水下移动作业机器人的自主感知、导航与控制

U1713222
2017
F0306.自动化检测技术与装置
王硕
联合基金项目
研究员
中国科学院自动化研究所
297万元
运动控制;水下机器人-机械手系统;环境感知;定位与导航;水下自主作业
2018-01-01到2021-12-31
  • 中英文摘要
  • 结题摘要
  • 结题报告
  • 项目成果
  • 项目参与人
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序号 标题 类型 作者
1 Robot motion planning method based on incremental high-dimensional mixture probabilistic model 期刊论文 Fusheng Zha;Yizhou Liu;XinWang;Fei Chen;Jingxuan Li;Wei Guo
2 Development and motion control of biomimetic underwater robots: A survey 期刊论文 Rui Wang;Shuo Wang;Yu Wang;Long Cheng;Min Tan
3 Vision-based autonomous hovering for the underwater biomimetic vehicle-manipulator system-RobCutt-II 期刊论文 Rui Wang;Shuo Wang;Yu Wang;Mingxue Cai;Min Tan
4 Data-driven hydrodynamic modeling for a flippers-driven underwater vehicle-manipulator system 会议论文 Yu Wang;Xuejian Bai;Long Cheng;Shuo Wang;Min Tan
5 Development and control of an underwater vehicle-manipulator system propelled by flexible flippers for grasping marine organisms 期刊论文 Yu Wang;Mingxue Cai;Shuo Wang;Xuejian Bai;Rui Wang;Min Tan
6 Locomotion control of a hybrid propulsion biomimetic underwater vehicle via deep reinforcement learning 会议论文 Tiandong Zhang;Rui Wang;Yu Wang;Shuo Wang
7 Remote operation with haptic force and virtual proxy for an underwater vehicle-manipulator system 会议论文 Jin Ma;Yu Wang;Rui Wang;Shuo Wang
8 Study on underwater simultaneous localization and mapping based on different sensors 会议论文 Jiye Yin;Yu Wang;Jiaqi Lv;Jin Ma
9 仿豹鲂鮄鱼水下机器人 专利 王睿;白舸;王宇;张天栋;程龙;王硕;谭民
10 海产品抓取的双目视觉实时感知定位方法、系统、装置 专利 王睿;崔少伟;王宇;张天栋;王硕
11 Parameter estimation survey for multi-joint robot dynamic calibration case study 期刊论文 Shaolin Zhang;Shuo Wang;Fengshui Jing;Min Tan
12 Modeling and analysis of an underwater biomimetic vehicle-manipulator system 期刊论文 Xuejian Bai;Yu Wang;Shuo Wang;Rui Wang;Min Tan;Wei Wang
13 Omnidirectional drift control of an underwater biomimetic vehicle-manipulator system via reinforcement learning 会议论文 Ruichen Ma;Yu Wang;Rui Wang;Shuo Wang
14 柔性仿生蹼水下运动控制方法及系统 专利 王宇;白雪剑;王硕;王睿;谭民
15 基于强化学习的波动鳍推进水下作业机器人追踪控制方法 专利 王宇;唐冲;王睿;王硕;谭民;马睿宸
16 PSO-based optimal formation of multiple biomimetic underwater vehicles 会议论文 Rui Wang;Ge Bai;Shuo Wang;Yu Wang;Min Tan
17 机器人操作技能学习方法综述 期刊论文 刘乃军;鲁涛;蔡莹皓;王硕
18 Target tracking control of a biomimetic underwater vehicle through deep reinforcement learning 期刊论文 Yu Wang;Chong Tang;Shuo Wang;Long Cheng;Rui Wang;Min Tan;Zengguang Hou
19 Development of a propeller with undulating fins and its characteristics 会议论文 Ruichen Ma;Yu Wang;Rui Wang;Shuo Wang
20 Learning the metric of task constraint manifolds for constrained motion planning 期刊论文 Fusheng Zha;Yizhou Liu;Wei Guo;Pengfei Wang;Mantian Li;Xin Wang
21 Towards online estimation of human joint muscular torque with a lower limb exoskeleton robot 期刊论文 Mantian Li;Jing Deng;Fusheng Zha;Shiyin Qiu;Xin Wang;Fei Chen
22 Dynamic parameter identification of a lower extremity exoskeleton using RLS-PSO 期刊论文 Fusheng Zha;Wentao Sheng;Wei Guo;Shiyin Qiu;Jing Deng;Xin Wang
23 面向海产品打捞的水下作业机器人 专利 王宇;王睿;蔡明学;王硕;谭民
24 Dynamic surface control for an underactuated underwater biomimetic vehicle-manipulator system 会议论文 Xuejian Bai;Yu Wang;Rui Wang;Shuo Wang;Min Tan
25 基于水下作业机器人视觉的目标检测方法、系统、装置 专利 王宇;唐冲;王睿;王硕;谭民;马睿宸
26 Switching control for 3-D way-point tracking of a biomimetic underwater vehicle 期刊论文 Rui Wang;Yu Wang;Shuo Wang;Chong Tang;Min Tan
27 RobCutt: a framework of underwater biomimetic vehicle-manipulator system for autonomous interventions 会议论文 Chong Tang;Rui Wang;Yu Wang;Shuo Wang;Min Tan
28 Data-driven locomotive strategies of the UVMS propelled by undulating fins 会议论文 Ruichen Ma;Huajun Du;Rui Wang;Yu Wang;Shuo Wang;Chong Tang
29 面向地图构建的移动机器人局部路径自主规划 期刊论文 李朋;杨彩云;王硕
30 The exoskeleton balance assistance control strategy based on single step balance assessment 期刊论文 Fusheng Zha;Wentao Sheng;Wei Guo;Shiyin Qiu;Xin Wang;Fei Chen
31 Disturbance observer based control for an underwater biomimetic vehicle-manipulator system with mismatched disturbances 会议论文 Jiaqi Lv;Yu Wang;Shuo Wang;Rui Wang;Long Cheng;Min Tan
32 Disturbance rejection control for underwater free-floating manipulation 期刊论文 Jiaqi Lv;Yu Wang;Chong Tang;Shuo Wang;Wenxing Xu;Rui Wang;Min Tan
33 Real-time perception and positioning for creature picking of an underwater vehicle 期刊论文 Shaowei Cui;Yu Wang;Shuo Wang;Rui Wang;Wei Wang;Min Tan
34 Design and locomotion control of a dactylopteridae-inspired biomimetic underwater vehicle with Hybrid Propulsion 期刊论文 Tiandong Zhang;Rui Wang;Yu Wang;Long Cheng;Shuo Wang;Min Tan
35 Hydrodynamics of a flexible flipper for an underwater vehicle-manipulator system 期刊论文 Xuejian Bai;Yu Wang;Rui Wang;Shuo Wang;Min Tan
36 Design and implementation of a cluster control system for multi-biomimetic robotic fish 会议论文 Tiandong Zhang;Huajun Du;Rui Wang;Yu Wang;Shuo Wang
37 Position control of an underwater biomimetic vehicle-manipulator system via reinforcement learning 会议论文 Ruichen Ma;Yu Wang;Zisen Gao;Tianzi Zhao;Rui Wang;Shuo Wang;Chao Zhou
38 A sensorless hand guiding scheme based on model identification and control for industrial robot 期刊论文 Shaolin Zhang;Shuo Wang;Fengshui Jing;Min Tan
39 A robotic shared control teleoperation method based on learning from demonstrations 期刊论文 Bao Xi;Shuo Wang;Xuemei Ye;Yinghao Cai;Tao Lu;Rui Wang
40 Manipulation skill learning on multi-step complex task based on explicit and implicit curriculum learning 期刊论文 Naijun Liu;Tao Lu;Yinghao Cai;Rui Wang;Shuo Wang
41 Coordinated control of underwater biomimetic vehicle-manipulator system for free floating autonomous manipulation 期刊论文 Mingxue Cai;Shuo Wang;Yu Wang;Rui Wang;Min Tan
42 鱼集群游动的节能机理研究综述 期刊论文 张天栋;王睿;程龙;王宇;王硕
43 视觉伺服的仿生水下机器人悬停控制方法、系统和装置 专利 王睿;张天栋;王宇;白舸;王硕;谭民
44 基于混合传动的水下机械臂 专利 王宇;王硕;马睿宸;唐冲;王睿;叶子凡;谭民
45 水下仿生推进器测试平台 专利 王宇;马睿宸;王睿;王硕;谭民;唐冲
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