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Adaptive gait planning for quadruped robot based on center of inertia over rough terrain

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Biomimetic Intelligence & Robotics 2022年第1期2卷 29-36页

作者： Jiawei Chen Kun Xu xilun ding School of Mechanical Engineering and Automatior Beihang UniversiyBejing 100191China

Controlling the quadruped robot for walking on a rough terrain without any visual perception is a great challenge. In the present study, a simple measuring method is proposed for obtaining the total force applied on the center of inertia of the quadruped robot with force sensing information in the static gait. Based on the zero moment point stable criterion, an extended criterion on the virtual supporting plane is presented to guarantee the stable walking of the quadruped robot. Moreover, an adaptive omnidirectional gait planning is developed for the quadruped robot applying the extended zero moment point on the center of inertia to obtain the stable criterion over rough terrain. It is found that when the proposed gait planning is applied on the quadruped robot, unknown surroundings successfully adapted without establishing the huge height map. Experiments are carried out to investigate walking of the quadruped robot at three different conditions, including the flat, rough terrain, and rough slope. It is concluded that the proposed method has reasonable performance in the studies case.

关键词： Legged locomotion Force control Center of inertia

A Review of Research on the Mechanical Design of Hoverable Flapping Wing Micro-Air Vehicles

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Journal of Bionic Engineering 2021年第6期18卷 1235-1254页

作者： Shengjie Xiao Kai Hu Binxiao Huang Huichao Deng xilun ding Robotics Institute Beihang UniversityBeijing 100191China Beijing Advanced Innovation Center for Biomedical Engineer Beihang UniversityBeijing 100191China

Most insects and hummingbirds can generate lift during both upstroke and downstroke with a nearly horizontal flapping stroke plane,and perform precise hovering ***,most birds can utilize tails and muscles in wings to actively control the flight performance,while insects control their flight with muscles based on wing root along with wing’s passive *** on the above flight principles of birds and insects,Flapping Wing Micro Air Vehicles(FWMAVs)are classified as either bird-inspired or insect-inspired *** this review,the research achievements on mechanisms of insect-inspired,hoverable FWMAVs over the last ten years(2011-2020)are *** also provide the definition,function,research status and development prospect of hoverable *** discuss it from three aspects:bio-inspiration,motor-driving mechanisms and intelligent actuator-driving *** this,research groups involved in insect-inspired,hoverable FWMAV research and their major achievements are summarized and classified in ***,trends and challenges about the mechanism are compiled and ***,this paper presents conclusions about research on mechanical structure,and the future is discussed to enable further research interests.

关键词： Hoverable Flapping wing Insect-inspired Mechanical design Motor drive Intelligent actuator

Bionic Design and Analysis of a Novel Quadruped Robot with a Multistage Buffer System

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Chinese Journal of Mechanical Engineering 2022年第2期35卷 56-76页

作者： Yi Zheng Kun Xu Yaobin Tian Huichao Deng xilun ding School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China

Large quadruped mammals,such as ruminants,have outstanding motion ability,including running and *** advanced motion abilities are related to the buffer effect of their complicated musculoskeletal ***,the buffer effect of most bio-robots is not satisfactory owing to the simple design of their buffer *** this paper,a physiological analysis of the ruminant musculoskeletal system is presented to explain the intrinsic buffer mechanism of *** on the physical buffer parts of the ruminant limbs,the corresponding bionic mappings were *** mappings were used to guide the mechanism design of the robot multistage buffer *** multistage buffer system includes two main buffer mechanisms:the first stage and the second *** buffer mechanism analysis of the first stage and multiple stages is discussed in theory to compare the effects between the normal single buffer system and the novel multistage buffer ***,the detailed mechanical structure of the limbs was designed based on the limb mechanism *** further verify the superior efficacy of the multistage buffer system,the corresponding walking simulation experiments were conducted after the virtual prototype of a quadruped robot with a novel limb was built *** theoretical analysis and simulation experiments prove that the bionic robot design with the novel multistage buffer system achieves better motion performance than the traditional robot buffer design and can be regarded as the design template of the robot limb.

关键词： Ruminant musculoskeletal system Bioinspired multistage buffer system Mechanism design Robotics Quadruped robot

Applications of bioinspired approaches and challenges inmedical devices

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Bio-Design and Manufacturing 2021年第1期4卷 146-148页

作者： Huawei Chen Yi Zhang Liwen Zhang xilun ding Deyuan Zhang School of Mechanical Engineering and Automation Beihang UniversityBeijingChina Beijing Advanced Innovation Center for Biomedical Engineering Beihang UniversityBeijingChina

Urgent requirements of medical devices Precision medicine has gradually become a development strategy in many countries and attracted worldwide attention in recent years due to the increasing concerns in public *** the definition of precision medicine has less or more difference from the viewpoints of different fields,the demands on the properties of medical devices or medical materials involving biocompatibility and anti-thrombosis are gradually growingmuch more diverse and much more urgent than ever[1].This trend brings up many new research topics about materials,mechanical systems and sensors to develop advanced medical *** to design and on-demand fabricate the bio-materials,bio-interface and bio-systems to meet the urgent demands of medical devices is still a challenge for us.

关键词： interface urgent viewpoint

Different manipulation mode analysis of a radial symmetrical hexapod robot with leg-arm integration

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Frontiers of Mechanical Engineering 2022年第1期17卷 50-69页

作者： Yi ZHENG Kun XU Yaobin TIAN xilun ding School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China

With the widespread application of legged robot in various fields,the demand for a robot with high locomotion and manipulation ability is *** an extra arm is a useful but general method for a legged robot to obtain manipulation ***,this paper proposes a novel hexapod robot with two integrated leg–arm limbs that obtain dexterous manipulation functions besides locomotion ability without adding an extra *** manipulation modes can be divided into coordinated manipulation condition and single-limb manipulation *** former condition mainly includes fixed coordinated clamping case and fixed coordinated shearing *** the fixed coordinated clamping case,the degrees of freedom(DOFs)analysis of equivalent parallel mechanism by using screw theory and the constraint equation of two integrated limbs are *** the fixed coordinated shearing case,the coordinated working space is determined,and an ideal coordinated manipulation ball is presented to guide the coordinated shearing *** addition,the constraint analysis of two adjacent integrated limbs is ***,mobile manipulation with one integrated leg–arm limb while using pentapod gait is discussed as the single-limb manipulation condition,including gait switching analysis between hexapod gait and pentapod gait,different pentapod gaits analysis,and a complex six-DOF manipulation while *** experiments are implemented,including clamping tasks with two integrated limbs,coordinated shearing task by using two integrated limbs,and mobile manipulation with pentapod *** robot provides a new approach to building a multifunctional locomotion platform.

关键词： leg-arm integration hexapod robot fixed coordinated manipulation mobile manipulation

一种适应月面极端地形六支链轮足机器人设计与步态验证

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华中科技大学学报（自然科学版） 2024年第8期52卷 21-28页

作者：崔宇新韩亮亮谷程鹏徐坤丁希仑张玉花张崇峰北京航空航天大学电子信息工程学院北京100083 北京航空航天大学机械工程及自动化学院北京100083 上海宇航系统工程研究所上海210019 上海航天技术研究院上海210019

针对未来月球探测大范围移动、复杂地形进入任务需求,设计了一种六支链轮足复合机器人,可满足可折展、高冗余度、高安全性的月面使用要求;设计了机器人足式、腿式、轮足结合通过极端地形条件的特殊步态,在仿真环境及地面模拟地形条件下... 详细信息

针对未来月球探测大范围移动、复杂地形进入任务需求,设计了一种六支链轮足复合机器人,可满足可折展、高冗余度、高安全性的月面使用要求;设计了机器人足式、腿式、轮足结合通过极端地形条件的特殊步态,在仿真环境及地面模拟地形条件下对机器人构型及步态设计开展了验证,仿真及试验结果表明,六支链轮足复合机器人对崎岖地形、大障碍地形等复杂地形有较强的适应能力.多种移动模式、灵活步态为未来机器人在月面的多样化应用提供了更大的可能性,可为后续无人及载人月球探测提供方案参考.

关键词：月球探测极端地形六支链机器人轮足复合构型设计步态规划

Study on the Behavior of Solar Array Deployment with Root Hinge Drive Assembly

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Chinese Journal of Aeronautics 2012年第2期25卷 276-284页

作者： ding xilun LI Xin XU Kun YANG Qiaolong PU Hailing Robotics Institute Beihang University Beijing 100191 China Beijing Institute of Spacecraft System Engineering Beijing 100094 China

In this paper, a method of using a root hinge drive assembly （RHDA） to control the solar array deployment is provided and a multi-DOF mechanism dynamic model of the system is established. In this way, the root hinge torque can be calculated iteratively. Then taking the predicted torque as a reference, a RHDA is designed for a large multiple-stage packaging and deployable solar array system. The control effect of the drive assembly is validated by ground tests. The test results indicate that the solar arrays can be deployed smoothly, and the deployment velocities are restricted by the drive assembly as expected. During the tests, the RHDA output speed and output torque are obtained. In order to examine the impact force when the yoke is lock-up with a hard stop, dynamics simulations are performed according to the actual behavior. The simulation result indicates that the designed RHDA reduces the impact force significantly and improves the lock-up reliability effectively.

关键词： solar array root hinge drive assembly multi-DOF model dynamics simulation reliability lock-up

Overview of current design and analysis of potential theories for automated fibre placement mechanisms

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Chinese Journal of Aeronautics 2022年第4期35卷 1-13页

作者： Wuxiang ZHANG Fei LIU Tao JIANG Minghui YI Weiqiang CHEN xilun ding School of Mechanical Engineering and Automation Beihang University37 Xueyucm RoadBeijing 100191China Ningbo Institute of Technology Beihang UniversityNingbo 315832China Beijing Weixing Manufacturing Plant Co. LtdBeijing 100191China

Automated fibre placement(AFP) systems have successfully intensified the demand for high-quality composite component manufacturing in both the military and civilian fields. One of the main elements of these systems is the AFP mechanism for accomplishing individual fibre delivery,clamp/cut/restart(CCR) and the consolidation process, and it consists of several functional submechanisms presenting strong coupling relationships and motion sequences. This review aims to summarize the development of AFP mechanisms and the associated research achievements and provide insight into the research challenges in promoting innovative design in such mechanisms. The systematic development of AFP systems is reviewed in detail, and subsequently, engineering tendency and the general principle of AFP mechanisms are introduced. Focusing on the mechanism design of AFP sub-mechanisms, including the creel assembly CCR and compaction mechanisms,the mechanical schemes as well as the AFP process parameter control are discussed. To improve system reliability and fully optimise AFP mechanisms, the essential theoretical foundation for AFP mechanisms are provided. It is believed that this attempt will help to change the design and optimisation of similar complete mechanisms. Based on the reviewed research, overall remarks and perspectives are presented to serve as a guide for exploring the possibility of novel easy-to-use and cost-effective integrated AFP applications.

关键词： Automated fibre placement systems Sub-mechanisms Structure design Layup performance Theoretical foundation

Review of human–robot coordination control for rehabilitation based on motor function evaluation

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Frontiers of Mechanical Engineering 2022年第2期17卷 37-50页

作者： Di SHI Liduan WANG Yanqiu ZHANG Wuxiang ZHANG Hang XIAO xilun ding School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China School of Rehabilitation Medicine Weifang Medical UniversityWeifang 261053China Beijing Advanced Innovation Centre for Biomedical Engineering Beihang UniversityBeijing 100191China

As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliary rehabilitation training for patients with lower limb walking impairment/loss and address the existing problem of insufficient medical resources. One of the main elements of such a human–robot coupling system is a control system to ensure human–robot coordination. This review aims to summarise the development of human–robot coordination control and the associated research achievements and provide insight into the research challenges in promoting innovative design in such control systems. The patients’ functional disorders and clinical rehabilitation needs regarding lower limbs are analysed in detail, forming the basis for the human–robot coordination of lower limb rehabilitation robots. Then, human–robot coordination is discussed in terms of three aspects: modelling, perception and control. Based on the reviewed research, the demand for robotic rehabilitation, modelling for human–robot coupling systems with new structures and assessment methods with different etiologies based on multi-mode sensors are discussed in detail, suggesting development directions of human–robot coordination and providing a reference for relevant research.

关键词： human–robot coupling lower limb rehabilitation exoskeleton robot motor assessment dynamical model perception