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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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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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End-to-End Deep Learning Models for Estimating Stride Length in Frail Older Adults 24

End-to-End Deep Learning Models for Estimating Stride Length...

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2nd International Conference on Frontiers of Intelligent Manufacturing and Automation, CFIMA 2024

作者： Zhang, Yan Cai, Jinghao Li, Xiang Wu, Chuanyan Ma, Xin Li, Yibin Song, Rui Zhang, Huanghe School of Control Science and Engineering Shandong University Shandong China The Center for Robotics School of Control Science and Engineering Shandong University Shandong China School of Intelligent Engineering Shandong Management University Shandong China

ISBN: (纸本)9798400710681

Accurate estimation of spatial gait parameters is crucial for assessing fall risk in older adults, helping to identify potential movement impairments and prevent falls. Traditionally, extracting stride length from wearable sensors relies on the double integration of accelerometer data combined with the zero-velocity update (ZUPT) technique. However, this method may not be suitable for older adults, as their zero-velocity phases might be absent. To address this limitation, we propose three fundamental end-to-end deep learning models—deep neural networks (DNN), deep convolutional neural networks (DCNN), and long short-term memory (LSTM)—to estimate stride length from inertial sensor data corresponding to specific strides. These models are trained on a publicly available dataset (i.e., GSTRIDE) comprising 165,694 strides from 155 elderly patients and are evaluated using hold-out and 10-fold cross-validation methodologies. The DCNN model achieved the best results, with a mean absolute error (MAE) of 8.9 cm using the hold-out method. Compared to the traditional double integration method, the proposed deep learning models do not require zero-velocity phase detection. Instead, they rely on initial contact detection, making them more suitable for older adults, where initial contacts can be reliably detected even when they do not occur under the hindfoot. © 2024 Copyright held by the owner/author(s).

关键词： Convolutional neural networks

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Legged odometry based on fusion of leg kinematics and IMU information in a humanoid robot

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Biomimetic Intelligence & robotics 2025年第1期5卷 87-94页

作者： Huailiang Ma Aiguo Song Jingwei Li Ligang Ge Chunjiang Fu Guoteng Zhang School of Instrument Science and Engineering Southeast UniversityNanjing 210096China School of Electrical and Electronic Engineering Nanyang Technological UniversitySingapore 639798Singapore Research Institute of UBTECH Robotics Shenzhen 518000China School of Control Science and Engineering Shandong UniversityJinan 250061China

Position and velocity estimation are the key technologies to improve the motion control ability of humanoid *** at solving the positioning problem of humanoid robots,we have designed a legged odometry algorithm based on forward kinematics and the feed back of *** modeled the forward kinematics of the leg of the humanoid robot and used Kalman filter to fuse the kinematics information with IMU data,resulting in an accurate estimate of the humanoid robot’s position and *** odometry method can be applied to different humanoid robots,requiring only that the robot is equipped with joint encoders and an *** can also be extended to other legged *** effectiveness of the legged odometry scheme was demonstrated through simulations and physical tests conducted with the Walker2 humanoid robot.

关键词： Humanoid robots State estimation Legged odometry Kalman filter

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Spatio-Temporal Communication Compression in Distributed Prime-Dual Flows 63

Spatio-Temporal Communication Compression in Distributed Pri...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Ren, Zihao Wang, Lei Yuan, Deming Su, Hongye Shi, Guodong Zhejiang University College of Control Science and Engineering China Nanjing University of Science and Technology School of Automation China University of Sydney Australia Centre for Field Robotics Australia

ISBN: (纸本)9798350316339

In this paper, we study distributed prime-dual flows for multi-agent optimization with spatio-temporal compressions. The central aim of multi-agent optimization is for a network of agents to collaboratively solve a system-level optimization problem with local objective functions and node-to-node communication by distributed algorithms. The scalability of such algorithms crucially depends on the complexity of the communication messages, and a number of communication compressors for distributed optimization have recently been proposed in the literature. First of all, we introduce a general spatio-temporal compressor characterized by the stability of the resulting dynamical system along the vector field of the compressor. We show that several important distributed optimization compressors such as the greedy sparsifier, the uniform quantizer, and the scalarizer all fall into the category of this spatio-temporal compressor. Next, we propose two distributed prime-dual flows with the spatio-temporal compressors being applied to local node states and local error states, respectively, and prove (exponential) convergence of the node trajectories to the global optimizer for (strongly) convex cost functions. Finally, a few numerical examples are present to illustrate our theoretical results. © 2024 IEEE.

关键词： Cost functions

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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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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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Indirect adaptive admittance control based on position synchronization of robot-assisted nasopharyngeal surgery 2

Indirect adaptive admittance control based on position synch...

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2nd International Conference on Electrical, Electronics, and Information engineering, EEIE 2023

作者： Hu, Zhi Liu, Yueling Song, Aiguo School of Instrument Science and Engineering Southeast University Nanjing China Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science Shanghai China

ISBN: (纸本)9781510672840

In the surgery of nasopharyngeal cancer, the surgeon operates through natural channels within small room. In its robot-assisted surgery, collisions between two manipulators and parameter variation of local tissue may lead to contact force change, It may cause target position offset. As the vessels and nerves were distributed densely in head and neck. The control system needs to ensure the operating contact force is within the safety threshold. It can avoid soft tissue tearing caused by changing of relative position over the limits. The research studies indirect adaptive admittance control based on position synchronization, which adjust the damping compensation rate. It improves the force control precision and system robustness of robot-assisted surgery through alleviating the effect of stiffness variation and collisions. And it can improve surgery security. © 2024 SPIE.

关键词： Compliance control

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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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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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