top of page
humanoid robot is driving a screw into a workpiece.jpg

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。

Tactile Sensor
Robotic sliding
Mechanical simulation
Enhanced data fusion algorithm
unsupervised learning

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 signal

Spiking train signals

​神经脉冲信号

Processing framework for Spike train signal

Calculation framework

​计算框架

Property of the reference spike trian
generation way for the reference spike train

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
haptic glove

Haptic glove

​触觉手套

Detection of stimulus location

​作用力位置检测

haptic glove

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。

multi-joint finger

Single Finger

​单根多关节手指

Haptic gripper
Robotic Hand

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

Gridshell Problem
DER model
Gridshell Result
Gridshell result

Inverse Solutions

反解结果

inverse shape finding
Optimization of deploying point
Robotic tying knot

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

Segmentation algorithm

​场景分割算法

contour extraction

Adaptive contour extraction

自适应轮廓提取

DEEP CNN

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。

Join our mailing list for updates on publications and events

Thanks for submitting!

​江苏省南京市江宁区东南大学九龙湖校区机械楼,211189

Intelligent Perception and Control Lab, IPCL, Southeast University.

bottom of page