中国科学院自动化研究所 柔性控制机器人实验室 CASIA Flexible Control Robotics Laboratory

学术研究 Research

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A Bioinspired Coiled Cable-Driven Manipulator: Mechatronic Design and Kinematics Planning With Multiconstraints
A Bioinspired Coiled Cable-Driven Manipulator: Mechatronic Design and Kinematics Planning With Multiconstraints
Mingrui Luo, En Li, Aoshun Zhang, Min Tan, Zize Liang
IEEE/ASME Transactions on Mechatronics  ·  07 Mar 2023  ·  doi:10.1109/TMECH.2023.3257481
本文设计了一种模仿蛇类盘绕运动的高紧凑性蜷缩式蛇形机械臂，包括12段全约束臂节、36个双丝杆驱动以及可根据任务需要蜷缩或展开的可卷曲进给。基于蜷缩式构型提出的多约束逆运动学求解算法MCKP，可以根据目标确定最少所需冗余度，具有更高的求解率、平滑角度分布和更少的运动量，展现出极佳的灵巧性和可操作性。

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2024

Intensity Triangle Descriptor Constructed From High-Resolution Spinning LiDAR Intensity Image for Loop Closure Detection
Intensity Triangle Descriptor Constructed From High-Resolution Spinning LiDAR Intensity Image for Loop Closure Detection
Yanfeng Zhang, Yunong Tian, Guodong Yang, Zhishuo Li, Mingrui Luo, En Li, Fengshui Jing
IEEE Robotics and Automation Letters  ·  01 Oct 2024  ·  doi:10.1109/LRA.2024.3455851
A Local Obstacle Avoidance and Global Planning Method for the Follow-the-Leader Motion of Coiled Hyper-Redundant Manipulators
A Local Obstacle Avoidance and Global Planning Method for the Follow-the-Leader Motion of Coiled Hyper-Redundant Manipulators
Mingrui Luo, Yunong Tian, En Li, Minghao Chen, Min Tan
IEEE Transactions on Industrial Informatics  ·  01 Apr 2024  ·  doi:10.1109/TII.2023.3346993
Model-Based Trajectory Planning of a Hybrid Robot for Powerline Inspection
Model-Based Trajectory Planning of a Hybrid Robot for Powerline Inspection
Zhishuo Li, Yunong Tian, Guodong Yang, Yanfeng Zhang, En Li, Zize Liang, Min Tan
IEEE Robotics and Automation Letters  ·  01 Apr 2024  ·  doi:10.1109/LRA.2024.3363535

2023

Robust and accurate depth estimation by fusing LiDAR and stereo
Robust and accurate depth estimation by fusing LiDAR and stereo
Guangyao Xu, Xuewei Cao, Jiaxin Liu, Junfeng Fan, En Li, Xiaoyu Long
Measurement Science and Technology  ·  22 Aug 2023  ·  doi:10.1088/1361-6501/acef47
A Passive Compliance Obstacle-Crossing Robot for Power Line Inspection and Maintenance
A Passive Compliance Obstacle-Crossing Robot for Power Line Inspection and Maintenance
Minghao Chen, Yinghua Cao, Yunong Tian, En Li, Zize Liang, Min Tan
IEEE Robotics and Automation Letters  ·  01 May 2023  ·  doi:10.1109/LRA.2023.3261704
A pixel-level deep segmentation network for automatic defect detection
A pixel-level deep segmentation network for automatic defect detection
Lei Yang, Shuai Xu, Junfeng Fan, En Li, Yanhong Liu
Expert Systems with Applications  ·  01 Apr 2023  ·  doi:10.1016/j.eswa.2022.119388
A Bioinspired Coiled Cable-Driven Manipulator: Mechatronic Design and Kinematics Planning With Multiconstraints
A Bioinspired Coiled Cable-Driven Manipulator: Mechatronic Design and Kinematics Planning With Multiconstraints
Mingrui Luo, En Li, Aoshun Zhang, Min Tan, Zize Liang
IEEE/ASME Transactions on Mechatronics  ·  07 Mar 2023  ·  doi:10.1109/TMECH.2023.3257481
本文设计了一种模仿蛇类盘绕运动的高紧凑性蜷缩式蛇形机械臂，包括12段全约束臂节、36个双丝杆驱动以及可根据任务需要蜷缩或展开的可卷曲进给。基于蜷缩式构型提出的多约束逆运动学求解算法MCKP，可以根据目标确定最少所需冗余度，具有更高的求解率、平滑角度分布和更少的运动量，展现出极佳的灵巧性和可操作性。
Vision-Based Autonomous Landing of a Hybrid Robot on a Powerline
Vision-Based Autonomous Landing of a Hybrid Robot on a Powerline
Zhishuo Li, Yunong Tian, Guodong Yang, En Li, Yanfeng Zhang, Minghao Chen, Zize Liang, Min Tan
IEEE Transactions on Instrumentation and Measurement  ·  01 Jan 2023  ·  doi:10.1109/TIM.2022.3224524
Online Progressive Instance-Balanced Sampling for Weakly Supervised Vibration Damper Detection
Online Progressive Instance-Balanced Sampling for Weakly Supervised Vibration Damper Detection
Minghao Chen, Yunong Tian, Zhishuo Li, En Li, Zize Liang
IEEE Transactions on Instrumentation and Measurement  ·  01 Jan 2023  ·  doi:10.1109/TIM.2023.3273655

2022

A Review on the Environment Perception and Control Technologies for the Hyperredundant Manipulators in Limited Space
A Review on the Environment Perception and Control Technologies for the Hyperredundant Manipulators in Limited Space
Jiaxin Liu, Aoshun Zhang, En Li, Rui Guo, Shengchuan Li, Mingrui Luo
Journal of Sensors  ·  27 Sep 2022  ·  doi:10.1155/2022/7659012
A Cable-Driven Hyperredundant Manipulator: Obstacle-Avoidance Path Planning and Tension Optimization
A Cable-Driven Hyperredundant Manipulator: Obstacle-Avoidance Path Planning and Tension Optimization
Dawei Xu, En Li, Rui Guo, Jiaxin Liu, Zize Liang
IEEE Robotics & Automation Magazine  ·  01 Sep 2022  ·  doi:10.1109/MRA.2021.3111832
Vision-Based Power Line Segmentation With an Attention Fusion Network
Vision-Based Power Line Segmentation With an Attention Fusion Network
Lei Yang, Junfeng Fan, Shuai Xu, En Li, Yanhong Liu
IEEE Sensors Journal  ·  15 Apr 2022  ·  doi:10.1109/JSEN.2022.3157336
Image Denoising of Seam Images With Deep Learning for Laser Vision Seam Tracking
Image Denoising of Seam Images With Deep Learning for Laser Vision Seam Tracking
Lei Yang, Junfeng Fan, Benyan Huo, En Li, Yanhong Liu
IEEE Sensors Journal  ·  15 Mar 2022  ·  doi:10.1109/JSEN.2022.3147489
An Automatic Deep Segmentation Network for Pixel-Level Welding Defect Detection
An Automatic Deep Segmentation Network for Pixel-Level Welding Defect Detection
Lei Yang, Shouan Song, Junfeng Fan, Benyan Huo, En Li, Yanhong Liu
IEEE Transactions on Instrumentation and Measurement  ·  01 Jan 2022  ·  doi:10.1109/TIM.2021.3127645

2021

Novel Feature Fusion Module-Based Detector for Small Insulator Defect Detection
Novel Feature Fusion Module-Based Detector for Small Insulator Defect Detection
Zishu Gao, Guodong Yang, En Li, Zize Liang
IEEE Sensors Journal  ·  01 Aug 2021  ·  doi:10.1109/JSEN.2021.3073422
Efficient Parallel Branch Network With Multi-Scale Feature Fusion for Real-Time Overhead Power Line Segmentation
Efficient Parallel Branch Network With Multi-Scale Feature Fusion for Real-Time Overhead Power Line Segmentation
Zishu Gao, Guodong Yang, En Li, Zize Liang, Rui Guo
IEEE Sensors Journal  ·  15 May 2021  ·  doi:10.1109/JSEN.2021.3062660
A Vibration Control Method for Hybrid-Structured Flexible Manipulator Based on Sliding Mode Control and Reinforcement Learning
A Vibration Control Method for Hybrid-Structured Flexible Manipulator Based on Sliding Mode Control and Reinforcement Learning
Teng Long, En Li, Yunqing Hu, Lei Yang, Junfeng Fan, Zize Liang, Rui Guo
IEEE Transactions on Neural Networks and Learning Systems  ·  01 Feb 2021  ·  doi:10.1109/TNNLS.2020.2979600
Automatic Detection and Location of Weld Beads With Deep Convolutional Neural Networks
Automatic Detection and Location of Weld Beads With Deep Convolutional Neural Networks
Lei Yang, Junfeng Fan, Yanhong Liu, En Li, Jinzhu Peng, Zize Liang
IEEE Transactions on Instrumentation and Measurement  ·  01 Jan 2021  ·  doi:10.1109/TIM.2020.3026514
Environment Perception Technologies for Power Transmission Line Inspection Robots
Environment Perception Technologies for Power Transmission Line Inspection Robots
Minghao Chen, Yunong Tian, Shiyu Xing, Zhishuo Li, En Li, Zize Liang, Rui Guo
Journal of Sensors  ·  01 Jan 2021  ·  doi:10.1155/2021/5559231
End Effector Pose Estimation in Complex Environments Using Complementary Enhancement and Adaptive Fusion of Multisensor
End‐Effector Pose Estimation in Complex Environments Using Complementary Enhancement and Adaptive Fusion of Multisensor
Mingrui Luo, En Li, Rui Guo, Jiaxin Liu, Zize Liang
Journal of Sensors  ·  01 Jan 2021  ·  doi:10.1155/2021/5550850

2020

A Review on State-of-the-Art Power Line Inspection Techniques
A Review on State-of-the-Art Power Line Inspection Techniques
Lei Yang, Junfeng Fan, Yanhong Liu, En Li, Jinzhu Peng, Zize Liang
IEEE Transactions on Instrumentation and Measurement  ·  01 Dec 2020  ·  doi:10.1109/TIM.2020.3031194
Instance segmentation of apple flowers using the improved mask R CNN model
Instance segmentation of apple flowers using the improved mask R–CNN model
Yunong Tian, Guodong Yang, Zhe Wang, En Li, Zize Liang
Biosystems Engineering  ·  01 May 2020  ·  doi:10.1016/j.biosystemseng.2020.03.008

2019

Insulator Segmentation for Power Line Inspection Based on Modified Conditional Generative Adversarial Network
Insulator Segmentation for Power Line Inspection Based on Modified Conditional Generative Adversarial Network
Zishu Gao, Guodong Yang, En Li, Tianyu Shen, Zhe Wang, Yunong Tian, Hao Wang, Zize Liang
Journal of Sensors  ·  12 Nov 2019  ·  doi:10.1155/2019/4245329
Detection of Apple Lesions in Orchards Based on Deep Learning Methods of CycleGAN and YOLOV3-Dense
Detection of Apple Lesions in Orchards Based on Deep Learning Methods of CycleGAN and YOLOV3-Dense
Yunong Tian, Guodong Yang, Zhe Wang, En Li, Zize Liang
Journal of Sensors  ·  08 Apr 2019  ·  doi:10.1155/2019/7630926
Corrections to A High-Speed Seam Extraction Method Based on the Novel Structured-Light Sensor for Arc Welding Robot: A Review
Corrections to “A High-Speed Seam Extraction Method Based on the Novel Structured-Light Sensor for Arc Welding Robot: A Review”
Lei Yang, En Li, Teng Long, Junfeng Fan, Zize Liang
IEEE Sensors Journal  ·  15 Feb 2019  ·  doi:10.1109/JSEN.2018.2880893
Apple detection during different growth stages in orchards using the improved YOLO-V3 model
Apple detection during different growth stages in orchards using the improved YOLO-V3 model
Yunong Tian, Guodong Yang, Zhe Wang, Hao Wang, En Li, Zize Liang
Computers and Electronics in Agriculture  ·  01 Feb 2019  ·  doi:10.1016/j.compag.2019.01.012
A Novel 3-D Path Extraction Method for Arc Welding Robot Based on Stereo Structured Light Sensor
A Novel 3-D Path Extraction Method for Arc Welding Robot Based on Stereo Structured Light Sensor
Lei Yang, En Li, Teng Long, Junfeng Fan, Zize Liang
IEEE Sensors Journal  ·  15 Jan 2019  ·  doi:10.1109/JSEN.2018.2877976

2018

Analysis and Design of an Effective Light Interference Methane Sensor Based on Three-Dimensional Optical Path Model
Analysis and Design of an Effective Light Interference Methane Sensor Based on Three-Dimensional Optical Path Model
Teng Long, En Li, Lei Yang, Junfeng Fan, Zize Liang
Journal of Sensors  ·  10 Jul 2018  ·  doi:10.1155/2018/1342593