Harbin Institute of Technology

Liang Ding

Zongquan Deng

Haibo Gao

Zhen Liu

Nan Li

Peng Xu

Haitao Yu

Zhaowei Yu

Shu Li

Yan Liu

Lizhou Niu

Yiqun Liu

Zhikai Wang

Lan Huang

Wenhao Feng

Ye Yuan

Xiuwen Bi

Jingming Zhang

Liyuan Ge

Yang Su

Ruyi Zhou

Huaiguang Yang

A robot state planning method based on a Monte Carlo tree search algorithm. The method comprises: obtaining an initial state and a target state of a robot (step); by using the initial state as a starting node, using a Monte Carlo tree search algorithm to expand a Monte Carlo tree until a generated target node reaches the target state (step); and determining a state sequence of the robot according to all nodes from the starting node to the target node (step). According to the solution, the overall state in the motion process is planned, and a state sequence is generated; thus, effect of front back coupling caused by planning according to periods can be avoided, and the passing capability of a six-foot robot in a complex terrain is improved.

Robot state planning method based on Monte Carlo tree search algorithm

A multi-purpose planet planetary exploration rover is provided in this invention, which relates to the field of planet exploration. The multi-purpose planetary exploration rover includes a case body, mounted with a first wheel at left and right sides respectively; and a cantilever, having a front end connected to the case body, a rear end of the cantilever being mounted with a second wheel; wherein the cantilever is rotated or fixed relative to the case body, the second wheel is steered relative to the cantilever, and the first wheel and the second wheel are used to drive the multi-purpose planetary exploration rover. Compared with the prior art, the multi-purpose planetary exploration rover of this invention can effectively explore special geographic locations such as cliffs, volcanic craters, craters and lava caves on alien planets.

Multi-purpose planet rover

A three-layer intelligence system architecture and an exploration robot are provided. The three-layer intelligence system architecture includes: a digital twin module for creating a virtual exploration environment and a virtual robot according to explored environment data acquired in real time by the exploration robot and robot data of the exploration robot; a virtual reality module for generating a process and a result of the virtual robot executing the control commands in the virtual exploration environment according to the virtual exploration environment, the virtual robot, and control commands of a control personnel for the exploration robot; and a man-machine fusion module for transmitting the control commands and showing the control personnel the process and the result of the virtual robot executing the control commands in the virtual exploration environment, and causing the exploration robot to execute the control commands after acquiring a feedback indicating that the control personnel confirms the control commands.

Three-layer intelligence system architecture and an exploration robot

A soft biomimetic legged robot is provided in the present invention, including a plurality of soft robotic arms. The soft robotic arms include a plurality of motion units, and each of the motion units includes one or more of a twist module, an extension module, a contraction, and a bending module. The plurality of motion units is combined to achieve a full-posture motion of the soft robotic arms. By using soft robotic arms composed of different motion units, the soft biomimetic legged robot of the present invention can not only realize the underwater swimming and crawling, but the crawling on land or slopes, thereby adapting to more complicated environments and achieving richer functions. The motion posture is not limited to a single bending, twisting, extension, and shortening. The soft robotic arm can achieve full-posture movements, and its motion type is more complete.

Soft biomimetic legged robot

A terrain modeling method that fuses geometric characteristics and mechanical characteristics, and a terrain modeling system are provided in the present invention. The method includes steps of: obtaining color images and depth images of the detected region, performing a terrain semantic segmentation on the color images, and fusing ground semantic information obtained by the semantic segmentation and depth information contained in the depth images at the same time to generate the point clouds; mapping the point clouds to a raster map in a map coordinate system to generate corresponding rasters, and updating the elevation values to the corresponding rasters; and calculating the input images in terms of terra-mechanical characteristics, and updating calculation results to the corresponding rasters to generate a terrain model. A mechanical characteristic parameter is added to a terrain factor, and terrain characteristics are innovatively performed from two dimensions of geometric characteristic and mechanical characteristics.

Terrain modeling method that fuses geometric characteristics and mechanical characteristics and computer readable storage medium thereof

A leg-arm-paddle underwater robot is provided in the present invention, which includes: a frame, an operating mechanism, a traveling mechanism, and a propulsion mechanism. The traveling mechanism is adapted to enable the leg-arm-paddle composite underwater robot to travel. The propulsion mechanism is adapted to enable the leg-arm-paddle composite underwater robot to float in water. The operating mechanism includes a first robot arm, a second robot arm, and a first mounting base, wherein the first mounting base is detachably connected to the frame. Both the first robot arm and the second robot arm are rotatably connected to the first mounting base, and rotation centers of the first robot arm and the second robot arm are the same. The operating mechanism of the leg-arm-paddle composite underwater robot has a compact structure and a large working range. The leg-arm-paddle composite underwater robot has reduced volume, enhanced operation capability, wide applicability, and strong practicability.

Leg-arm-propeller underwater robot

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Haerbin, China

Liang Ding