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Dynamic motion of quadrupedal robots on challenging terrain:a kinodynamic optimization approach

Frontiers of Mechanical engineering 2024年第3期19卷 23-40页

作者： Qi LI Lei DING Xin LUO Engineering Research Center of Hubei Province for Clothing Information Wuhan 430200China School of Computer Science and Artificial Intelligence Wuhan Textile UniversityWuhan 430200China State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China

The dynamic motion of quadrupedal robots on challenging terrain generally requires elaborate spatial–temporal kinodynamic motion planning and accurate control at higher refresh rate in comparison with regular ***,conventional quadrupedal robots usually generate relatively coarse planning and employ motion replanning or reactive strategies to handle terrain *** resultant complex and computation-intensive controller may lead to nonoptimal motions or the breaking of locomotion *** this paper,a kinodynamic optimization approach is *** generate long-horizon optimal predictions of the kinematic and dynamic behavior of the quadruped robot on challenging terrain,we formulate motion planning as an optimization problem;jointly treat the foot’s locations,contact forces,and torso motions as decision variables;combine smooth motion and minimal energy consumption as the objective function;and explicitly represent feasible foothold region and friction constraints based on terrain *** track the generated motions accurately and stably,we employ a whole-body controller to compute reference position and velocity commands,which are fed forward to joint controllers of the robot’s *** verify the effectiveness of the developed approach through simulation and on a physical quadruped robot *** show that the quadruped robot can successfully traverse a 30°slope and 43% of nominal leg length high step while maintaining the rhythm of dynamic trot gait.

关键词： quadrupedal robot kinodynamic planning nonlinear optimization challenging terrain whole-body control

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Arbitrary Clothing Style Transfer Based on Attention Mechanism 27th

Arbitrary Clothing Style Transfer Based on Attention Mechan...

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27th International Conference on Pattern Recognition, ICPR 2024

作者： Huang, Chen Zhang, Junjie Yuan, Hua School of Computer Science and Artificial Intelligence Wuhan Textile University Wuhan430200 China Hubei Key Laboratory of Digital Textile Equipment Wuhan Textile University Wuhan430073 China Wuhan Textile and Apparel Digital Engineering Technology Research Center School of Fashion Wuhan Textile University Wuhan430073 China

ISBN: (纸本)9783031781247

In recent years, style transfer has become increasingly prominent in various domains, especially fashion. As a tool for designers, clothing style transfer generates a wide array of styles, enabling rapid experimentation and fostering creative inspiration. However, current methods have poor performance in transferring textures and colors from style images to clothing, and commonly result in blurred boundaries between clothing and background. To address these challenges, an arbitrary style transfer algorithm for clothing is proposed, utilizing attention network and feature fusion for more effective and efficient style application. In this paper, the criss-cross attention network is incorporated to extract comprehensively global features and capture long-range dependencies, thus minimizing artifacts and enhancing texture transfer. Through a novel multi-level feature fusion approach, color transfer becomes more natural and coherent, closely aligning with the color palette of the style image. Additionally, semantic segmentation is employed to separate clothing from the background, preserving the original background and character. The experimental results show that the user preference of this paper’s algorithm is much higher than existing methods, and single 512×512 image style transfer takes only 0.314 s with real-time performance. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Semantic Segmentation

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research on digital Identification of garment Pieces Based on Contour Fitting Algorithm 18

Research on Digital Identification of Garment Pieces Based o...

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18th International Conference on Intelligent Systems and Knowledge engineering, ISKE 2023

作者： Xue, Jiahe Chi, Cheng Wang, Zheng Yang, Shichen Jiang, Xuewei Wuhan Textile and Apparel Digital Engineering Technology Research Center School of Fashion Wuhan Textile University Wuhan China School of Fashion Wuhan Textile University Wuhan China School of Computer Science and Artificial Intelligence Wuhan Textile University Wuhan China

ISBN: (纸本)9798350318401

To help designers analyze the pattern shape of ethnic clothing and obtain its size parameters more conveniently, the contour fitting algorithm was proposed. This algorithm realizes the digital recognition and simulation of complex garment pieces, which combines image edge detection, Fourier descriptor reshaping, garment piece corner point detection, Bezier curve fitting and gradient descent. Compared with the traditional method, the garment piece corner point detection can effectively circumvent the noise generated by the threads of the garment piece. The gradient descent method improved the accuracy of contour fitting by adjusting the control points of Bezier curve. The accuracy of this method was compared the manual method for garment piece size measurement of Mongolian garments. The results show that the errors measured by the algorithm ranged from 0.06 to 0.18 cm, and their average error (0.12 xm) is close to the manual measured error (0.13 cm), This algorithm is in accordance with the GB/T 2660-2017 and can be applied to ethnic clothing restoration design. © 2023 IEEE.

关键词： Errors

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Design and performance of an air inflatable suit in enhancing personal thermal management

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Science China(Technological Sciences) 2023年第9期66卷 2637-2650页

作者： HE JiaZhen LU YeHu SU WenZhen WANG FangMing SONG WenFang WANG LaiLi WANG Min College of Textile and Clothing Engineering Soochow UniversitySuzhou 215021China Key Laboratory of Clothing Design and Technology Ministry of EducationDonghua UniversityShanghai 200051China Nantong Textile and Silk Industrial Technology Research Institute Nantong 226300China Suzhou Xingfengqiang Textile Technology Co. Ltd.Suzhou 215227China Garment Digital Engineering Center School of Art and DesignGuangdong University of TechnologyGuangzhou 510000China School of Fashion Design&Engineering Zhejiang Sci-Tech UniversityHangzhou 310018China

Maintaining human thermal comfort in cold indoor environments is crucial but usually involves excessive energy consumption and massive greenhouse gas emissions. Thermoregulating the human body by using advanced clothing is emerging as a promising solution to effectively and energy-efficiently achieve personal thermal management. An air inflatable suit(AirST)using a series of air chambers as the thermal insert was developed for the purpose of adjusting clothing thermal insulation and hence improving personal thermal comfort. The thermal insulation regulating performance of AirST was investigated through thermal manikin tests and wear trials. Compared with the AirST without air inflation, AirST after inflation with air had a desired effect, which could not only increase local clothing thermal insulation by a range from 4.5% to 24.8% but also alleviate cold strain and provide significantly higher local skin temperatures, mean skin temperature and mean body temperature. After inflation, AirST successfully improved the whole-, upper-and lower-body thermal sensations in a cool environment. The acceptable heating setpoint temperature by the air conditioner could be decreased while using AirST with inflation, which saved approximately 30% of building energy consumption. As the AirST without air inflation can also be worn as regular windproof clothing, this versatility saved approximately 12 kg CO_(2)e emissions in the production process.

关键词： air inflatable suit thermal comfort thermal insulation thermal management energy saving perceptual response

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Clothing Style Recommendation System based on Interactive Genetic Algorithm 17

Clothing Style Recommendation System based on Interactive Ge...

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17th textile Bioengineering and Informatics Symposium, TBIS 2024

作者： Sun, Kai Wu, Long Qi, Jing Ding, Jun-Tao Wang, Yue Zhang, Jun School of Apparel & Art Design Xi’an Polytechnic University Shaanxi Xi’an710048 China Shaanxi Research Center of Clothing Engineering and Technology Xi’an Polytechnic University Shaanxi Xi’an710048 China Shaanxi "Four Subjects and One Union" Clothing Intelligent Design and Manufacturing Engineering Technology Research Center Shaanxi Xi’an710048 China Wuhan Textile and Apparel Digital Engineering Technology Research Center Hubei Wuhan430073 China

ISBN: (纸本)9798331306809

Given consumers' increasing demand for personalized recommendations of clothing styles, this study proposes a recommendation system based on an interactive genetic algorithm for women's shirts. Using interactive genetic algorithm as the core, the system interacts with users through the interface to obtain preference information in real-time, and then integrates the user's implicit decision factors, such as emotions and preferences, into the system through the adaptive function and uses the genetic algorithm to optimize the recommendation results to meet the personalized needs of users. It can then be optimized based on user experience and feedback. © TBIS 2024.

关键词： Genetic algorithms

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research on the Position Controlling the Silhouette of a Style Women’s Coat Based on Eye Tracking technology 5th

Research on the Position Controlling the Silhouette of a Sty...

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5th International Conference on Intelligent Computing, Communication and Devices, ICCD 2019

作者： Wang, Yang Li, Yue Wang, Xiaogang Song, Lingfeng Institute of Clothing Wuhan Textile University Wuhan China Institute of Mathematics and Computer Wuhan Textile University Wuhan China Research Center of Wuhan Textile and Garment Digital Engineering Technology Wuhan China

ISBN: (纸本)9789811558863

To find out the controlling position of silhouette of A style women’s coat and establish the correlation between pattern-making design and silhouette, two indexes such as fixation duration and visit counts in four interest regions of 8 female coats were obtained through eye tracking experiment. The mixed experiment variance analysis of two factors including style and interest, mean comparison were conducted with SPSS software. The results show that there are significant differences in different interest regions for subjects’ fixation duration and visit counts, and the hem of A style women’s coat receives the highest attention, followed by the chest. The study concluded that the hem and chest of A style women’s coat are the key parts to control the change of its silhouette, which has certain reference value for the pattern-making design of women’s coat. © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Eye tracking

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Analysis on influencing factors of X-shape dress silhouette based on eye-tracking technology 4

Analysis on influencing factors of X-shape dress silhouette ...

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2021 4th International Conference on Advanced Algorithms and Control engineering, ICAACE 2021

作者： Nie, Qiu Xia Li, Yue Wang, Xiao Gang Institute of Clothing Wuhan Textile University Wuhan Hubei430073 China Institute of Mathematics and Computer Wuhan Textile University Wuhan Hubei430200 China Research Center of Wuhan Textile and Garment Digital Engineering Technology

For a long time, the research of inteligent garment pattern making has become a difficulty in the research of garment science, which involves the summary of the rules of garment pattern making and the accurate control of the shape of garment. In this paper, eye-tracking technology is adopted to analyze the influencing of factors of the silhouette of X-shape dress. Multivariate analysis of variance and average of participants' eye-tracking were conducted for different design styles and interest areas of the X-shape dress by using the five interest area's Fixation Duration, Visit Count and other indicators. According to the research, the influencing factors of X-shape dress silhouette are waist, chest, hem, hip and shoulder. Therefore, it is of great significance to take waist measurement, chest measurement and hem as the main factors affecting the X-shape dress silhouette, and to further study of the relationship between the structure and X-shape dress silhouette, so as to realize intelligent rapid pattern making based on computer technology. © Published under licence by IOP Publishing Ltd.

关键词： Multivariant analysis

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The application of eye tracking technology in the evaluation of shoulder fit of male suit 4

The application of eye tracking technology in the evaluation...

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2021 4th International Conference on Advanced Algorithms and Control engineering, ICAACE 2021

作者： Yang, Lin Mei Li, Yue Wang, Xiao Gang Institute of Clothing Wuhan Textile University Wuhan Hubei430073 China Institute of Mathematics and Computer Wuhan Textile University Wuhan Hubei430200 China Research Center of Wuhan Textile and Garment Digital Engineering and Technology

With the development of science and technology, intelligent production of clothing has become a major trend, and male suit, as a kind of clothing with stable style and subtle changes, is undoubtedly one of the goals of intelligent production. In fact, in the intelligent production of men's suits, fitness evaluation has certain research significance for both the early pattern design and the later quality evaluation. However, up to now, the evaluation system for the fitness of men's suits is not perfect, and most of them lack a certain objectivity. Therefore, this paper will analyze and solve this problem by using eye tracker experiment to evaluate the fitness of men's suits' shoulders. By dividing the interest area of men's suit style and selecting the eye movement index of the tester, the eye movement data of four views and five interest areas of men's suit were analyzed and compared, and finally the evaluation standard of the fit of men's suit shoulder was obtained. © Published under licence by IOP Publishing Ltd.

关键词： Eye movements

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The establishment of a three-dimensional simulation model of the Queen of Song Dynasty "hUIYI" 7

The establishment of a three-dimensional simulation model of...

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2021 7th International Forum on Manufacturing technology and engineering Materials, IFEMMT 2021

作者： Yuqing, Yang Yue, Li Xiaogang, Wang Wuhan Textile University School of Fashion Hubei Wuhan China Wuhan Textile University School of Computer Science and Artificial Intelligence Hubei Wuhan China Research Center of Wuhan Textile and Garment Digital Engineering and Technology

In the application and development process of 3D simulation technology, it is found that the research on traditional Chinese clothing models is still relatively lacking. In order to realize the establishment of the digital virtual model of Chinese traditional costumes, this article takes the Song Dynasty queen "Huiyi"as the research object, and derives the production methods and materials of the Song Dynasty queen "Huiyi"through the analysis of known documents and image data. Using virtual simulation modeling technology, establish a three-dimensional model of virtual clothing display, so that traditional clothing can be quickly and accurately restored. Establish a three-dimensional virtual simulation model on the basis of in-depth research on plane plate making, patterns, materials, to further expand the research on the digital technology of traditional Chinese clothing, and to lay the foundation for three-dimensional simulation. It provides a new direction and method for the inheritance of Chinese traditional costumes. © Published under licence by IOP Publishing Ltd.

关键词： Three dimensional computer graphics

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A Finite-Time Posture Control Strategy for the Swarm Underactuated Robots 5th

A Finite-Time Posture Control Strategy for the Swarm Under...

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5th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2021

作者： Huang, Zixin Qin, Xiangyu Wei, Shaoqi Wang, Lejun Hubei Key Laboratory of Intelligent Robot Wuhan Institute of Technology Wuhan430205 China Hubei Key Laboratory of Digital Textile Equipment Wuhan Textile University Wuhan430200 China School of Electrical and Information Engineering Wuhan Institute of Technology Wuhan430205 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9789811939976

Under the background of industrial machinery automation. The swarm robots are required to cooperate to complete complex and accurate works in finite-time and create more relative residual value. Based on the inherent advantages of underactuated robot, the research of finite time posture control strategy has higher theoretical and practical value. Firstly, the dynamic model of a single Pendubot of planar swarm underactuated robots was built. However, the robots reach to the same objective from different initial states and keep being at the same posture, so it was necessary to plan a feasible trajectory. Then, the planned trajectory parameters are optimized to make the underactuated robots relized the objectives in finite time. Finally, an unified tracking controller is designed for the underactuated robots. Simulation results of the swarm underactuated robots demonstrated the effectiveness of the proposed control strategy. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Robots

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