing attention of researchers, which has important value in the field of deep space exploration. SIASAIL-I is an on-orbit verification mission for solar sails based on a 6U cubesat, designed and produced by Shenyang Institute of Automation, Chinese Academy of Sciences (SIA, C...
Article
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How do humans recognize an action or an interaction in the real world? Due to the diversity of viewing perspectives, it is a challenge for humans to identify a regular activity when they observe it from an uncommon perspective. We argue that discriminative spatiotemporal information remains an essential cue for human action recognition. Most existi...
Article
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Climbing robots have broad application prospects in aerospace equipment inspection, forest farm monitoring, and pipeline maintenance. Different types of climbing robots in existing research have different advantages. However, the self-adaptability and stability have not been achieved at the same time. In order to realize the self-adaptability of ho...
Article
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Based on the design of a post-buckling silicone gel column (SGC), a novel type of low-frequency vibration isolator is presented, and the vibration isolation performance of this isolator is studied by combining theoretical analysis and experimental verification. The stiffness characteristics of the post-buckling SGC are derived, and its recovery for...
Article
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Hand detection is a crucial technology for space human-robot interaction (SHRI), and the awareness of hand identities is particularly critical. However, most advanced works have three limitations: 1) the low detection accuracy of small-size objects; 2) insufficient temporal feature modeling between frames in videos; and 3) the inability of real-tim...
Article
In this study, a segmented degradation model was established for the first time to predict and evaluate the dynamic degradation characteristics of carbon fibre-reinforced epoxy composite (CFRC) shells accurately by considering temperature variations during heating, maintenance, and cooling. The model is based on the Reddy's high-order shear deforma...
Article
Noise and physical constraints of redundant manipulators are the two major challenges in the repetitive motion planning (RMP) problems. Therefore, this paper proposed a power-exponent-type modified recurrent neural network (PET-MRNN) to simultaneously address both noise and physical constraints. Moreover, PET-MRNN model is activated by a new Sbp-si...
Article
The dynamic response of the model, which is the series connection of a planar four-bar mechanism and a spatial RSSR mechanism, is analyzed considering revolute joint clearance and friction. A non-holonomic constraint equation is proposed to solve the Euler angles. The dynamic equations are established by combining the Lagrange equation with the mod...
Article
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This paper proposes a kinematic obstacle avoidance algorithm for Space hyper-redundant manipulators, and its basic idea is to use a static and a dynamic curve to constrain the macroshape of the manipulators simultaneously. The static curve is constructed based on a traditional rapidly exploring random tree algorithm, and a backbone curve is utilize...
Article
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Dynamic coupling is an inherent behavior of the space robot system, which seriously affects the motion accuracy of the system. This article focuses on how to guarantee the base attitude stability of semifloating space robots, from a control perspective—namely, the base attitude decoupling control. The quaternion representation of the system dynamic...
Article
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A spring-damping contact force model considering the normal friction force is proposed and discussed in this paper. This model is an extension and development of Hertz theoretical model. The physical model of contact force in the contact process is established. The friction force during the elastic compression and restitution phases is represented...
Article
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Stratospheric airships are lighter-than-air vehicles that work at an altitude of 20km in the lower calm portion of the stratosphere. They can be used as real-time surveillance platforms for environment monitoring and civil communication. Solar energy is the ideal power choice for long-endurance stratospheric airships. Attitude control is important...
Article
This work is devoted to the investigation of vibration suppression effects of the viscoelastic foundation, viscoelastic damping boundary condition and porous graphene platelet coating (PGPC) on the fiber reinforced polymer (FRP) composite plate. A dynamic model is built by combining the first-order shear deformation theory, the multi-segment partit...
Article
By adding dimethyl sulfoxide (DMSO), nano titanium dioxide (TiO2) and sodium carbonate (Na2CO3) to polyvinyl alcohol (PVA), the PVA-TiO2 composite hydrogel membrane with high mechanical properties and photocatalytic ability was prepared using the freeze-thaw cycle method. The addition of DMSO and TiO2 can effectively improve the mechanical strength...
Article
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To improve vibration reduction effect in low-frequency band of dynamic vibration absorber (DVA), a novel type of articulated silicone gel column (SGC) is introduced in the design of the tuned dynamic vibration absorber. The nonlinear variation of frequency of SGC with varying geometry is obtained by both finite element simulation and experiments. T...
Article
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Space capture actuators face problems such as insufficient flexibility and electrical components that are vulnerable to extreme space environments. To address these problems, a centralized-driven flexible continuous robot based on a multiple scissor mechanism units is proposed in this study. The continuous robot body is composed of two scissor mech...
Article
Snake robots have advantages of terrain adaptability over wheeled mobile robots and traditional articulated robot arms because of their limbless thin body structure and high flexibility. They have extensive applications in tasks such as rescue, disaster recovery, inspection and minimally invasive surgery. Current research on snake robots is mainly...
Article
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This paper presents the analysis and experimental evaluation of robot dynamics and control for a four-limb parallel Schönflies-motion generator dedicating to fast pick-and-place operations, with a different topological architecture from its counterparts for efficient use of shop-floor space. The concise equation of motion is built with principle of...
Article
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Supernumerary robotic limbs (SRLs) are a new type of wearable human auxiliary equipment, which is currently a hot research topic in the world. SRLs have broad applications in many fields, and will provide a reference and technical support for the realization of human-robot collaboration and integration, while playing an important role in improving...
Article
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Abstract Normal alkane is an unbranched alkane whose structural formula is H-CH2-CH2-…-CH2-…-CH2-H, which can be regarded as a reconfigurable chain-type structure composed of -CH2- modules. Inspired by normal alkane, a normal-alkane-like reconfigurable modular robot (NAR) is proposed. The module consists of two differential gear trains mounted orth...
Article
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This paper presents a planetary elliptic displaced orbit (PEDO) for a solar sail with reflectivity control devices (RCDs). The problem of multiple solar sail formation flying in which the leader follows the PEDO is investigated. The trajectory of the leader is not affected by that of the followers, whereas each follower needs to know the state info...
Article
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Active shape control for an antenna reflector is a significant procedure used to compensate for the impacts of a complicated space environment. In this article, a physics-guided distributed model predictive control (DMPC) framework for reflector shape control with input saturation is proposed. First, guided by the actual physical characteristics, a...