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Efficient Dynamic Locomotion of Quadruped Robot via Adaptive Diagonal Gait

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Journal of Bionic Engineering 2024年第1期21卷 126-136页

作者： Jian Bi Teng Chen Xuewen Rong Guoteng Zhang Guanglin Lu Jingxuan Cao Han Jiang Yibin Li The Center for robotics School of Control Science and EngineeringShandong UniversityJi Nan 250000China

Quadruped animals in the nature realize high energy efficiency locomotion by automatically changing their gait at different *** by this character,an efficient adaptive diagonal gait locomotion controller is designed for quadruped robot.A unique gait planning method is proposed in this *** the speed of robot varies,the gait cycle time and the proportion of stance and swing phase of each leg are adjusted to form a variety of *** optimal joint torque is calculated by the controller combined with Virtual Model control(VMC)and Whole-Body control(WBC)to realize the desired *** gait and step frequency of the robot can automatically adapt to the change of *** experiments are done with a quadruped robot made by our laboratory to verify that the gait can change automatically from slow-trotting to flying-trot during the period when speed is from 0 to 4 m/*** ratio of swing phase is from less than 0.5 to more than 0.5 to realize the running motion with four feet off the *** have shown that the controller can indeed consume less energy when robot runs at a wide range of speeds comparing to the basic controller.

关键词： Quadruped robot Gait transition Adaptive gait Energy efficiency

LFM Radar Source Passive Localization Algorithm Based on Range Migration

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Journal of Beijing institute of Technology 2024年第2期33卷 130-140页

作者： Dandan Li Deyi Wang Hao Huan Beijing Key Laboratory of Fractional Signals and Systems School of Information and ElectronicsBeijing Institute of TechnologyBeijing 100081China Beijing Aerospace automatic control institute Beijing 100854China

Traditional single-satellite passive localization algorithms are influenced by frequency and angle measurement accuracies,resulting in error estimation of emitter position on the order of ***,a single-satellite localization algorithm based on passive synthetic aper-ture(PSA)was introduced,enabling high-precision ***,its estimation of azimuth and range distance is considerably affected by the residual frequency offset(RFO)of uncoopera-tive system ***,it requires data containing a satellite flying over the radia-tion source for RFO *** estimating the RFO,an accurate estimation of azimuth and range distance can be carried out,which is difficult to achieve in practical *** LFM radar source passive localization algorithm based on range migration is proposed to address the dif-ficulty in estimating frequency *** algorithm first provides a rough estimate of the pulse repetition time(PRT).It processes intercepted signals through range compression,range interpola-tion,and polynomial fitting to obtain range migration ***,it uses the changing information of range migration and an accurate PRT to formulate a system of nonlinear equations,obtaining the emitter position and a more accurate PRT through a two-step localization *** offset only induces a fixed offset in range migration,which does not affect the changing *** algorithm can also achieve high-precision localization in squint ***,the effectiveness of this algorithm is verified through simulations.

关键词： passive localization range migration residual frequency offset

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Singularity analysis and avoidance for an SSRMS-type reconfigurable space manipulator with a non-spherical wrist and two lockable passive telescopic links

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Chinese Journal of Aeronautics 2024年第8期37卷 435-459页

作者： Zhiyuan ZHAO Xiaohang YANG Yuntao LI Zichun XU Jingdong ZHAO Hong LIU State Key Laboratory of robotics and System Harbin Institute of TechnologyHarbin 150001China

This study focuses on addressing kinematic singularity analysis and avoidance issues for a space station remote manipulator system(SSRMS)-type reconfigurable space *** manipulator is equipped with a non-spherical wrist and two lockable passive telescopic links(LPTLs),which enable it to have both active revolute and passive prismatic joints and operate in two distinct *** begin with the kinematic singularity analysis,the study derives the differential kinematic equations for the manipulator and identifies the dominant Jacobian matrix that causes ***,an in-depth analysis of singularities from multiple perspectives is ***,a kinematic singularity map method is proposed to capture the distribution of singularities within the reachable ***,the influence of the two LPTLs on singularities is thoroughly ***,a new method based on the matrix rank equivalence principle is introduced to determine singularity conditions,enabling the identification of all the singular configurations for the SSRMS-type reconfigurable ***,this method significantly reduces computational complexity,and the singularity conditions obtained have more concise *** the singularity avoidance problem,a novel method is developed,which simultaneously addresses the requirements of real-time performance,high precision,and the avoidance of both kinematic singularities and joint limit *** from these excellent properties,the proposed method can effectively resolve the singularity issues encountered separately by the SSRMS-type reconfigurable manipulator in its two operational *** typical simulations validate the utility of all the proposed methods.

关键词： Reconfigurable space manipulator Redundant manipulator Kinematics Singularity analysis Singularity avoidance

Hierarchically Distributed Optimization with a Flexible and Complexity-Reducing Algorithm

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Journal of Systems Science & Complexity 2024年

作者： LIANG Shu ZHANG Lei WEI Yiheng LIU Yemo Department of control Science and Engineering Tongji University Shanghai Research institute for Intelligent Autonomous Systems School of Mathematics Southeast University Beijing Aerospace automatic control institute

In this paper, the authors consider distributed convex optimization over hierarchical networks. The authors exploit the hierarchical architecture to design specialized distributed algorithms so that the complexity can be reduced compared with that of non-hierarchically distributed *** this end, the authors use local agents to process local functions in the same manner as other distributed algorithms that take advantage of multiple agents' computing resources. Moreover, the authors use pseudocenters to directly integrate lower-level agents' computation results in each iteration step and then share the outcomes through the higher-level network formed by pseudocenters. The authors prove that the complexity of the proposed algorithm exponentially decreases with respect to the total number of pseudocenters. To support the proposed decomposition-composition method for agents and pseudocenters, the authors develop a class of operators. These operators are generalizations of the widely-used subgradient based operator and the proximal operator and can be used in distributed convex optimization. Additionally, these operators are closed with respect to the addition and composition operations; thus, they are suitable to guide hierarchically distributed design and analysis. Furthermore,these operators make the algorithm flexible since agents with different local functions can adopt suitable operators to simplify their calculations. Finally, numerical examples also illustrate the effectiveness of the method.

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Real-time UAV path planning based on LSTM network

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Journal of Systems Engineering and Electronics 2024年第2期35卷 374-385页

作者： ZHANG Jiandong GUO Yukun ZHENG Lihui YANG Qiming SHI Guoqing WU Yong School of Electronics and Information Northwestern Polytechnical UniversityXi’an 710129China The Flight automatic control Research institute of AVIC Xi’an 710065China Military Representative Office of Marine Wuhan Bureau in Luoyang Area Luoyang 471000China

To address the shortcomings of single-step decision making in the existing deep reinforcement learning based unmanned aerial vehicle(UAV)real-time path planning problem,a real-time UAV path planning algorithm based on long shortterm memory(RPP-LSTM)network is proposed,which combines the memory characteristics of recurrent neural network(RNN)and the deep reinforcement learning *** networks are used in this algorithm as Q-value networks for the deep Q network(DQN)algorithm,which makes the decision of the Q-value network has some *** to LSTM network,the Q-value network can use the previous environmental information and action information which effectively avoids the problem of single-step decision considering only the current ***,the algorithm proposes a hierarchical reward and punishment function for the specific problem of UAV real-time path planning,so that the UAV can more reasonably perform path *** verification shows that compared with the traditional feed-forward neural network(FNN)based UAV autonomous path planning algorithm,the RPP-LSTM proposed in this paper can adapt to more complex environments and has significantly improved robustness and accuracy when performing UAV real-time path planning.

关键词： deep Q network path planning neural network unmanned aerial vehicle(UAV) long short-term memory(LSTM)

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A versatile humanoid robot platform for dexterous manipulation and human-robot collaboration

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CAAI Transactions on Intelligence Technology 2024年第2期9卷 526-540页

作者： Xin Shu Fenglei Ni Xinyang Fan Shuai Yang Changyuan Liu Baoxu Tu Yiwei Liu Hong Liu State Key Laboratory of robotics and System Harbin Institute of TechnologyHarbinChina

Humanoid robots have attracted much attention by virtue of their compatibility with human ***,biped humanoids with immense promise still cannot function steadily and reliably in real-world settings in the current ***,rationally combining a humanoid robot with different stable mobile platforms is a favoured solution for diverse ***,a new versatile humanoid robot platform,aiming to provide a generic solution that can be flexibly deployed in diverse scenarios,for example,indoors and fields is *** humanoid robot platform incorporates multimodal perception,and extensible interfaces on hardware and software,allowing it to be rapidly integrated with different mobile platforms and end-effectors,only through easyto-assemble ***,the platform has achieved impressive integration,lightness,dexterity,and strength in its class,with human-like size and rich perception,targeted to have human-intelligent manipulation skills for human-engineered ***,this article elaborates on the reasoning behind the design choices,and outlines each ***,the essential performance of the platform is successfully demonstrated in a set of experiments with precise and dexterous manipulation,and human–robot collaboration requirements.

关键词： intelligent robots robotics

Design methodology,synthesis,and control strategy of the high-speed planetary rover

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Frontiers of Mechanical Engineering 2024年第2期19卷 59-74页

作者： Renchao LU Haibo GAO Zhen LIU Runze YUAN Zongquan DENG State Key Laboratory of robotics and Systems Harbin Institute of TechnologyHarbin 150001China

The planned missions to explore the surfaces of the Moon and Mars require high exploration efficiency,thus imposing new demands on the mobility system of planetary *** this paper,a design method for a high-speed planetary rover(HPR)is proposed,and the representative configurations are modeled and ***,the influence of the planetary surface environment on the design of HPRs is analyzed,and the design factors for HPRs are determined by studying a single-wheel ***,a design methodology for HPRs is *** adaptive suspension mechanisms of a four-wheeled rover are synthesized using the all-wheel-attachment condition and position and orientation characteristics theory,which are expressed in the form of a graph theory for the increase in elastic components and active ***,a dynamic model is built,and a simulation is carried out for the proposed *** validity of the proposed method and rover is verified,thus highlighting their potential application in future planetary exploration.

关键词： design methodology spectrum analysis high-speed planetary rover type synthesis

Theaflavins ameliorate insulin resistance and anxiety-like behavior induced by propionate combined with high-fat diet

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Food Science and Human Wellness 2024年

作者： Huijuan Bai Qian Yang Xiang Zuo Qian Yu Qili Zhao Yifei Tian Yixin Xu Jiawei Du Xin Zhao Xizeng Feng College of Life Science， State Key Laboratory of Medicinal Chemical Biology， Nankai University institute of robotics & automatic Information System， College of Artificial Intelligence， Nankai University

Insulin resistance is a key pathological process in the development of type II diabetes， which can also lead to depression， anxiety and other symptoms. With the accelerated pace of life， food with high-energy and additives is becoming more and more common in people's diet. Propionate is a naturally existing short-chain fatty acid salt that has been widely used as a food preservative， but studies have found that low concentrations of propionate can induce insulin resistance. Theaflavins (TFs) are characteristic components of black tea， which have the biological activity of hypoglycemic and lipid-lowering. In the present study， we used propionate combined with high-fat diet to induce insulin resistance in mice and treated them with theaflavins. The results showed that propionate could aggravate insulin resistance and anxiety induced by high-fat diet in mice. TFs alleviated insulin resistance and anxiety induced by propionate combined with high-fat diet by improving the disorder of metabolic gene expression and inflammation in the adipose and liver tissue， as well as neuroinflammation in the brain. Our study suggests that the food additive propionate combined with a high-fat diet may be harmful to organismal health. As a natural drug， TFs have the potential to alleviate insulin resistance induced by propionate combined with high-fat diet.

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State estimation for delayed switched positive systems: delayed radius approach

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Science China(Information Sciences) 2024年第8期67卷 190-205页

作者： Weizhong CHEN Zhongyang FEI Xudong ZHAO Zheng-Guang WU School of Electronics and Information Xi'an Polytechnic University Research institute of Intelligent control and Systems Harbin Institute of Technology Key Laboratory of Intelligent control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology School of control Science and Engineering Dalian University of Technology State Key Laboratory of Industrial control Technology Institute of Cyber-Systems and ControlZhejiang University

In this paper, an interval estimation scheme is developed for delayed switched positive systems（DSPS） with mode-dependent average dwell time switching. A lossless zonotopic estimation approach is proposed for the delayed intersection zonotope with the positive generator matrix. First, considering the existence of asynchronism between the system mode and the correction matrix mode, the mismatched intersection zonotope is constructed for DSPS to verify the consistency between the system model and ***, by utilizing the introduced radius definitions, the ?∞performance is addressed to optimize the size of delayed intersection zonotopes. Subsequently, we present a joint-design approach of switching signals and the mode-dependent correction matrix by constructing positive generator matrix-based delayed radius functions. Furthermore, guaranteed nonnegative state bounds are derived for the considered DSPS based on the proposed lossless zonotopic estimation criteria. Finally, detailed simulations are conducted to validate the feasibility and superiority of the developed methods.

关键词： delayed switched positive systems interval estimation asynchronous correction matrix zonotopes mode-dependent average dwell time