
Research Works
实验室的主要研究工作
We are interested in the research works on intelligent perception and control, specifically including: Design of Tactile Sensors, Development of High-precision Data Fusion Algorithms, Dexterous Hand, Applications of AI Algorithms, Structural Optimization, Robotic Perception and Control etc.
实验室长期从事智能感知与控制方面的工作,涉及触觉传感器的设计、高精度数据融合算法开发、灵巧手研究、人工智能算法应用研究、结构优化、机器人感知与控制等方向。
Research Topic 1: Design of Tactile Sensors and Data Fusion:
研究方向1:触觉传感器的设计及数据融合算法:
We designed biomimetic tactile fingers to perceive static and dynamic forces and thus realized surface recognition.
我们设计了多种仿生触觉手指,以感受静态力和动态力,并实现表面识别。





Design of Tactile Sensors
触觉传感器的设计
Experiment of Robotic Exploration
机器人操作实验
Simulation of the dynamic contact
动态接触过程的模拟
Enhanced data fusion algorithm
增强式数据融合算法
Unsuperized Recognition
非监督式学习
A reference spike train-based computation framwork was proposed to tackle tactile spiking signals.
我们开发了一种基于参考脉冲序列的神经脉冲信号计算框架。
Research Topic 2: Processing Algorithm for Spiking Signals.
研究方向2:神经脉冲信号的处理算法

Spiking train signals
神经脉冲信号

Calculation framework
计算框架


Properties of reference spike train
参考脉冲的特性研究
A lightweight haptic glove was designed in combination with flexible circuit.
与柔性电路相结合,我们设计了一款轻量化触觉手套。
Research Topic 3: Design of Haptic Glove.
研究方向3:触觉手套的设计


Haptic glove
触觉手套
Detection of stimulus location
作用力位置检测

Force measurement of hand gestures
不同手势的力感知
Research Topic 4: Design of Dexterous Hand.
研究方向4:灵巧手的设计
Biomimetic fingers and hands are designed for dexterous manipulation.
我们开发了多种仿生手指与机械手,用于灵巧操作。

Single Finger
单根多关节手指


Haptic Gripper
触觉夹爪
Three fingers' hand driven by PAMs
气动三指机械手


Based on DER theory, we developed the mechanical models for the deformation of elastic rods. A inverse solving algorithm was proposed based on Genetic Algorithm. A path planning strategy for robotic knot tying was developed further. In addition, a bottom-up inverse shape finding algorithm was proposed for 2D rods.
基于DER模型,我们开发了绳状结构变形时的力学模型,基于遗传算法提出了弹性绳网络的反解算法,利用神经网络给出了协作机器人打结时的路径规划,并提出了一种自下而上的二维弹性绳形状反解方法。
Research Topic 5: Structural and Parameter Optimization
研究方向5:结构与参数优化




Inverse Solutions
反解结果




Research Topic 6: Computer Vision
研究方向6:计算机视觉
We developed related contour extraction algorithm and data augmentation algorithms ect. to recognize soft objects.
我们提出了轮廓提取与数据增强等算法,以识别易变形物体。

Segmentation algorithm
场景分割算法

Adaptive contour extraction
自适应轮廓提取

Deep CNN model
深度卷积网络模型

Research Topic 7: Mobile Robot
研究方向7:移动机器人
We designed a mobile robot driven by Mecanum wheels and possessed the capability of stable manipulation.
我们开发了一款基于麦克纳姆轮的四驱移动机器人,可用于物体的稳定操作。
