Huibin Cao

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The link-type shape shifting modular robot permits high mobility under unstructured environment for their continuously driving and redundancy. The objective of this work is to enhance the flexibility of the primary shape shifting robot through transformation technique improvement, especially in the robot's torque and current reduction. The improved(More)
This paper presents a pneumatic design on the Intelligent Air Transfer System (IATS) which will lead to realistic and extended applications as well as the technical means to transfer cask system over 30 tons in the fusion nuclear environment. Air bearings, as the core of the pneumatic drive, could be adaptively controlled for attitudes of the IATS with(More)
The static coupling of multi-axis force sensor is a major influencing factor to its measuring precision. Aiming at resolving the disadvantages such as low decoupling precision of the traditional method, we put forward a linear decoupling method based on neural network. Firstly, this paper analyzes the reasons why coupling exists in the multi-axis force(More)
Conductive rubber material has been widely investigated as a sensor and transducer material due to its high piezoresistive, conductive properties. In this paper, we report on a flexible tactile sensor which is based on conductive rubber filled with carbon black. Firstly, a physical model related linear elasticity mechanics and franklinic analogue method is(More)
In order to get the acceleration, angular velocity and other kinematic parameters of the ski athlete during the training timely, which can help team coach analyse the action and guide the team members training with purpose, we design an information acquisition system based on the attitude sensor. This system can gain the parameter information of(More)
Wheeled mobile robot control method based on SVM algorithm and nonlinear control laws is discussed in this paper. The control system includes two parts: nonlinear controller and SVM controller. Nonlinear controller’s primary role is to obtain the desired velocity which can make the kinematics stable, SVM controller’s primary role is to optimize the control(More)
The Transfer Equipment Cask (TECA) is a key solution for Remote Handling in Tokamak Equator Port Plug (TEPP) operations. The paper mainly introduces the design of the TECA whose main usage is to complete fusion reactor in transport, dragging and repair work. Firstly, The Air Transfer System (ATS) is discussed, the modular design details of the ATS is(More)
We present a multi-sensors system adopted in an intelligent robotic hand that works in underwater environment. Four kinds of different sensors, force sensor, image sensor, ultrasonic sensor and hall sensor, are adopted in this system. Among them, information gained by force sensors formed a closed loop together with the control variables in the system,(More)
The Transfer Equipment Cask (TECA) is a key solution for Remote Handling (RH), and the bidirectional sealing door system (BSD) is the key component of the TECA. The control system of BSD is introduced in this paper. Moreover, the experiment on TECA indicates that the design of control system is feasible and the effect is satisfactory.
In this paper, an information acquisition system based on a kind of attitude sensor is presented, which can analyze the technique characteristics of freestyle skiing aerials. The system consists of four modules and can acquire the kinematical parameters such as acceleration, angular velocity in time; also we can get other parameters through designed(More)