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Leader-follower: Human-centered intention-guided controller for novel SuperLimb with application to load-carrying scenarios

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Science China Technological Sciences 2025年第1期 325-338页

作者： Qinghua ZHANG Xianglong LI Hongwei JING Kerui SUN Yuancheng LI Sikai ZHAO Lele LI Haotian JU Ziqi WANG Rui WU Tianjiao ZHENG Jie ZHAO Yanhe ZHU The State Key Laboratory of robotics and system Harbin Institute of Technology The Learning Algorithms and systems Laboratory School of Engineeringécole Polytechnique Fédérale de Lausanne

Supernumerary robotic arms(SuperLimb) are a new type of wearable robot that works closely with humans as a third hand to augment human operation capability. Accurate conveyance of wearers' intentions, allocation of roles, and humancentered interaction considerations are the key points in the process of human–SuperLimb collaboration. This paper proposes a human-centered intention-guided leader–follower controller that relies on the dynamic modeling of SuperLimb with application to load-carrying scenarios. The proposed leader–follower controller takes the human as the leader and the SuperLimb as the follower, achieving effective information communication, autonomous coordination, and good force compliance between SuperLimb, humans, and the environment under human safety assurance. First, the human–SuperLimb dynamic system is modeled to achieve force interaction with the environment and wearer. Second, to achieve the precise intention extraction of humans, pose data from five visual odometry sensors are fused to capture the human state, the generalized position, the velocity of hands, and the surface electromyography signals from two myoelectric bracelets sensors are processed to recognize the natural hand gestures during load-carrying scenarios by a designed Swin transformer network. Then, based on the real-time distance detection between human and mechanical limbs, the security assurance and force-compliant interaction of the human–SuperLimb system are realized. Finally, the human hand muscle intention recognition, human–robot safety strategy verification,and comparative load-carrying experiments with and without the proposed method are conducted on the SuperLimb *** showed that the task parameters are well estimated to produce more reasonable planning trajectories, and SuperLimb could well understand the wearer's intentions to switch different SuperLimb actions. The proposed sensor-based human–robot communication framework motivates future studies of o

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Composite iterative learning controller design for gradually varying references with applications in an AFM system

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Journal of Central South University 2014年第1期21卷 180-189页

作者：方勇纯张玉东董晓坤 institute of robotics and automatic information system Nankai University

Learning control for gradually varying references in iteration domain was considered in this research, and a composite iterative learning control strategy was proposed to enable a plant to track unknown iteration-dependent trajectories. Specifically, by decoupling the current reference into the desired trajectory of the last trial and a disturbance signal with small magnitude, the learning and feedback parts were designed respectively to ensure fine tracking performance. After some theoretical analysis, the judging condition on whether the composite iterative learning control approach achieves better control results than pure feedback contro! was obtained for varying references. The convergence property of the closed-loop system was rigorously studied and the saturation problem was also addressed in the controller. The designed composite iterative learning control strategy is successfully employed in an atomic force microscope system, with both simulation and experimental results clearly demonstrating its superior performance.

关键词： iterative learning control saturation feedback control feedforward control atomic force microscope

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Dispersion compensation for an ultrathin metal film using LCD-CCD system

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Chinese Physics B 2012年第10期21卷 265-269页

作者：代煜张建勋 institute of robotics and automatic information system Nankai University State Key Laboratory of robotics and system Harbin Institute of Technology

A dispersion compensation method is introduced to correct the distorted image passing through an ultrathin metal *** LCD-CCD system is modeled by the back propagation network and used to evaluate the transmittance of the ultrathin metal *** samples for the network come from 729 images captured by shooting test patches,in which the RGB values are uniformity distributed between 0 and *** RGB value of the original image that will be distorted by the dispersion is first transformed by mapping from the LCD to the CCD,multiplied by the inverse matrix of the transmittance matrix,and finally transformed by mapping from the CCD to the LCD,then the corrected image is *** order to verify the effectiveness of the proposed method,ultrathin aluminum films with different thicknesses are evaporated on glass substrates and laid between the CCD and *** results show that the proposed method compensates for the dispersion successfully.

关键词： ultrathin metal film dispersion compensation back propagation network LCD-CCD system

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Pose measurement using quaternion and Kalman filter

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High Technology Letters 2014年第2期20卷 131-139页

作者：卢翔 Liu Jingtai Yu Kaiyan Li Yan Sun Lei institute of robotics and automatic information system Nankai University

In this paper,a method combining perspective-n-point(PnP) and novel iteration algorithm is developed to measure the pose of a target in high precision for Tele-LightSaber *** PnP algorithm is used to obtain a rough pose,which is taken as the initial value of the iteration *** iteration algorithm utilizes the unit quaternions to represent the *** the result is optimized with Kalman *** the real-time and accuracy of the pose measurement,a fast feature extraction algorithm including object location,edge detection and corner detection is adopted to get the corners in high *** experiments and results verify the effectiveness of the proposed method.

关键词： pose measurement perspective-n-point ( PnP) unit quaternion Kalman filter feature extraction

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Position Control of a Series Elastic Actuator Based on Global Sliding Mode Controller Design

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IEEE/CAA Journal of automatica Sinica 2019年第3期6卷 850-858页

作者： Wei Yin Lei Sun Meng Wang Jingtai Liu IEEE the institute of robotics and automatic information system Nankai University and also with Tianjin Key Laboratory of Intelligent Robotics

A series elastic actuator(SEA) is a powerful device in the area of human-machine integration, but it still suffers from difficult position control issues. Therefore, in this paper,an efficient approach is proposed to solve this problem. The approach design is divided into two steps: feedback linearization(FL) and global sliding mode(GSM) controller design. The bounded analysis is presented and global asymptotic convergence is analytically proven. Simulation and experiment results illustrate the effectiveness of the proposed scheme.

关键词： Feedback linearization (FL) global sliding mode (GSM) position control series elastic actuator (SEA)

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Continuous Robust Control for Series Elastic Actuator With Unknown Payload Parameters and External Disturbances

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IEEE/CAA Journal of automatica Sinica 2017年第4期4卷 620-627页

作者： Meng Wang Lei Sun Wei Yin Shuai Dong Jingtai Liu institute of robotics and automatic information system Nankai University Tianjin Key Laboratory of Intelligent robotics Nankai University IEEE

In this paper, the torque tracking control problem for a class of series elastic actuators(SEAs) in the presence of unknown payload parameters and external disturbances is investigated. The uncertainties/disturbances rejection problem for SEAs is addressed from the view of a continuous nonlinear robust control development. Specifically, based on the analysis of a nonlinear SEA, the generic dynamics of SEA systems is described and a novel nonlinear control framework for SEAs is constructed. Then a RISE(robust integral of the sign of the error)-based second-order filter is introduced to synthesize the control law. Moreover, the control performance is theoretically ensured by Lyapunov analysis. Finally, some experimental results are included to demonstrate the superior performance of the proposed control method, in terms of transient response and robustness.

关键词： Nonlinear robust control torque control series elastic actuator

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An Energy-based Nonlinear Coupling Control for Offshore Ship-mounted Cranes

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International Journal of Automation and computing 2018年第5期15卷 570-581页

作者： Yu-Zhe Qian Yong-Chun Fang Tong Yang institute of robotics and automatic information system Nankai University Tianjin Key Laboratory of Intelligent robotics Nankai University

This paper proposes a novel nonlinear energy-based coupling control for an underactuated offshore ship-mounted crane,which guarantees both precise trolley positioning and payload swing suppressing performances under external sea wave disturbance. In addition to having such typical nonlinear underactuated property, as it is well known, an offshore ship-mounted crane also suffers from much unexpected persistent disturbances induced by sea waves or currents, which, essentially different from an overhead crane fixed on land, cause much difficulty in modeling and controller design. Inspired by the desire to achieve appropriate control performance against those challenging factors, in this paper, through carefully analyzing the inherent mechanism of the nonlinear dynamics, we first construct a new composite signal to enhance the coupling behavior of the trolley motion as well as the payload swing in the presence of ship′s roll motion disturbance. Based on which, an energy-based coupling control law is presented to achieve asymptotic stability of the crane control system′s equilibrium point. Without any linearization of the complex nonlinear dynamics, unlike traditional feedback controllers, the proposed control law takes a much simpler structure independent of the system parameters. To support the theoretical derivations and to further verify the actual control performance, Lyapunov-based mathematical analysis as well as numerical simulation/experimental results are carried out, which clarify the feasibility and superior performance of the proposed method over complicated disturbances.

关键词： Energy-based control offshore ship-mounted cranes Lyapunov methods underactuated nonlinear control systems.

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3D printing robot:model optimization and image compensation

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控制理论与应用（英文版） 2012年第3期10卷 273-279页

作者： Xinwei CHEN Jingtai LIU Tao SHI Haili QIAN Kuo CHEN Qing WEI institute of robotics and information automatic system Nankai UniversityTianjin 300071China

A novel 7-axis robot for industrial large 3D printing applications is presented in this paper, which is developed by institute of robotics and automatic information system, Nankai University. Base on the prototype, the mechanism on three-dimensional printing is deeply dissected. By investigating the reason of color distortions in 3D printing, a novel multistep compensation algorithm based on model optimization and image compensation is developed. Finally, the experimental results show the performance of the 3D printing robot platform and the proposed algorithms.

关键词： 3D printing robot Model optimization Image compensation

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Error aware multiple vertical planes based visual localization for mobile robots in urban environments

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Science China(information Sciences) 2015年第3期58卷 159-172页

作者： LI HaiFeng WANG HongPeng LIU JingTai College of Computer Science and Technology Civil Aviation University of China institute of robotics and automatic information system Nankai University State Key Laboratory of robotics

A novel error-aware visual localization method is proposed that utilizes vertical planes,such as vertical building facades in urban areas as *** planes,reconstructed from coplanar vertical lines,are robust high-level features if compared with point features or line ***,the error models of vertical lines and vertical planes are built,where maximum likelihood estimation(MLE)is employed to estimate all vertical planes from coplanar vertical ***,the closed-form representation of camera location error variance is ***,the minimum variance camera pose estimation is formulated into a convex optimization problem,and the weight for each vertical plane is obtained by solving this well-studied *** are carried out and the results show that the proposed localization method has an accuracy of about 2 meters,at par with commercial GPS operating in open environments.

关键词： visual localization multiple vertical planes error aware convex optimization satellite images urban environment mobile robot

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Uncalibrated visual servoing design for competitive networked robots

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High Technology Letters 2013年第4期19卷 413-421页

作者：卢翔 Liu Jingtai Yu Kaiyan Li Yan Sun Lei institute of robotics and automatic information system Nankai University Tianjin Key Laboratory of Intelligent robotics Nankai University

In this paper,a method with an eye-in-hand configuration is developed to hit targets during visual tracking for the TLS(Tele-Light Saber) *** is not necessary to calibrate camera parameters and predict the trajectory of the moving ***,the expression of the image Jacobian matrix for the eye-in-hand configuration is proposed,and then an update law is designed to estimate the image Jacobian ***,a control scheme is presented and the Lyapunov method is employed to prove asymptotic convergence of image *** assumption for the moving objects is ***,both simulation and experimental results are shown to support the approach in this paper.

关键词： visual servoing uncalibrated eye-in-hand robust information filter Lyapunov method

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