Vision-based docking system for an aromatic-hydrocarbon-inspired reconfigurable robot  

作　　者：XING FangYi XU Cheng LIU JinGuo XUE ZhiHui 

机构地区：[1]State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang,110016,China [2]School of Automation and Electrical Engineering,Shenyang Ligong University,Shenyang,110158,China [3]Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang,110169,China [4]University of Chinese Academy of Sciences,Beijing,100049,China

出　　处：《Science China(Technological Sciences)》2024年第6期1798-1816,共19页中国科学（技术科学英文版）

基　　金：supported by the National Key R&D Program of China(Grant No.2018YFB1304600);the CAS Interdisciplinary Innovation Team(Grant No.JCTD-2018-11);the National Natural Science Foundation of China(Grant No.51775541)。

摘　　要：Aromatic hydrocarbons generally refer to compounds containing benzene rings.Many types of isomers can be formed by replacing hydrogen atoms on the benzene ring.In this paper,an aromatic-hydrocarbon-inspired modular robot(AHIMR)is proposed.The robot can be reassembled into different configurations suitable for various task requirements.A vision-based docking system is designed for the AHIMR.The system primarily consists of two stages:a remote guidance stage and a precise docking stage.During the remote guidance stage,an object module is identified using an illumination adaptive target recognition algorithm,and then the active module moves to the docking area through communication with ZigBee.In the precise docking stage,the active module calculates the relative pose with the object module using a perspective-n-point method and dynamically adjusts its posture to dock.In this process,a Kalman filter is used to reduce target occlusion and jitter interference.In addition,the docking system feasibility is verified via several simulation experiments.The module docking accuracy is controlled within 0.01 m,which meets the reconfiguration task requirements of the AHIMR.In the AHIMR submodule docking experiment,the active module accurately moves to the expected position with a docking success rate of 95%.

关 键 词：modular robot reconfiguration aromatic hydrocarbon autonomous docking visual identification 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.41[自动化与计算机技术—控制科学与工程]