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Journal of Bionic Engineering 2024年第1期21卷 112-125页

作者： Chuanku Yi Xuechao Chen yu Zhang zhangguo yu Haoxiang Qi Yaliang Liu Qiang Huang School of Mechatronical Engineering Beijing Institute of TechnologyZizhuyaunHaidianBeijing 100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Tec

There are many theories and tools for human or robot motion simulation,but most of them require complex *** LNZN model(a simplified model named by the proposers)simplifies the human model and facilitates simulation of the Ground Reaction Force(GRF)of body landing by spring damping model and ignoring joint rotation movements,which can reduce the amount of computation *** this paper,the LNZN model of human running is selected as the basis and is modified to obtain the LNZN model of a robot,which expands the application of the LNZN *** to the structure of the human foot,a foot structure is then added to the simplified model to reduce the *** also applied driving forces to the new model to simulate the whole high jump motion of the robot to expand the functions of the LNZN *** obtained GRF data were anastomotic to the actual experimental *** addition,the effects of variables,such as the mass,hardness,and damping,of the foot on the GRF at the moment of landing were also ***,based on the guidelines obtained for the design of the robot’s foot structure,we fabricated new robot’s feet and installed them on the actual robot and achieved a better cushioning effect than the original foot in experiments.

关键词： LNZN model-GRF simulation Humanoid foot structure Foot parameters

Perception-Driven Learning of High-Dynamic Jumping Motions for Single-Legged Robots

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Journal of Bionic Engineering 2024年第4期21卷 1733-1746页

作者： Nengxiang Sun Fei Meng Sai Gu Botao Liu Xuechao Chen zhangguo yu Qiang Huang School of Mechatronical Engineering Beijing Institute of TechnologyBeijing100081China Key Laboratory of Biomimetic Robots and Systems Ministry of EducationBeijing100081China

Legged robots show great potential for high-dynamic motions in continuous interaction with the physical environment,yet achieving animal-like agility remains significant *** animals usually predict and plan their next locomotion by combining high-dimensional information from proprioception and exteroception,and adjust the stiffness of the body’s skeletal muscle system to adapt to the current *** control methods have limitations in handling high-dimensional state information or complex robot motion that are difficult to plan manually,and Deep Reinforcement Learning(DRL)algorithms provide new solutions to robot motioncontrol *** by biomimetics theory,we propose a perception-driven high-dynamic jump adaptive learning algorithm by combining DRL algorithms with Virtual Model Control(VMC)*** robot will be fully trained in simulation to explore its motion potential by learning the factors related to continuous jumping while knowing its real-time jumping *** policy trained in simulation is successfully deployed on the bio-inspired single-legged robot testing platform without further *** results show that the robot can achieve continuous and ideal vertical jumping motion through simple training.

关键词： Deep reinforcement learning High-dynamic jump Perception driven Single-legged robot

Task-space Whole-body Control with Variable Contact Force Control for Position-controlled Humanoid Adaptation to Unknown Disturbance

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Journal of Bionic Engineering 2023年第5期20卷 2069-2087页

作者： Zelin Huang Chencheng Dong zhangguo yu Xuechao Chen Fei Meng Qiang Huang School of Mechatronical Engineering Beijing Institute of TechnologyBeijing100081China Key Laboratory of Biomimetic Robots and Systems Ministry of EducationBeijing100081China

Whole-body control is beneficial for improving the disturbance adaptation of humanoid robots,since it can simultaneously optimize desired joint torque,joint acceleration,and contact force while considering whole-body dynamics and other physical ***,the lack of torque feedback information prevents the position-controlled humanoids from utilizing whole-body control directly,because it enhances the difficulty of guaranteeing desired contact force which is important for maintaining *** this paper,a whole-body control that integrates task-space inverse dynamics and variable contact force control is proposed for position-controlled humanoids to enhance the robot’s adaptability toward the unknown *** task-space inverse dynamics generates the desired joint acceleration and contact force with the consideration of whole-body dynamics and other limits to track the *** variable contact force control modifies references related to Center of Mass(CoM)and end effectors to ensure reasonable contact force tracking performance,thereby assuring good tracking performance of CoM and momentum to maintain robot *** and experiments of balancing and walking under unknown disturbance have been successfully conducted on a position-controlled humanoid robot,BHR-7P3,with the proposed method.

关键词： Whole-body control Contact force Admittance control Humanoid robot

Indoor Positioning System Using Axis Alignment and Complementary IMUs for Robot Localization

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机器人 2017年第3期39卷 316-323页

作者： ZHOU Qinqin LEI Siyu yu zhangguo LIN Hsien-I CHEN Xuechao ZHANG Weimin Intelligent Robotics Institute Beijing Institute of Technology Graduate Institute of Automation Technology Taipei University of Technology

An indoor positioning method for robots is presented to improve the precision of displacement measurement using only low-cost inertial measurement units(IMUs).Firstly,a high-fidelity displacement estimation for linear motion is proposed.A new robot motion model is designed as well as an axis alignment that only uses a single axis of the *** integral error of velocity is eliminated by a new subsection calculation *** complementary IMUs are combined by assigning them different weights to obtain high accuracy displacement ***,an orientation estimation based on a fusion filter for the steering motion is *** show that the proposed method significantly improves the accuracy of linear motion measurement and is effective for the indoor positioning of a robot.

关键词： axis alignment displacement estimation indoor positioning orientation estimation inertial measurement unit

Trajectory-free dynamic locomotion using key trend states for biped robots with point feet

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Science China(Information Sciences) 2023年第8期66卷 263-264页

作者： Lianqiang HAN Xuechao CHEN zhangguo yu Xishuo ZHU Kenji HASHIMOTO Qiang HUANG School of Mechatronical Engineering Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education Intelligent Mine Research Institute China Coal Research Institute Co. Ltd. Department of Mechanical Engineering Informatics Meiji University Humanoid Robotics Institute (HRI) Waseda University

Dear editor,Biped robots can not only cross complex environment such as ravines and rocks [1], but can also interact in more diverse activities with people. A biped robot with point feet is called an underactuated bip... 详细信息

关键词： Trajectories

Explosive Electric Actuator and Control for Legged Robots

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Engineering 2022年第5期8卷 39-47页

作者： Fei Meng Qiang Huang zhangguo yu Xuechao Chen Xuxiao Fan Wu Zhang Aiguo Ming School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Biomimetic Robots and Systems Ministry of EducationBeijing 100081China Department of Mechanical and Intelligent Systems Engineering The University of Electro-CommunicationsTokyo 182-8585Japan

Unmanned systems such as legged robots require fast-motion responses for operation in complex *** systems therefore require explosive actuators that can provide high peak speed or high peak torque at specific moments during dynamic *** hydraulic actuators can provide a large force,they are relatively inefficient,large,and *** electric actuators are incapable of providing instant high *** addition,the constant reduction ratio of the reducer makes it difficult to eliminate the tradeoff between high speed and high torque in a given *** study proposes an explosive electric actuator and an associated control method for legged ***,a high-power-density variable transmission is designed to enable continuous adjustment of the output speed to torque ratio.A heat-dissipating structure based on a composite phase-change material(PCM)is *** integral torque control method is used to achieve periodic and controllable explosive power *** experiments are conducted with typical legged robots to verify the effectiveness of the proposed actuator and control ***-legged,quadruped,and humanoid robots jumped to heights of 1.5,0.8,and 0.5 m,*** are the highest values reported to date for legged robots powered by electric actuators.

关键词： Electric actuator Variable transmission Integral torque control Legged robot

Disturbance rejection for biped robots during walking and running using control moment gyroscopes

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IET Cyber-Systems and Robotics 2022年第4期4卷 268-282页

作者： Haochen Xu zhangguo yu Xuechao Chen Chencheng Dong Huanzhong Chen Qiang Huang School of Mechatronical Engineering Beijing Institute of TechnologyBeijingChina Beijing Advanced Innovation Center for Intelligent Robotics and Systems Beijing Institute of TechnologyBeijingChina

Keeping balance in movement is an important premise for biped robots to complete various ***,the balance control of biped robots mainly depends on the cooperation of various joints of the robot's *** robots move faster,the adjustment allowance of joints is reduced,and the robot's anti-disturbance ability will inevitably *** solve this problem,the control moment gyroscope(CMG)is creatively used as an auxiliary stabilisation device for fully actuated biped robots and the CMG assistance strategy,which can be integrated into the biped's balance control framework,is *** strategy includes model predictive control module,distribution module,and CMG precession *** the command of it,CMGs can effectively assist the robot in resisting impact and returning to initial positions in *** results of anti-impact simulation on the walking and running biped robot prove that,with the help of CMGs,the robot's ability to resist disturbance and remain stable is significantly *** cover image is based on the Original Article Disturbance rejection for biped robots during walking and running using control moment gyroscopes by Haochen Xu et al.,https://***/10.1049/csy2.12070.

关键词： anti-impact biped robot control moment gyroscope model predictive control

A Dual-Motor Joint Model for Humanoid Robots

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A Dual-Motor Joint Model for Humanoid Robots

基于虚拟黏弹性肌肉模型的仿人机器人不平整地面稳定行走

第25届中国控制与决策会议

作者： Jingtao Xue Xiaopeng Chen Ye Tian zhangguo yu Fei Meng Qiang Huang IRI School of Mechatronic Engineering Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (纸本)9781467355339

To make humanoid robots walking fast, it’s important to improve driving force of their leg joints. Usually, each joint of humanoid robots is driven by a single motor. Dual-motor joint, on the other hand, is one of the candidate solutions to meet the power requirement needed for fast walking. This paper proposed a new dual-motor control model. In the model, two motors are treated as a single control plant instead of two parallel control plants. With the usage of current distributor, the control model can pump different current to each motor freely so as to eliminate the unbalance of the load imposed on each motor. Simulation and experiment show that the proposed model works well under high joint load and it can be used on a fast walking humanoid robot.

关键词： Humanoid robot dual motor control model

来源： cnki会议评论

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机器人 2019年第3期41卷 289-297页

作者：张永进谢慧松李庆庆余张国北京体育大学中国田径运动学院北京100084 北京理工大学机电学院北京100081

复杂未知环境下,仿人机器人在行走过程中难以获取精确的地面信息,导致规划的落脚点与实际落脚位置之间存在误差,这会对机器人的平衡造成严重的干扰.针对该问题,提出了模拟人体肌肉黏弹性的虚拟肌肉模型,并基于该模型设计了仿人机器人在... 详细信息

复杂未知环境下,仿人机器人在行走过程中难以获取精确的地面信息,导致规划的落脚点与实际落脚位置之间存在误差,这会对机器人的平衡造成严重的干扰.针对该问题,提出了模拟人体肌肉黏弹性的虚拟肌肉模型,并基于该模型设计了仿人机器人在不平整地面上的稳定行走控制方法.首先,从仿生角度出发,扩展传统肌肉模型,构建了具有伸缩功能的虚拟肌肉模型,并对其黏弹性进行了分析.然后,基于该模型,采用LQR(线性二次型调节器)方法设计了虚拟肌肉伸缩长度与伸缩力的控制方法.最后,基于足部力传感器信息反馈,将该模型应用于仿人机器人行走过程中抬脚高度的调节,使仿人机器人能够适应未知复杂环境中地面高度的突变,或在机器人传感器系统获取的地面信息与实际情况相差很大的情况下实现稳定行走.结果表明,该算法可以使仿人机器人在高度差为6 cm以内的不平整地面上实现1.8 km/h的稳定行走.基于BHR-6P平台的行走仿真验证了该算法的有效性.

关键词：虚拟肌肉黏弹性仿人机器人行走不平整地面

多臂空间机器人操作大型目标的全身接触柔顺控制研究

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兵工学报 2019年第2期40卷 395-403页

作者：刘嘉宇李通通余张国陈学超黄强北京理工大学机电学院北京100081 中国运载火箭技术研究院北京精密机电控制设备研究所北京100076

多臂空间机器人操作大型目标时,由于受到来自目标把手的较大拖拽力,机器人无法对目标实施有效的操作和运动约束,这些无法预知的外部拖拽可能导致机器人支撑臂的损坏或者任务失败。为了应对上述挑战,提出了一种基于全身阻抗控制和独立导... 详细信息

多臂空间机器人操作大型目标时,由于受到来自目标把手的较大拖拽力,机器人无法对目标实施有效的操作和运动约束,这些无法预知的外部拖拽可能导致机器人支撑臂的损坏或者任务失败。为了应对上述挑战,提出了一种基于全身阻抗控制和独立导纳控制的组合式接触柔顺全身控制策略,分别在空间机器人多刚体系统质心层面构建机械阻抗特性和在每条机械臂建立导纳特性,实现对外部拖拽的有效管理。基于二次规划(QP)方法构建了系统控制器,将机器人全身运动行为统一起来,设计了包括全身柔顺控制和关节力矩优化在内的QP目标函数,用来实现接触柔顺控制。通过仿真和降维度气浮实验方法综合验证了上述方法的有效性。

关键词：空间机器人大型目标捕获柔顺接触阻抗控制二次规划