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Biped walking on level ground with torso using only one actuator

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Science China(Information Sciences) 2013年第11期56卷 256-264页

作者： FENG Shuai Al Yahmadi Amur S. sun zengqi State Key Laboratory of Intelligent Technology and Systems Tsinghua National Laboratory for Information Science and Technology Department of Computer Science and TechnologyTsinghua University Beijing Institute of Control Engineering Department of Mechanical and Industrial Engineering College of Engineering Sultan Qaboos UniversityAl-Khod 123 P.O. Box 33Sultanate of Oman

It is well known that a biped robot needs actuators to walk stably on level *** now,a biped robot with torso has needed at least two actuators to achieve *** it be possible for this kind of robot to walk on level ground with only one actuator?This paper responds in the afrmative and proposes a simple control strategy for a planar biped robot with *** this control method,there is only one low gain proportional-derivative(PD)controller between the torso and the stance leg,while the swing leg remains totally *** PD controller utilizes states of both the torso(angle and angular velocity)and the stance *** numerical simulations show that,by adopting this controller,a planar biped robot with torso can walk stably on level ground,and that the robot can walk with a wide range of speeds and high energy efciency by changing the control *** period-one gaits,one of which is stable while the other three are unstable,are found by *** to the literature surveyed,we are the first to have a torso only driven biped robot walk stably on level ground.

关键词： biped robot torso control passive dynamic walking PD controller

Measuring observability by generalized information theoretic quantities

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控制理论与应用（英文版） 2008年第3期6卷 233-238页

作者： Badong CHEN Jinchun HU Hongbo LI zengqi sun State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing 100084 China

A normalized measure is established to provide the quantitative information about the degree of observability for the discrete-time, stochastically autonomous system. This measure is based on the generalized information theoretic quantities （generalized entropy, mutual information） of the system state and the observations, where the system state can be a discrete or a continuous random vector. Some important properties are presented. For the linear case, the explicit formula for the degree of observability is derived, and the equivalence between the proposed measure and the traditional rank condition is proved. The curves for the degree of observability are depicted in a simple example.

关键词： Stochastic system Observability Information theory

Clock-turning gait synthesis for humanoid robots

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控制理论与应用（英文版） 2007年第1期5卷 23-27页

作者： Zhe TANG zengqi sun Hongbo LIU Meng Joo ER Intelligent Systems Centre Nanyang Technological University 637553 Singapore Department of Computer Science and Technology Tsinghua University Beijing 100084 China

Turning gait is a basic motion for humanoid robots. This paper presents a method for humanoid tuming, i.e. clock-turning. The objective of clock-turning is to change robot direction at a stationary spot. The clock-turning planning consists of four steps： ankle trajectory generation, hip trajectory generation, knee trajectory generation, and inverse kinematics calculation. Our proposed method is based on a typical humanoid structure with 12 DOFs （degrees of freedom）. The final output of clock-turning planning is 12 reference trajectories, which are used to control a humanoid robot with 12 DOFs. ZMP （zero moment point） is used as stability criterion for the planning. Simulation experiments are conducted to verify the effectiveness of our proposed clock-turuing method.

关键词： Humanoid robots Turning gait ZMP Clock-turning

COMPLEX NUMBER MODE APPROACH FOR REDUCING VIBRATION OF STRUCTURAL FLEXIBLE REDUNDANT ROBOT MANIPULATORS

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Chinese Journal of Mechanical Engineering 2001年第2期14卷 102-105页

作者： Wu Licheng sun zengqi sun Fuchun Department of Computer Science and Technology, Qinghua University Lu Zhen Yu Shouqian Zheng Hong Beijing University of Aeronautics and Astronautics 清华大学计算机科学与工程系北京北京航空航天大学北京

A complex number mode analysis approach is proposed for vibration reducing of structural flexible redundant manipulators by utilizing self motion. In the proposed approach, the self motion is evaluated to nullify the modal exciting force of flexural motion, and the approach can be freely used when the degree of freedom of flexural motion is much greater than the available degree of reundancy. The availability and effectiveness of the proposed approach are demonstrated through numerical simulation with a four link spatial robotic manipulator possessing an end flexible link.

关键词： Redundant manipulators Self motion Vibration reducing Complex number mode analysis

Fuzzy dynamic characteristic modeling and adaptive control of nonlinear systems and its application to hypersonic vehicles

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Science China(Information Sciences) 2011年第3期54卷 460-468页

作者： LI HongBo , sun zengqi, MIN HaiBo & DENG JianQiu Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China 1. Department of Computer Science and Technology Tsinghua University Beijing 100084 China

In this paper, a fuzzy dynamic characteristic modeling and adaptive control method is proposed for a class of nonlinear systems. By employing fuzzy dynamic characteristic model, the controlled plant is described as a slowly time-varying fuzzy system, wherein the parameters are estimated online by using recursive Least-Squares algorithm. Under this framework, a fuzzy adaptive controller is constructed, and the stability condition of the closed-loop system is also derived. The main advantage of the proposed method lies in no requirement for the prior knowledge of system model and less parameters to tune, which allows engineers to operate it in a simple, straightforward manner. The proposed method is applied to the control of hypersonic vehicle, and simulation results are given to demonstrate the effectiveness of the obtained results.

关键词： fuzzy control dynamic characteristic model adaptive control hypersonic vehicle

Neuro-fuzzy system modeling based on automatic fuzzy clustering

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控制理论与应用（英文版） 2005年第2期3卷 121-130页

作者： Yuangang TANG Fuchun sun zengqi sun Department of Computer Science and Technology Tsinghua University Beijing 100084 China

A neuro-fuzzy system model based on automatic fuzzy dustering is proposed. A hybrid model identification algorithm is also developed to decide the model structure and model parameters. The algorithm mainly includes three parts：1） Automatic fuzzy C-means （AFCM）, which is applied to generate fuzzy rttles automatically, and then fix on the size of the neuro-fuzzy network, by which the complexity of system design is reducesd greatly at the price of the fitting capability; 2） *** least square estimation （RLSE）. It is used to update the parameters of Takagi-Sugeno model, which is employed to describe the behavior of the system;3） Gradient descent algorithm is also proposed for the fuzzy values according to the back propagation algorithm of neural network. Finally,modeling the dynamical equation of the two-link manipulator with the proposed approach is illustrated to validate the feasibility of the method.

关键词： Neuro-fuzzy system Automatic fuzzy C-means Gradient descent Back propagation Recursive least square estimation Two-link manipulator

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Preface

Preface

基于行为的多机器人对手意图识别二次估计方法

2013年中国智能自动化学术会议

作者： zengqi sun Chair of CIAC2013

The 2013 Chinese Intelligent Automation Conference(CIAC2013) was Sponsored by Intelligent Automation Committee,Chinese Association of Automation and organized by Yangzhou University in Yangzhou,Jiangsu Province,China;23-25, August,*** objective of CIAC2013 was to provide a platform for researchers,engineers,academicians as well as industrial professionals from all

关键词：

来源： cnki会议 cnki会议评论

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清华大学学报（自然科学版） 2005年第10期45卷 1421-1424页

作者：王磊孙增圻清华大学计算机科学与技术系智能技术与系统国家重点实验室北京100084

在动态对抗性环境下竞争的多机器人系统,对于对手的意图进行有效而准确的识别,从而有针对性地提出对策,是获得优势的必要条件。该文针对多机器人系统的对手意图识别提出了基于行为的行为序列估计和行为规则拟合的二次估计方法,引入环境... 详细信息

在动态对抗性环境下竞争的多机器人系统,对于对手的意图进行有效而准确的识别,从而有针对性地提出对策,是获得优势的必要条件。该文针对多机器人系统的对手意图识别提出了基于行为的行为序列估计和行为规则拟合的二次估计方法,引入环境约束、危险评价和行为概率作为判据对多个意图进行排序,避免单一行为结果的推断,实时准确地为决策提供支持。通过机器人足球这一典型的对抗性多机器人系统平台进行了验证,证明该方法在实时性和准确性上均比现有方法有很大提高。

关键词：多机器人系统意图识别二次估计行为

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结合启发式函数的随机运动规划方法

清华大学学报（自然科学版） 2006年第4期46卷 580-583页

作者：唐华斌孙增圻清华大学计算机科学与技术系北京100084

为有效解决位姿空间中存在狭窄通道的运动规划问题,提出一种结合启发式函数的随机运动规划方法。建立了人工势场函数,沿势场等势线方向的启发式函数避免了局部极小值问题。启发式函数与随机规划方法结合,能够引导机器人避过障碍物快速... 详细信息

为有效解决位姿空间中存在狭窄通道的运动规划问题,提出一种结合启发式函数的随机运动规划方法。建立了人工势场函数,沿势场等势线方向的启发式函数避免了局部极小值问题。启发式函数与随机规划方法结合,能够引导机器人避过障碍物快速朝目标点运动。人工势场在局部极大值和最速下降方向方面的特殊性质进一步优化了算法。平面内机器人运动规划的实验表明,与原有单纯随机规划方法相比,这种结合启发式函数的随机运动规划方法在狭窄通道规划问题上性能有明显提高。

关键词：机器人运动规划随机采样人工势场启发式函数狭窄通道