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Human-Tracking Strategies for a Six-legged Rescue Robot Based on Distance and View

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Chinese Journal of Mechanical Engineering 2016年第2期29卷 219-230页

作者： PAN Yang GAO Feng qi chenkun CHAI Xun State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University

Human tracking is an important issue for intelligent robotic control and can be used in many scenarios, such as robotic services and human-robot cooperation. Most of current human-tracking methods are targeted for mobile/tracked robots, but few of them can be used for legged robots. Two novel human-tracking strategies, view priority strategy and distance priority strategy, are proposed specially for legged robots, which enable them to track humans in various complex terrains. View priority strategy focuses on keeping humans in its view angle arrange with priority, while its counterpart, distance priority strategy, focuses on keeping human at a reasonable distance with priority. To evaluate these strategies, two indexes（average and minimum tracking capability） are defined. With the help of these indexes, the view priority strategy shows advantages compared with distance priority strategy. The optimization is done in terms of these indexes, which let the robot has maximum tracking capability. The simulation results show that the robot can track humans with different curves like square, circular, sine and screw paths. Two novel control strategies are proposed which specially concerning legged robot characteristics to solve human tracking problems more efficiently in rescue circumstances.

关键词： human-tracking legged robot intelligent control algorithm

Gait Planning for a Quadruped Robot with One Faulty Actuator

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Chinese Journal of Mechanical Engineering 2015年第1期28卷 11-19页

作者： CHEN Xianbao GAO Feng qi chenkun TIAN Xinghua State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University

Fault tolerance is essential for quadruped robots when they work in remote areas or hazardous environments. Many fault-tolerant gaits planning method proposed in the past decade constrained more degrees of freedom（DOFs） of a robot than necessary. Thus a novel method to realize the fault-tolerant walking is proposed. The mobility of the robot is analyzed first by using the screw theory. The result shows that the translation of the center of body（CoB） can be kept with one faulty actuator if the rotations of the body are controlled. Thus the DOFs of the robot body are divided into two parts： the translation of the CoB and the rotation of the body. The kinematic model of the whole robot is built, the algorithm is developed to actively control the body orientations at the velocity level so that the planned CoB trajectory can be realized in spite of the constraint of the faulty actuator. This gait has a similar generation sequence with the normal gait and can be applied to the robot at any position. Simulations and experiments of the fault-tolerant gait with one faulty actuator are carried out. The CoB errors and the body rotation angles are measured. Comparing to the traditional fault-tolerant gait they can be reduced by at least 50%. A fault-tolerant gait planning algorithm is presented, which not only realizes the walking of a quadruped robot with a faulty actuator, but also efficiently improves the walking performances by taking full advantage of the remaining operational actuators according to the results of the simulations and experiments.

关键词： quadruped robot fault-tolerant gait mobility kinematic redundancy

Landing control method of a lightweight four-legged landing and walking robot

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Frontiers of Mechanical Engineering 2022年第4期17卷 33-52页

作者： Ke YIN chenkun qi Yue GAO qiao SUN Feng GAO School of Electronic Information and Electrical Engineering Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China

The prober with an immovable lander and a movable rover is commonly used to explore the Moon’s *** rover can complete the detection on relatively flat terrain of the lunar surface well,but its detection efficiency on deep craters and mountains is relatively low due to the difficulties of reaching such places.A lightweight four-legged landing and walking robot called“FLLWR”is designed in this *** can take off and land repeatedly between any two sites wherever on deep craters,mountains or other challenging landforms that are difficult to reach by direct ground *** robot integrates the functions of a lander and a rover,including folding,deploying,repetitive landing,and walking.A landing control method via compliance control is proposed to solve the critical problem of impact energy dissipation to realize buffer *** landing experiments on a five-degree-of-freedom lunar gravity testing platform are *** the landing conditions with a vertical velocity of 2.1 m/s and a loading weight of 140 kg,the torque safety margin is 10.3%and 16.7%,and the height safety margin is 36.4%and 50.1%for the cases with or without an additional horizontal disturbance velocity of 0.4 m/s,*** study provides a novel insight into the next-generation lunar exploration equipment.

关键词： landing and walking robot lunar exploration buffer landing compliance control

Obstacle avoidance for a hexapod robot in unknown environment

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Science China(Technological Sciences) 2017年第6期60卷 818-831页

作者： CHAI Xun GAO Feng qi chenkun PAN Yang XU YiLin ZHAO Yue State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 China'

Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait generation after ssuming that obstacles have been detected and the walking path has been given. In this paper we propose and validate a novel obstacle avoidance framework for a six-legged walking robot Hexapod-III in unknown environment. Throughout the paper we highlight three themes: (1) The terrain map modeling and the obstacle detection; (2) the obstacle avoidance path planning method; (3) motion planning for the legged robot. Concretely, a novel geometric feature grid map (GFGM) is proposed to describe the terrain. Based on the GFGM, the obstacle detection algorithm is presented. Then the concepts of virtual obstacles and safe conversion pose are introduced. Virtual obstacles restrict the robot to walk on the detection terrain. A safe path based on Bezier curves, passing through safe conversion poses, is obtained by minimizing a penalty function taking into account the path length subjected to obstacle avoidance. Thirdly, motion planning for the legged robot to walk along the generated path is discussed in detail. At last, we apply the proposed framework to the Hexapod-III robot. The experimental result shows that our methodology allows the robot to walk safely without encountering with any obstacles in unknown environment.

关键词： obstacle avoidance hexapod robot terrain map building path planning motion planning

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一种鲁棒的单目视觉里程计算法

计算机工程 2020年第12期46卷 80-87页

作者：庞智华齐臣坤上海交通大学机械与动力工程学院上海200240

针对单目视觉里程计在相机快速或剧烈运动时精度差和鲁棒性低的问题,提出一种基于树结构特征匹配与实时地图更新策略的单目视觉里程计算法。基于树结构的特征匹配算法无运动假设,在各种运动下均可快速且可靠地建立特征匹配关系,从而保... 详细信息

针对单目视觉里程计在相机快速或剧烈运动时精度差和鲁棒性低的问题,提出一种基于树结构特征匹配与实时地图更新策略的单目视觉里程计算法。基于树结构的特征匹配算法无运动假设,在各种运动下均可快速且可靠地建立特征匹配关系,从而保证算法的实时性和鲁棒性。实时地图扩展更新框架将地图扩展与优化分离,在保证实时性的同时又能使得当前帧在快速或剧烈运动下能跟踪到足够多的3D地图点,以提高算法的鲁棒性。为降低实时地图更新对地图点精度的影响,提出一种基于视差的权重矩阵估计方法,使高精度地图点在优化函数中占主导地位,以此保证算法的精度。在2个公开数据集上的实验结果表明,与ORB-SLAM算法相比,该算法定位精度更高,在相机快速或剧烈运动下具有更好的鲁棒性。

关键词：视觉里程计单目视觉特征匹配实时地图更新位姿优化鲁棒性

Hardware-in-the-loop simulation for the contact dynamic process of flying objects in space

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Science China(Technological Sciences) 2016年第8期59卷 1167-1175页

作者： GAO Feng qi chenkun REN AnYe ZHAOXianChao CAO Rui SUN qiao WANG qian HU Yan HE Jun JIN ZhenLin LIU Renqiang ZHANG Yong GUO WeiZhong HU ZhenYu TANG Ping NI Bo JING qianFeng WANG WeiJun GAO Peng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China Institute of Aerospace System Engineering Shanghai Shanghai 201108 China School of Mechanical Engineering Yanshan University Qinhuangdao 066004 China

In the one-gravity environment on the ground, the simulation of the contact process of two flying objects in the zero-gravity environment of space has been a challenging issue since humans first explored space by flying objects. Hardware-in-the-loop （HIL） simulation is an important and effective method to test the usability, reliability, and safety of real docking mechanisms in space. There are four main issues for HIL simulation systems： Design of simulators capable of high frequency response, high motion precision, high velocity, and rapid acceleration; compensation for simulation distortion; design of a control model for the HIL simulation process; and experimental verification. Here, we propose a novel HIL simulator system with a 6-DOF 3-3 perpendicular parallel mechanism and a 3-DOF 3-PRS parallel mechanism; discover the principle of simulation distortion; present distortion compensation models for the force measurement system, dynamic response, and structural dynamics of the simulator; and provide a control model for the HIL simulation process. Two kinds of experiments were performed on the pas- sive-undamped elastic rod and the docking mechanisms to test their performances and to verify the effectiveness and usability of the HIL simulator. The HIL simulation system proposed in this paper is useful for developing space docking, berthing, refu- eling, repairing, upgrading, transporting, and rescuing technologies.

关键词： hardware-in-the-loop simulation hybrid simulation docking simulation contact dynamics parallel mechanisms simulation distortions distortions compensation

Learning the robust locomotion on complex terrain combined with model predictive control

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Learning the robust locomotion on complex terrain combined w...

基于三维点云的堆叠箱式物体位姿检测算法研究

第43届中国控制会议

作者： Yufei Xue chenkun qi Xin Liu Xin Xu State Key Lab of Mechanical System and Vibration Shanghai Jiao Tong University

Legged robots can adapt to almost any complex terrain because of their unique structure, but it is not easy to design an efficient legged robot controller, which requires a lot of expert knowledge and parameter adjustment. Deep reinforcement learning(DRL) has emerged as a powerful approach for locomotion control of robotic systems, inspired by how animals learn to improve its motor abilities through interaction with the environment. However, it is difficult to synthesize the desired motor behavior through the design of the reward function alone. In this work, We combine traditional control with reinforcement learning controller by adversarial imitation learning. We deployed the trained control on the robot quadruped Go1 to achieve a variety of challenging terrain traversal, and we did not use additional visual information, only using the IMU and joint encoder.

关键词： Legged Robots Deep Reinforcement Learning Model Predictive Control

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机械设计与研究 2023年第4期39卷 32-38页

作者：许博潇齐臣坤上海交通大学机械与动力工程学院上海200240

堆叠物体检测算法是机械臂在物流场景下实现货物自主分拣的关键感知技术,主要难点是如何在环境复杂、高度非结构化的工况中准确而高效的识别出待分拣物体,并得到其三维位姿。常用方法中,传统区域生长算法在高曲率部分表现欠佳,考虑特征... 详细信息

堆叠物体检测算法是机械臂在物流场景下实现货物自主分拣的关键感知技术,主要难点是如何在环境复杂、高度非结构化的工况中准确而高效的识别出待分拣物体,并得到其三维位姿。常用方法中,传统区域生长算法在高曲率部分表现欠佳,考虑特征较少,造成分割准确率较低,LCCP算法容易导致欠分割且时间效率较低。为了解决以上问题,提出了一种基于三维点云的堆叠箱式物体位姿检测算法。首先对数据采取降采样、离群点移除等预处理手段;然后建立点云K-D树并计算点云特征,基于改进区域生长的方法,结合邻域投票策略,进行平面提取;之后并行化实现平面再处理的过程;最后分析平面间的相邻性和凹凸性,进行物体提取并拟合三维包围盒,得到其三维位姿。实验结果表明该算法准确度较高、速度较快,具有一定的实际应用价值。

关键词：物体检测三维点云平面分割 RANSAC 位姿识别

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四足仿生机器人混联腿构型设计及比较

机械工程学报 2013年第6期49卷 81-88页

作者：田兴华高峰陈先宝齐臣坤上海交通大学机械系统与振动国家重点实验室上海200240

四足仿生机器人一直是机器人领域研究的热点之一。对国内外的研究现状和代表样机进行综述,总结现有四足机器人的腿构型的优缺点。混联腿构型结合了并联机构和串联机构的优点,可在提高机器人载重/自重比的同时,满足快速稳定响应的需求,... 详细信息

四足仿生机器人一直是机器人领域研究的热点之一。对国内外的研究现状和代表样机进行综述,总结现有四足机器人的腿构型的优缺点。混联腿构型结合了并联机构和串联机构的优点,可在提高机器人载重/自重比的同时,满足快速稳定响应的需求,从而实现高速、低能耗、高承载的运动。提出三种不同的3自由度混联腿机构,由1自由度的四杆机构和2自由度的平面并联机构串联组成。建立3种混联腿的运动学模型。根据四足机器人的行走设计需求,总结三种混联腿机构的特点,并建立其各自的工作空间模型。基于对角小跑的轨迹,分析三种混联结构在空间上的承载能力和各向同性度。通过对比分析选择第三种混联腿作为最优选项,并进一步与经典串联腿进行驱动力矩比较,证实混联腿的优越性。通过样机负重行走试验验证结果的可靠性,为四足混联腿机构机器人的后续研究奠定理论基础。

关键词：四足机器人混联腿构型平面机构承载能力