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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Lu, Jinxuan Hu, Xinshu Zhu, Xiaoyu Chen, Cheng Wang, Hongqiang Southern University of Science and Technology Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Shenzhen China Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities Shenzhen China Guangzhou China

ISBN: (纸本)9781665481090

Pneumatic soft robots have garnered widespread attention for their flexibility and adaptability in various applications. However, existing soft robots generally struggle to effectively navigate diverse terrains, especially when it comes to climbing obstacles. This paper introduces an adaptive pneumatic soft robot designed based on snake-like locomotion, which effectively addresses this issue. The robot utilizes four corrugated tubes as its soft actuators, complemented by silicone-made feet with bidirectional friction anisotropy, enabling it to adapt to various terrains and exhibit climbing capabilities. Experiments demonstrate that the robot can traverse different surfaces such as sand, gravel, and slopes, and can climb obstacles up to 20 centimeters high. Additionally, it features a self-regulation mechanism that allows it to recover from accidental overturns. This study presents a soft robot design with multi-terrain adaptability and self-recovery capabilities. © 2024 IEEE.

关键词： Pneumatics

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Energy-Consumption Optimization Control for Lunar Rover's Travel with Torque-Distribution-strategy in Rear Wheels

Energy-Consumption Optimization Control for Lunar Rover's Tr...

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2024 IEEE International Conference on Control Science and systems Engineering, ICCSSE 2024

作者： Li, Delun Cao, Jianfei Chen, Yiliang Xie, Zongwu Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9798331517199

In anticipation of future extensive lunar surface operations, lunar rovers are required to advance towards higher speeds and improved energy conservation. When traveling at high speeds on the lunar surface, the vehicle's energy expenditure is greatly amplified by the influence of the terrain, particularly in conditions where driving and steering are coupled. This paper proposes an energy-saving control strategy for lunar rovers that employs dynamic rear-axle torque distribution, with the goal of optimizing transient energy consumption during travel. To tackle the challenge of non-differentiable functions within the optimization objectives, we suggest using a zeroth-order gradient optimization method for resolution, dynamically constraining the range of control parameters to fulfill the dynamic torque distribution objectives as needed for the task. The energy-saving control effectiveness of the algorithm has been confirmed through simulation, demonstrating a minimum energy-saving ratio of at least 4%, which increases to over 11% as the speed level rises, offering a valuable technical solution for the energy optimization of lunar rovers. © 2024 IEEE.

关键词： Rovers

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Residential Energy Scheduling With Solar Energy Based on Dyna Adaptive Dynamic Programming

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IEEE/CAA Journal of Automatica Sinica 2025年第2期12卷 403-413页

作者： Kang Xiong Qinglai Wei Hongyang Li the Institute of Systems Engineering Macau University of Science and Technology IEEE the State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences the School of Artificial Intelligence University of Chinese Academy of Sciences

Learning-based methods have become mainstream for solving residential energy scheduling problems. In order to improve the learning efficiency of existing methods and increase the utilization of renewable energy, we propose the Dyna actiondependent heuristic dynamic programming(Dyna-ADHDP)method, which incorporates the ideas of learning and planning from the Dyna framework in action-dependent heuristic dynamic programming. This method defines a continuous action space for precise control of an energy storage system and allows online optimization of algorithm performance during the real-time operation of the residential energy model. Meanwhile, the target network is introduced during the training process to make the training smoother and more efficient. We conducted experimental comparisons with the benchmark method using simulated and real data to verify its applicability and performance. The results confirm the method's excellent performance and generalization capabilities, as well as its excellence in increasing renewable energy utilization and extending equipment life.

关键词： Adaptive dynamic programming (ADP) dynamic residential scenarios optimal residential energy management smart grid

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Data-Driven Tracking Control of a Cushion Robot with Safe Autonomous Motion Considering Human-Machine Interaction Environment

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Journal of Dynamic systems, Measurement and Control 2025年第4期147卷 041003页

作者： Sun, Ping Shan, Rui Chang, Hongbin Wang, Shuoyu School of Artificial Intelligence Shenyang University of Technology Shenyang110870 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110169 China Department of Intelligent Mechanical Systems Engineering Kochi University of Technology Kochi7828502 Japan

This study proposes a data-driven safety controller with velocity constraints for a cushion robot. We constructed a mathematical description of the human-machine interaction environment by decomposing the generalized input force and coefficient matrix in the dynamic model. We established a new equivalent data model, which considered various human-machine interaction environments using a pseudo-Jacobian matrix. A stochastic configuration network (SCN) estimation method for variations in the human-machine interaction environment was proposed, with hidden layer nodes added at random. We designed a safe autonomous navigation path and proposed a data-driven control method that limited the actual velocity while stabilizing the tracking error system. In addition, the desired motion velocity of the robot was designed. This approach has the advantage of ensuring safety at a specified velocity. We also demonstrated and validated the effectiveness of the proposed data-driven algorithm using simulation-based comparative analysis and an experimental study. Copyright © 2024 by ASME.

关键词： Stochastic systems

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A Collaborative Mapping System for A Brain-Inspired SLAM

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IEEE Internet of Things Journal 2025年第13期12卷 24374-24384页

作者： Zhao, Hangpiao Li, Tao Zhang, Zhihui Tang, Fengzhen Shenyang Institute of Automation State Key Laboratory of Robotics Shenyang China University of Chinese Academy of Sciences Beijing China University of Science and technology of China Anhui China

Brain-inspired SLAM imitates the neural processing mechanism of the navigation system in the rodent brain. The low computational requirements and minimal storage demands make brain-inspired SLAM particularly well-suited for large-scale environment mapping. However, the increasing size of the mapping environment raises the likelihood of failures in map construction. As far as we know, there is currently no research on collaborative brain-inspired SLAM systems to improve mapping efficiency and error tolerance. In this paper, we propose a real-time collaborative mapping system to fuse local experience maps into the global map. In our method, an effective overlapping region detection based on sequence matching is designed to realize data association between local maps. Through these detected overlapped experience nodes, the relative poses are then obtained. Finally, a continuous map fusion graph relaxation (CMF-GR) algorithm is proposed to merge local maps and correct their drifts. In addition, we present a leader-follower collaborative mapping system to verify the proposed method. We validate the effectiveness and accuracy of our approach on publicly available datasets and real-world environments through comparison experiences and quantitative analysis. © 2014 IEEE.

关键词： Brain mapping

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Design and Experimental Evaluation of WLR-III

Design and Experimental Evaluation of WLR-III

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Li, Xu Fu, Yili Zhejiang University State Key Laboratory of Robotics and System Harbin Institute of Technology State Key Laboratory of Fluid Power and Mechatronic Systems China Harbin Institute of Technology Intelligent Robot Research Center Zhejiang Laboratory State Key Laboratory of Robotics and System Heilongjiang Province Harbin150001 China

ISBN: (纸本)9798350325706

This paper introduces the design and experimental evaluation of WLR-III, which stands for the third-generation hydraulic wheel-legged robot. WLR-III is expected to be applied to disaster scenarios where the mobility, adaptability and manipulation capability are required. Based on the development of the previous two generations of wheel-legged robots, this work continuously optimizes the design to achieve higher mobility and stronger adaptability by reducing weight & inertia. The hydraulic power transmission system adopts a hose-less design method to ensure the robustness of the system. What's more prominent is that the successful development of hydraulic power unit (HPU) enables WLR-III to realize hydraulic power autonomy. In addition, to accomplish all kinds of operational tasks in the rescue scene, the electro-hydraulic hybrid drives anthropomorphic arms with heavy load grippers were developed. Finally, the effectiveness and reliability of design optimization have been evaluated through a series of experiments, including grassland movement, load bearing, obstacle-stepping and tool-operating. To the authors' best knowledge, this is the first time that a hydraulic powered autonomous wheel-legged humanoid robot with the ability to operate simple tools has been developed. © 2023 IEEE.

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Adaptive Dead Zone Compensation Control Method for Electro-Hydrostatic Actuators Under Low-Speed Conditions

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Chinese Journal of Mechanical Engineering 2024年第6期37卷 199-211页

作者： Haoyi Jiang Zhenfei Ling Fengqi Zhou Maowen Sun Hao Liu Lilin Xu Yeming Yao Xiaoping Ouyang Huayong Yang State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration Nanjing Engineering Institute of Aircraft SystemNanjing 210000China

This study proposes an accurate dead zone compensation control method for electro-hydrostatic actuators(EHAs)under low-speed ***,the nonlinear dead zone characteristics under low-speed conditions are summarized based on numerous EHA *** adaptive compensation function(ACF)is then constructed for the dead ***,this study proposes an adaptive dead zone compensation control method for EHAs by integrating the ACF with a virtual decomposition controller(VDC)based on the established EHA *** stability of the proposed control method is also ***,the proposed control method is verified using an EHA *** test results show that the dead zone trajectory tracking errors of EHAs are significantly reduced when combined with the ***,since most EHAs are controlled by adjusting the motor speed,the method presented in this study is simpler and easier to use than methods that employ flow compensation.

关键词： Electro-hydrostatic actuator Dead zone Compensation Control Low-speed

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Skinned Motion Retargeting with Preservation of Body Part Relationships

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IEEE Transactions on Visualization and Computer Graphics 2024年 PP卷 1-13页

作者： Zhang, Jia-Qi Wang, Miao Zhang, Fu-Cheng Zhang, Fang-Lue State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing China State Key Laboratory of Virtual Reality Technology and Systems School of Computer Science and Engineering Beihang University Beijing China School of Engineering and Computer Science Victoria University of Wellington New Zealand

Motion retargeting is an active research area in computer graphics and animation, allowing for the transfer of motion from one character to another, thereby creating diverse animated character data. While this technology has numerous applications in animation, games, and movies, current methods often produce unnatural or semantically inconsistent motion when applied to characters with different shapes or joint counts. This is primarily due to a lack of consideration for the geometric and spatial relationships between the body parts of the source and target characters. To tackle this challenge, we introduce a novel spatially-preserving Skinned Motion Retargeting Network (SMRNet) capable of handling motion retargeting for characters with varying shapes and skeletal structures while maintaining semantic consistency. By learning a hybrid representation of the character's skeleton and shape in a rest pose, SMRNet transfers the rotation and root joint position of the source character's motion to the target character through embedded rest pose feature alignment. Additionally, it incorporates a differentiable loss function to further preserve the spatial consistency of body parts between the source and target. Comprehensive quantitative and qualitative evaluations demonstrate the superiority of our approach over existing alternatives, particularly in preserving spatial relationships more effectively IEEE

关键词： Semantics

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A Bioinspired Soft Robot Combining the Growth Adaptability of Vine Plants with a Coordinated Control System

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Research 2021年第1期2021卷 1266-1273页

作者： Pengchun Li Yongchang Zhang Guangyu Zhang Dekai Zhou Longqiu Li State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbinHeilongjiang 150001China

Tip-extending soft robots,taking flexible film or rubber as body material and fluid pressure as input power,exhibit excellent advantages in constrained and cluttered environments for detection and ***,existing soft continuum robots are of great challenges in achieving multiple,mutually independent,and on-demand active steering over a long distance without precise steering *** this paper,we introduce a vine-like soft robot made up of a pressurized thin-walled vessel integrated with the high controllability of a control system with multiple degrees of freedom in three ***,steering and kinematic models to relate the steering angle and robot length to the location of the robot tip are provided,and a dynamic finite element model for analyzing the motion of the spatial consecutive steering is *** demonstrate the abilities of disinfection of the robot moving in a long and tortuous pipeline and detection in a multi-obstacle constrained *** is established that the robot exhibits great advantages in active consecutive steering over a long distance,high controllability in completing more complex path planning,and significant ability of carrying operational tools for ventilation pipeline disinfection and multi-obstacle *** bionic soft robot shows great promise for use in environment sensing,target detecting,and equipment servicing.

关键词： robot Robot obstacle

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TalkingStyle: Personalized Speech-Driven 3D Facial Animation with Style Preservation

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IEEE Transactions on Visualization and Computer Graphics 2024年 PP卷 1-12页

作者： Song, Wenfeng Wang, Xuan Zheng, Shi Li, Shuai Hao, Aimin Hou, Xia Computer School Beijing Information Science and Technology University China State Key Laboratory of Virtual Reality Technology and Systems Beihang University China

It is a challenging task to create realistic 3D avatars that accurately replicate individuals' speech and unique talking styles for speech-driven facial animation. Existing techniques have made remarkable progress but still struggle to achieve lifelike mimicry. This paper proposes “TalkingStyle”, a novel method to generate personalized talking avatars while retaining the talking style of the person. Our approach uses a set of audio and animation samples from an individual to create new facial animations that closely resemble their specific talking style, synchronized with speech. We disentangle the style codes from the motion patterns, allowing our method to associate a distinct identifier with each person. To manage each aspect effectively, we employ three separate encoders for style, speech, and motion, ensuring the preservation of the original style while maintaining consistent motion in our stylized talking avatars. Additionally, we propose a new style-conditioned transformer decoder, offering greater flexibility and control over the facial avatar styles. We comprehensively evaluate TalkingStyle through qualitative and quantitative assessments, as well as user studies demonstrating its superior realism and lip synchronization accuracy compared to current state-of-the-art methods. To promote transparency and further advancements in the field, we also make the source code publicly available at https://***/wangxuanx/TalkingStyle. IEEE

关键词： Synchronization

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