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Efficient Dynamic Locomotion of Quadruped Robot via Adaptive Diagonal Gait

Journal of Bionic Engineering 2024年第1期21卷 126-136页

作者： Jian Bi Teng Chen Xuewen Rong Guoteng Zhang Guanglin Lu Jingxuan Cao Han Jiang Yibin Li The Center for Robotics School of Control Science and EngineeringShandong UniversityJi Nan 250000China

Quadruped animals in the nature realize high energy efficiency locomotion by automatically changing their gait at different *** by this character,an efficient adaptive diagonal gait locomotion controller is designed for quadruped robot.A unique gait planning method is proposed in this *** the speed of robot varies,the gait cycle time and the proportion of stance and swing phase of each leg are adjusted to form a variety of *** optimal joint torque is calculated by the controller combined with Virtual Model control(VMC)and Whole-Body control(WBC)to realize the desired *** gait and step frequency of the robot can automatically adapt to the change of *** experiments are done with a quadruped robot made by our laboratory to verify that the gait can change automatically from slow-trotting to flying-trot during the period when speed is from 0 to 4 m/*** ratio of swing phase is from less than 0.5 to more than 0.5 to realize the running motion with four feet off the *** have shown that the controller can indeed consume less energy when robot runs at a wide range of speeds comparing to the basic controller.

关键词： Quadruped robot Gait transition Adaptive gait Energy efficiency

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A hierarchical framework for distributed resilient control of islanded AC microgrids under false data injection attacks

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ISA Transactions 2023年第1期139卷 191-204页

作者： Zarei, Mahdi Sadegh Atrianfar, Hajar Tehran Iran Center of Excellence on Control and Robotics Department of Electrical Engineering Amirkabir University of Technology Tehran Iran

In this paper, we propose a control scheme to ensure the microgrid control layers are resilient to cyberattacks. The studied microgrid consists of several distributed generation (DG) units and we consider the hierarchical control structure that is common for microgrids. The use of communication channels among DGs has made microgrids more vulnerable and this is where cybersecurity issues arise. In this work we added three algorithms, reputation-based, Weighted Mean Subsequence Reduced (W-MSR) and Resilient Consensus Algorithm with Trusted Nodes (RCA-T), to the secondary control layer of the microgrid and made them resilient to false data injection (FDI) attacks. In reputation-based control, some procedures are used for detecting the attacked DGs and isolating them from the others. W-MSR and RCA-T are Mean Subsequence Reduced (MSR)-based algorithms that fade the effect of attacks without finding them. These algorithms use a simple strategy that ignores some extreme values of neighboring agents, so an attacker can simply get ignored. Our analysis of the reputation-based algorithm is based on scrambling matrices, so the communication graph can switch in a prescribed set. In each of the above cases, to evaluate the performance of the designed controllers, in addition to theoretical analysis, we evaluated and compared the controllers using simulation. © 2023 ISA

关键词： controllers

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Dynamics Analysis of the Cooperative Dual Marine Lifting Systems Subject to Sea Wave Disturbances

Dynamics Analysis of the Cooperative Dual Marine Lifting Sys...

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International Conference on Applied Nonlinear Dynamics, Vibration, and control, ICANDVC 2023

作者： Li, Gang Ma, Xin Li, Yibin Center for Robotics School of Control Science and Engineering Shandong University Jinan250061 China

ISBN: (纸本)9789819705535

Strong coupling and complex nonlinearities increase the difficult of the dynamic modeling of the cooperative dual marine lifting system (DMLS). Moreover, it is a great challenge for DMLS model analysis while considering complex sea wave disturbances. To solve these issues, this paper establishes an accurate model of the DMLS by Lagrangian method without any simplifications. The dynamic relationship among the dual horizontal mechanism displacement, the dual lifting boom heights and the payload attitudes is analyzed accurately. The dynamic model considers ship rolling, heave and sway motion induced to sea wave disturbances. Finally, the simulation results are verified the effectiveness of the proposed dynamic model. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Dynamic models

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Research on Robotic multi-layer multi-pass welding planning of Intersecting pipe 3

Research on Robotic multi-layer multi-pass welding planning ...

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3rd International Conference on control and Intelligent robotics, ICCIR 2023

作者： Zhao, Xingwang Wang, Zhongyi Tian, Xincheng Center for Robotics School of Control Science and Engineering Shandong University Jinan China

ISBN: (纸本)9781510671867

In the multi-layer multi-pass welding of intersecting pipe fittings, the traditional teaching method is labor-intensive and has low welding accuracy. To weld more intelligently and accurately, this paper proposes a robotic multi-layer multi-pass welding filling strategy, determines the layout points of the weld passes, and plans the pose of the welding torch. In addition, this paper gives the transformation relationship between the welding seam coordinate system and the welding torch coordinate system, and finally simulates the weld passes. © 2023 SPIE.

关键词： Seam welding

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Flexible servo riveting system control strategy based on the RBF network and self-pierce riveting process

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Advances in Manufacturing 2023年第1期11卷 39-55页

作者： Yan Liu Qiu Tang Xin-Cheng Tian Long Cui Center for Robotics School of Control Science and EngineeringShandong UniversityJinan250061People’s Republic of China Engineering Research Center of Intelligent Unmanned System Ministry of EducationJinan250061People’s Republic of China

As more and more composite materials are used in lightweight vehicle white bodies,self-pierce riveting(SPR)technology has attracted great ***,the existing riveting tools still have the disadvantages of low efficiency and *** improve these disadvantages and the riveting qualification rate,this paper improves the control scheme of the existing riveting tools,and proposes a novel controller design approach of the flexible servo riveting system based on the RBF network and SPR ***,this paper briefly introduces the working principle and SPR procedure of the servo riveting *** a moving component force analysis is performed,which lays the foundation for the motion ***,the riveting quality inspection rules of traditional riveting tools are used for reference to plan the force-displacement curve *** control this process,the riveting force is fed back into the closed-loop control of the riveting tool and the riveting speed is computed based on the admittance control ***,this paper adopts the permanent magnet synchronous motor(PMSM)as the power of riveting tool,and proposes an integral sliding mode control approach based on the improved reaching law and the radial basis function(RBF)network friction compensation for the PMSM speed ***,the proposed control approach is simulated by Matlab,and is applied to the servo riveting system designed by our *** simulation and riveting results show the feasibility of the designed controller.

关键词： Lightweight vehicle body connection Self-pierce riveting(SPR)process Flexible servo riveting tool Riveting force planning and control

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Research on Trajectory Planning Method Applied to Intersecting Line Smooth Cutting 5

Research on Trajectory Planning Method Applied to Intersecti...

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5th International Conference on Intelligent control, Measurement and Signal Processing, ICMSP 2023

作者： Wang, Zhongyi Zhao, Xingwang Tian, Xincheng School of Control Science and Engineering Center for Robotics Shandong University Jinan China

ISBN: (纸本)9798350336030

The cutting quality of intersecting lines can be affected by cutting model and cutting process. To improve that, this paper builds a round pipe-intersecting cutting model connected by branch pipe internally without groove according to the principle of intersecting, and it uses the smooth transition algorithm for the cutting start point to avoid the generation of cutting gaps. Finally, the model's trajectory planning algorithm is verified through robot simulation experiments. The result shows that this method can improve the cutting quality by the established model and has good significance in reality. © 2023 IEEE.

关键词： Trajectories

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OAFuser: Toward Omni-Aperture Fusion for Light Field Semantic Segmentation

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第12期5卷 6225-6239页

作者： Teng, Fei Zhang, Jiaming Peng, Kunyu Wang, Yaonan Stiefelhagen, Rainer Yang, Kailun Hunan University School of Robotics National Engineering Research Center of Robot Visual Perception and Control Technology Changsha410082 China Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Karlsruhe76131 Germany Institute for Visual Computing ETH Zurich Zurich8092 Switzerland

Light field cameras are capable of capturing intricate angular and spatial details. This allows for acquiring complex light patterns and details from multiple angles, significantly enhancing the precision of image semantic segmentation. However, two significant issues arise: 1) The extensive angular information of light field cameras contains a large amount of redundant data, which is overwhelming for the limited hardware resources of intelligent agents. 2) A relative displacement difference exists in the data collected by different microlenses. To address these issues, we propose an omni-aperture fusion model (OAFuser) that leverages dense context from the central view and extracts the angular information from subaperture images to generate semantically consistent results. To simultaneously streamline the redundant information from the light field cameras and avoid feature loss during network propagation, we present a simple yet very effective subaperture fusion module (SAFM). This module efficiently embeds subaperture images in angular features, allowing the network to process each subaperture image with a minimal computational demand of only (∼1\rm GFlops). Furthermore, to address the mismatched spatial information across viewpoints, we present a center angular rectification module (CARM) to realize feature resorting and prevent feature occlusion caused by misalignment. The proposed OAFuser achieves state-of-the-art performance on four UrbanLF datasets in terms of all evaluation metrics and sets a new record of 84.93% in mIoU on the UrbanLF-Real Extended dataset, with a gain of +3.69%. The source code for OAFuser is available at https://***/FeiBryantkit/OAFuser. © 2020 IEEE.

关键词： Semantic Segmentation

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A hybrid heuristic method for multi-color spraying path planning 41

A hybrid heuristic method for multi-color spraying path plan...

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第41届中国控制会议

作者： Qihang Zhang Xin Ma Center for Robotics School of Control Science and EngineeringShandong University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Path planning is the primary task for multi-color *** paper formulates multi-color spraying path planning as a generalization of the Traveling Salesman Problem(TSP).The spraying patterns with single/dual-nozzle spray gun are given ***,multi-color spray path planning of single nozzle spray gun is described as a Clustered Traveling Salesman Problem(CTSP).Greedy randomized adaptive search procedure(GRASP) and variable neighborhood search(VNS) are applied to solution of the ***,multi-color spray path planning of dual-nozzle spray gun is defined as set-Clustered Traveling Salesman Problem(set-CTSP),which is NP-hard similar to *** propose a new hybrid heuristic algorithm to obtain the minimum path of the spray gun *** initial solution of the path is obtained from the color combination probability and *** neighborhood structure of the solution is continuously changed by four variable neighborhood search operators,and the color combination probability is updated according to the distance cost of the corresponding ***,extensive experiments with different sizes and patterns have be done verifying the feasibility of multi-color spray path planning based on single nozzle gun and dual-nozzle spray gun,while the dual-nozzle spray gun can reduce the gun travel distance compared to the single-nozzle spray gun.

关键词： Spray path planning Hybrid heuristic Traveling Salesman Problem

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A hierarchical multi-color spraying path planning with clustered traveling salesman problem 41

A hierarchical multi-color spraying path planning with clust...

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第41届中国控制会议

作者： Yifei Shan Xin Ma Center for Robotics School of Control Science and EngineeringShandong University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper presents a new method to solve the problem of multi-color spraying path *** method uses hierarchical optimization strategy to solve multi-color spraying path planning *** problem is broken down into two smaller subproblems:the upper-level clustered traveling salesman problem(CTSP) and the lower-level route case selection *** solve the problem of upper-level CTSP,we use genetic algorithm(GA) with multi-subpopulation initialization(MSI) *** solve the problem of lower-level route case selection,we use a greedy method(GM) and a tabu search(TS)*** blocks of the same color must be continuously *** gun returns to its starting point after completing the *** goal of multi-color spraying path planning is to find a minimum cost path for a gun to move between color blocks.

关键词： Multi-color spraying path planning Hierarchical optimization CTSP

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Scale Adaptive Skip-ASP Pixel Voting Network for Monocular 6D Object Pose Estimation 42

Scale Adaptive Skip-ASP Pixel Voting Network for Monocular 6...

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42nd Chinese control Conference, CCC 2023

作者： Wu, Li Ma, Xin Center for Robotics School of Control Science and Engineering Shandong University Jinan250061 China

ISBN: (纸本)9789887581543

Estimating the 6D object pose from an RGB image is a challenging task in computer vision. While keypoint-based methods have recently demonstrated promising results, they are still inferior when dealing with small objects in the image. Aiming at this problem, we perform an in-depth pose error analysis on the keypoint-based methods and propose a Scale Adaptive Skip-ASP Pixel Voting Network (SASA-PVNet), which adaptively scales small objects in the input image to a suitable size and scales the output 2D keypoints back to the original input image during PnP. We also design a Skip-ASP module between the encoder and decoder in the framework to reduce the effects of distortion and blur caused by scaling the input image through multi-scale information fusion. Experiments demonstrate that our method outperforms the state-of-the-art on the LINEMOD dataset by a large margin and obtains competitive results on the Occlusion LINEMOD dataset. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Pixels

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