Tài liệu CURRENT R&D OF ADVANCED ROBOTS IN CHINAREPORT TO JCF’2002 OF IARPSOME CURRENT DEVELOPMENTS ppt

In this report, some current R&D of advanced robotics in China will be introduced briefly with the following sequence, Wall-climbing robots; Humanoid robots; Medical robots; Micro-ma

SOME CURRENT DEVELOPMENTS OF ADVANCED ROBOTICS

IN CHINA

Xianzhong DAI

Robotics Expert Group of National High-Tech R&D Programme, China

Frascati, Italy/Nov 8, 2002

1 Preface

As a part of the National High-Tech R&D Programme of China, the Subject Topic of Robot Technology mainly covers the key techniques of robotics and launched in the first year of the National Tenth Five-year Plan, or 2001 The Subject Topic during the Tenth Five-Year Plan focus

on the R&D key technologies and prototypes of advanced robotics such as humanoid robots and bionics robots, mobile robots, medical robots, pipe robots, network-based robots, micro-manipulation systems, service robots, robots technologies in agriculture and forest, and so on And some innovation achievements of which have been obtained in the passed years In this report, some current R&D of advanced robotics in China will be introduced briefly with the following sequence,

Wall-climbing robots;

Humanoid robots;

Medical robots;

Micro-manipulation systems;

Mobile robots;

Underwater robots

2 Wall-climbing robots

The wall-climbing robotics study in China has got developed very rapidly, although it started relatively late compared with other advanced countries With the support of the National High-Tech R&D Programme, the Robotics Research Institute

of Harbin Univ of Tech., Shanghai University, Beijing Univ of Aeronautics and Astronautics and so on, began to do such research one after other Some period results have been achieved, for example, the Robotics Research Institute of HIT has successfully developed two series and five types of wall-climbing robots, which are based on negative press absorption and magnetic absorption, respectively

At present, the main use of wall-climbing robotics techniques is the construction cleaning In this kind of practical use, the wall-cleaning robots made by the Robotics Research Institute of HIT and the Institute of Robotics Research and Beijing Univ of Aeronautics and Astronautics representatively are being put in market by some cleaning companies Fig 2-1 shows the wall-climbing robot which made by the HIT Robotics Research Institute The robot consist of a main frame, cleaning mechanism, remote controller, safety and protection device and other mechanical parts It can be used to clean ceramic tile, marble or glass wall surface etc With the adoption of the negative pressure absorption technique, the robot can be tightly absorbed to the wall The robot is droved by two wheels and can be moved on the vertical surface With a built-in remote controller it is easy to be operated by a operator on the ground On the base of formerly research result, the HIT Robotics Research Institute succeed in making a new washing robot for cleaning glass wall, show in Fig 2-2, the robot adopted an electrical revolving brush in the clean mechanism, which can collect and reuse the waste water

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-The institute of Robotics Research, Beijing Univ of Aeronautics and Astronautics has also done a project in the technology application of the wall-climbing robot The institute developed several types of wall cleaning robotics systems Fig 2-3 shows the glass ceiling robot developed for the Beijing railway west-station, which is composed by two parts—the main body and the ground support equipments The main body can complete cleaning action as climbing task on the glass wall, and it can also collect the wasted water Fig 2-4 shows the newly developed window-cleaning robot, it is a kind of fan sucking robot which has no suction disk, spray spout and tracks, and undertake continuous cleaning work The robot can be controlled by the controlling box and the cable walking system stands on the top of the buildings

Nowadays in China, the application fields of wall-climbing robot is relative narrow, however, we believe that with the developments of the robotics technique, the wall-climbing robot can be used in more and more fields

3 Humanoid robots

The first humanoid robot is build by National University of Defense

Fig.2-2 Photo of the new type robot Fig.2-1 CLR-2 cleaning robot

Fig.2-3 Robot for cleaning station windows Fig.2-4 3W window cleaning robot

Technology in 1999 This humanoid has total 18 DOF (Fig.3-1) Each leg of it has 6 DOF, and each arm has 3 DOF The height of the humanoid robot is about 1.2m, and the weight of humanoid main body including the mechanism, actuators and reduction

is about 40kg The computer system and the power supply are separated from the main body

In 2001, a new humanoid project supported by the National High-Tech Research and Development Programme was launched Figure 3-2 shows the humanoid robot BHR-01, which is developed at Beijing Institute of Technology

BHR-01 Humanoid robot consists of a head, two arms and two legs, and has total 31 DOF The head of it has 3 DOF, each leg consists of a thigh, shank and foot and has total 6 DOF, and each arm consists of an upper arm, forearm and hand, and has total 8 DOF All joints are driven by DC motors with a harmonic-driven reduction gear actuates respectively The computer system and power supply are integrated in humanoid body The height of it is 1.6m and the weight is about 80.0kg

Fig 3-1 Humanoid by University of Defense Fig 3-2 Humanoid by Beijing Institute

Technology in 1999 of Technology in 2002

4 Robot-assisted medical mechatronics

Similarly in the developed countries, the requirement in china for medical robots has been increasing year by year, as there would be so many reasons for this kind of requirements, such as:

 Since there is a problem of population, Chinese government has paied much attention on the prophylaxis diagnosis of people’s disease;

 China has about 80 billion RMB market with 10% increasing rate per year and almost every hospital in large cities want to equip some high-tech instruments e.g., CT, MRI, Image-guided navigation and even medical robots

Meanwhile, more and more attentions have been paid on R&D of medical robots

by most Chinese universities and academic institutions For example, the neurosurgery application research is in Beijing Univ of Aeronautics and Astronautics, Tsinghua Univ and Navy Hospital of Beijing, the orthopedic application research is in Shenyang Institute of Automation, the Chinese Academy of Sciences, and so on Among them, frameless stereotactic neurosurgery system has got great successful

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-The robot-assisted frameless stereotactic neurosurgery system (Fig.4-1) is developed by Beijing Univ of Aeronautics and Astronautics and has been used for practical neurosurgery more than 50 cases in Navy Hospital of Beijing As for the conventional neurosurgery it needs opening the skull of the patient and so it needs long time for convalescence, and also it depends on the surgeon’s experience to locate the pathological tissues, which are normally not really clear Discarding the cumbersome frame, the robot-assisted neurosurgery system uses the markers for registration So it reduces the operation procedure and increases operation efficiency and safety, and shortens recovery time for patient

Fig 4-1 The robot-assisted frameless stereotactic neurosurgery syste

5 Micro-manipulating robots

Some micromanipulating robots used for bioengineering and micro-assembly have been developed in China, three examples and their recent developing

5.1 Micromanipulating robot facing bioengineering developed in Nankai University

A new type of biologic-medical experimental robot has been developed by Nankai University, Tianjing The micro-operation robot system consists of system management module, micro-vision & image processing module, multi-axes motion programmable module, and high precision motion control module The operator can control the motion of micromanipulator & micro-holder by computer By means of the micro-vision & image processing, the actions of micro-tools on biological bodies can be performed with high precision automatically The typical operation process can

be memorized and repeated automatically There is a large operating space enough to exchange the tools and to search the operating objects conveniently The micro-tools can be searched and shown on CRT automatically, and the experiment process displayed on CRT timely can be memorized The system can be applied to some micromanipulations of biological bodies such as trans-gene through micro-injection to cells, micro-cutting experiments of the chromosome, and so on (As shown in fig.5-1 and fig.5-2)

5.2 Micromanipulating robot system facing microassembly developed in Harbin institute of technology

The tele-micromanipulating robot system based on microassembly has been successfully developed in Harbin institute of technology The robot is made up of 3 DOF master, a 3 DOF micromanipulor, a 6 DOF macro-positioning system, a micro-gripper, a micro-vision system and a force perception system It can perform visual monitoring, visual feedback control, micro force perception and dual-arm macro/micro tele-manipulation Meanwhile, macro/micro force controller based on impedance control is developed successfully The peg-in-hole tasks are finished by autonomic micro-assembly and tele-assembly respectively In the tele-assembly experiments, position trace and force trace are realized and the operator gained durative and stable assembly force perception The robot system will be applied to micro-assembly of micro parts and MEMS parts (As shown in fig.5-3 and fig 5-4)

5.3 Total optical micromanipulating system developed in University of Science & Technology of China

In this system (as shown in fig.5-5) developed by

University of Science & Technology of China, Hefei,

the microgrip of cell and other particulates can be

realized by laser beams Therefore non-contacting

operation occurs in the whole course of

micromanipulation The optical micromanipulator—

optical tweezers and optical micromachining tool—

optical knife are integrated successfully in the system

As a result, some micromanipulating and

micromachining tasks are performed At the same time,

Fig.5-5 Total optical

200µm

Fig.5- 4 Peg-in-hole is performed Fig.5- 3 Micromanipulating robot system

based on microassembly

Fig.5-1 Micromanipulating robot syatem

based on biological & medical engineering

Fig.5-2 Micro-injection to oocyte of small

mouse

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-micromanipulations or micro-machining are finished by coming into some particulates’ bodies But no spoiling occurs on the surface of these particulates The system is specially fit to manipulate and machine particulates (their size is sub-micro meter to several decade micro meter) including non-biological bodies and live biological bodies Non-touching manipulating and controlling a big bio-molecules can

be performed by the system too

6 Mobile robots

In recent years, more and more attentions have been paid on R&D of mobile robots, for purpose of services and entertainments, both in Chinese universities and academic institutions, e.g the Institute of Automation, Chinese Academy of Sciences, Shenyang Institute of Automation, Chinese Academy of Sciences, Shanghai Jiaotong University, Tsinghua University, Southeast University and many others

Most recently, a new type of mobile

robot named as CASIA-I(Fig.6-1) was

developed in the Institute of Automation,

Chinese Academy of Sciences, Beijing

Using two DSPs, both TI’s

TMS320LF240X and TMS320LF 54XX

series on board, which greatly enhance the

signal processing capabilities for large

number of sensors, it is characterized by

with more useful functions and higher

intelligence for convenient use in offices,

families, hospitals, libraries and

exhibitions

The outstanding features of mobile

robot CASIA-I lie in its attractive hearing,

speaking and conversing abilities It can

hear and understand the operator’s oral

Chinese commands from a wireless

microphone, and then it will respond the

Chinese-based commands with both

Chinese-based speech system and

locomotion system For example, after hearing the Chinese command “Turn to the left”, it will response with Chinese words “No problem” and turns to the left in the mean time

7 Underwater Robots

After the research of 1000m and 6000m underwater robots, Shenyang Institute of Automation, the Chinese Academy of Sciences are trying their best to carried out some underwater engineering services Besides researching and developing floating motion type underwater robots, SIA now is developing a new type of underwater robot, which can walk and manipulate underwater Fig.7-1 is an developing underwater manipulating robot It will be used to lay and maintain cables under the sea.

Fig 6-1 CASIA-I

Fig 7-1 Underwater cable-burying robot