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Joint space compliance control for a hydraulic quadruped robot based on force feedback

Journal of Beijing Institute of Technology 2016年第3期25卷 337-345页

作者： WANG Jun-zheng KE Xian-feng WANG Shou-kun HE Yu-dong Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology Beijing 100081 China

In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured *** the same time,kinematic tracking accuracy should be guaranteed during *** meet both demands,ajoint space compliance controller is designed,so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing *** operational space compliance control,the joint space compliance control method is easy to implement and does not depend on robot *** for each joint actuator,high performance force control is of great importance for compliance ***,a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force ***,an outer position loop（compliance loop）is closed for each *** are carried out to verify the force controller and compliance of the hydraulic *** robot leg compliance is assessed by a virtual prototyping simulation.

关键词： hydraulic quadruped robot impact stiffness joint space compliance control nonlinear controller

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An Adaptive INS/GPS/VPS Federal Kalman Filter for UAV Based on SVM

An Adaptive INS/GPS/VPS Federal Kalman Filter for UAV Based ...

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IEEE International Conference on automation Science and Engineering

作者： Xuan Xiao Chao Shi Yi Yang Yuan Liang Xiang Guo School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

In this paper, an adaptive modified federal Kalman filter is applied to the autonomous navigation with multi-sensors in condition that Unmanned Aerial Vehicle (UAV) is dynamically tracking Unmanned Ground Vehicle (UGV). To satisfy the autonomous navigation demands such as good accuracy, real time and high reliability for UAV, a new integrated navigation mode, in which Inertial Navigation system (INS) is aided by Global Position system (GPS)/Visual Positioning system (VPS), is proposed. Subsequently, a novel method is introduced which determined the information-sharing factors dynamically based on Singular Value Decomposition (SVD), and it not only solves the blindness of the information distribution factor of the conventional federated filter but also reduces the amount of calculation. According to the analysis of the theory about Support Vector Machine (SVM), an optimal objective kernel function is designed to select the effective source of information, thus it isolates the fault sensor. Simulation results show that the proposed integrated navigation system can provide abundant navigation information with sub-level navigation accuracy and good fault-tolerant performance. UAV can obtain reliable navigation information by this modified federal Kalman filter algorithm even when GPS or VPS is continuously interrupted for a period.

关键词： UGV UAV provide abundant

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An Initiative Service Method Based on Intention Understanding for Drinking Service Robot

An Initiative Service Method Based on Intention Understandin...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Man Hao Weihua Cao Min Wu Zhentao Liu Jin-Hua She Luefeng Chen Ri Zhang School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Engineering Tokyo University of Technology Tokyo Japan

To ensure that people can supplement enough water at the right time, an initiative service method based on intention understanding for drinking service robot is proposed. Firstly, individual factors and environmental factors which are associated with personal intentions are collected. Secondly, users' intention and desire degree for intention are obtained by an improved Fuzzy-Context-specific Intention Inference method. Then the relationship between personal intention and human demands is established by an initiative service model. Finally, robots provide drinking water service initiatively according to humans' demands. Drinking service experiments are performed in a laboratory scenario using a humans-robots interaction system. The experimental results show that the drinking time of actual situation lags behind the initiative service time 25 minutes on average, and the initiative service renders drinking service 2 times more than actual situation on average, which demonstrates the feasibility of the proposal. In prospect, the initiative service method could be applied to many occasions in our daily life, e.g., family service, caring for the elderly, and medical rehabilitation.

关键词： Service robots Temperature Environmental factors Humidity Correlation

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A Stick-Slip Vibration Suppression Method for the Drillstring system Based on Neutral Type Model

A Stick-Slip Vibration Suppression Method for the Drillstrin...

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Asian control Conference

作者： Jun Cheng Min Wu Chengda Lu Luefeng Chen Xin Chen Weihua Cao Xuzhi Lai School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Swinburne University of Technology Melbourne VIC Australia

ISBN: (纸本)9781509015740;9781509015733

A controller is proposed based on the equivalent input disturbance (EID) method to suppress the stick-slip vibration of the drilling process. The drillstring system is described by a neutral type model with unknown disturbances, where the unknown disturbances are mainly nonlinear bit-rock reaction. The core idea of this approach is to use EID to suppress a variety of external disturbances and the impact caused by the state delay of the neutral type model. The main advantage of our method is that the controller does not depend on the specific disturbance model, which is of great significance for the suppression control of stick-slip vibration in complex stratigraphic environment. Moreover, our method is applicable to more general neutral type systems. The simulation was carried out to eliminate stick-slip vibration quickly and verify the effectiveness of the proposed method.

关键词： Vibrations Mathematical model control systems Delays Stability analysis Geology Damping

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A Real-time Hand Postures Estimation Method

A Real-time Hand Postures Estimation Method

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IEEE International Conference on Cyber Technology in automation, control, and intelligent systems

作者： Sunjie Chen Hongbin Ma Cong Han School of Automation Beijing Institute of Technology State Key Laboratory of Complex System Intelligent Control and Decision Beijing 100081 China

ISBN: (纸本)9781538604915

Hand postures can be used to achieve friendly human-machine interaction (HMI) for the advantages of simple expressions, informative instructions and unconstrained operations. However, most previous postures estimation methods have problems such as poor real time performance, low estimation accuracy, being sensitive to the varying illumination and relying on marks on hands or special assistant devices. In this paper, we will introduce an efficient real-time method to estimate hand postures with an ordinary monocular camera. This method contains two stages, which are hand segmentation and postures recognition. Rather segment objects from the whole image, we locate the hand within a local area first and then adapt motion, color and contour informations to segment the hand region accurately. After that, template matching algorithm is used to recognize hand postures with fingertips and shape features. The experimental results demonstrated that the introduced method realizes high estimation accuracy and fast processing speed. Furthermore, the method is robust to varying illumination conditions.

关键词： Microsoft Windows Image segmentation Image color analysis Estimation Motion segmentation Support vector machines Lighting Motion segmentation image colour analysis Microsoft Windows(software) Lighting Hand body position Support Vector Network image segmentation Subdivision of hand

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Smooth controller design for non-linear systems using multiple fixed models

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IET control Theory & Applications 2017年第9期11卷 1467-1473页

作者： Jie Chen Wei Chen Jian Sun The Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology Beijing People's Republic of China Science and Technology on Electronic Information Control Laboratory Chengdu People's Republic of China

Multiple model adaptive control (MMAC) with second-level adaptation is a recently proposed methodology for dealing with systems where the parametric uncertainty is large. Compared with the multiple model switching scheme, the new scheme can lead to significant improvements in performance. Some research has been conducted using the new scheme, but all of the results concern linear systems with an adaptive identification model set. In this study, MMAC with second-level adaptation scheme is extended to non-linear systems in strict feedback form, and the fixed identification model set is under consideration. This is motivated by the fact that a smooth controller can lead to smooth performance and the fixed identification model set gains potential advantages over the adaptive identification model set, especially for the case that the parameters of the system change over the time. Design details are presented and the stability of MMAC with second-level adaptation using a fixed identification model set for non-linear systems is given, which has not been discussed before. Finally, two simulations are performed to show that this scheme performs much better than conventional schemes, including adaptive control and multiple-model switching schemes, in terms of convergence speed and transient performance.

关键词： nonlinear control systems control system synthesis adaptive control uncertain systems linear systems identification convergence transient performance convergence speed fixed identification model set second-level adaptation scheme adaptive identification model set linear systems multiple model switching scheme parametric uncertainty MMAC multiple model adaptive control multiple fixed models nonlinear systems smooth controller design

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Two-layer Fuzzy Kernel Regression for Human Emotional Intention Understanding

Two-layer Fuzzy Kernel Regression for Human Emotional Intent...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Luefeng Chen Mengtian Zhou Min Wu Jinhua She Kaoru Hirota School of Automation Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei China School of Engineering Tokyo University of Technology Tokyo Japan Tokyo Institute of Technology Beijing Institute of Technology Yokohama Japan

A two-layer fuzzy kernel regression (TLFKR) model is proposed for understanding human emotional intention in human-robot interaction, where TLFKR model consists of two layers, including fuzzy c-means (FCM) with kernel ridge regression (Kernel 1) for information analysis layer, fuzzy support vector regressions (FSVR) (Kernel 2) for intention understanding layer. TLFKR model represents the weight impact for each emotional information and aims to improve smooth human-robot interaction by endowing robot with human emotional intention understanding capability. Experimental Results show that the proposal obtains an intention understanding accuracy of 65.67%/68.33%/80.67% with the clusters number c=2/3/6 (according to different genders/ages/nationalities), which are 7.34%/7.18%/8.67% and 18.67%/21.33%/33.67% higher than that of TLFSVR and SVR, respectively. Additionally, preliminary application experiments are performed in the developing emotional social robot system, where two mobile robots and volunteers experience a scenario of "drinking at a bar", and social robots are able to express basic emotions and understand human order intention.

关键词： Kernel Robots Training Support vector machines Proposals Information analysis Bars

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Evaluation of Lower-Limb Rehabilitation Based on Muscle Fatigue

Evaluation of Lower-Limb Rehabilitation Based on Muscle Fati...

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IEEE International Symposium on Industrial Electronics

作者： Juan Zhao Jinhua She Dianhong Wang Edwardo F. Fukushima Min Wu Hiroshi Hashimoto School of Engineering Tokyo University of Technology Hachioji Tokyo Japan School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Master Program of Innovation for Design & Engineering Advanced Institute of Industrial Technology Tokyo Japan

The purpose of this study was to investigate the features of muscle fatigue extracted from surface electromyography (sEMG) signals of lower limbs, and then to present an evaluation method of lower-limb rehabilitation to provide physical basis for the training effect of rehabilitation. Four healthy young university students were invited to perform a pedaling exercise for 40 days. The sEMG signals of four lower-limb muscles are recorded and processed using a Butterworth filter and a Daubechies 10 wavelet. Then, the change of the ratios of the spectrums of Types I and II muscle fibers to the total number of the spectrum along the exercise are examined. The time of the first intersection of the ratios for Types I and II for each muscle is used as a performance index. The increase in the time at the beginning and the end of the training period indicates the improvement of motor function, and thus it verifies the effectiveness of the rehabilitation.

关键词： SEMG Muscle fatigue Rehabilitation evaluation Unequal length segmentation

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Performance control system of Dulcimer Music-Playing Robot

Performance Control System of Dulcimer Music-Playing Robot

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Asian control Conference

作者： Ting Fei Xin Chen Chen-Xu Jiang Li Zhou Zhen-Tao Liu School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China School of Arts and Communication China University of Geosciences Wuhan China

ISBN: (纸本)9781509015740;9781509015733

Music-playing robots have been gradually applied to art performance, music education and so on. This paper introduces a special robot playing dulcimer, a kind of Chinese traditional musical instrument. With mechanical characteristics taken into accounted, an assignment method of performance task and an inverse kinematics control algorithm of redundant robot manipulators are proposed in this paper. Based on these studies, a performance control system is developed, which can parse a given MIDI file, perform task allocation, and control the dual mechanical arms holding bamboo hammers to strike the strings of dulcimer. The experimental test shows that the performance control system is able to control the dulcimer music-playing robot to complete music performance in real-time in a humanized way.

关键词： Robot kinematics Manipulators Task analysis Kinematics control systems Instruments

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MEMS-based Human Activity Recognition Using Smartphone 35

MEMS-based Human Activity Recognition Using Smartphone

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第35届中国控制会议

作者： TIAN Ya CHEN Wenjie Department of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781509009107

Data mining is one hot orientation in today’s research *** activity recognition is meaningful in our daily living and is a significant aspect in data *** previously research is almost based on tri-axial *** paper presents a novel method to collect data from both accelerometer and gyroscope using *** daily activities including Walking,Running,Upstairs,Downstairs,Standing,Sitting and Cycling,a total of seven categories are *** raw data from MEMS are recorded by smartphone according to different daily *** improve the accuracy of classification for daily activities,this paper combines time-series features with wavelet coefficients to extract *** recognize these activities,the support vector machine is used to finish this ***,we compare the accuracy with other machine learning methods,such as k-nearest neighbor algorithm and neural network or decision *** result indicates that our method can achieve nearly 96%classification accuracy for the seven kinds of daily activities.

关键词： classification activity recognition wavelet transform support vector machine feature extraction

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