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Adaptive feedback compensation control method for bipedal robot walking under continuous external disturbances

Acta Mechanica Sinica 2024年第12期40卷 29-39页

作者： Zijing Li Jinlin Zhang Mengyue Lu Wanchao Chi Chong Zhang Shenghao Zhang Yuzhen Liu Chunbiao Gan State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310058China tencent robotics x Tencent Binhai BuildingShenzhen 518054China

In the past few decades,people have been trying to address the issue of walking instability in bipedal robots in uncertain ***,most control methods currently have still failed to achieve robust walking of bipedal robots under uncertain *** research mostly focuses on motion control methods for robots on uneven terrain and under sudden impact forces,with little consideration for the problem of continuous and intense external force disturbances in uncertain *** response to this issue,a disturbance-robust control method based on adaptive feedback compensation is ***,based on the Lagrangian method,the dynamic model of a bipedal robot under different types of external force disturbances was ***,through dynamic analysis,it was observed that classical control methods based on hybrid zero dynamics failed to consider the continuous and significant external force disturbances in uncertain ***,an adaptive feedback compensation controller was designed,and an adaptive parameter adjustment optimization algorithm was proposed based on walking constraints to achieve stable walking of bipedal robots under different external force ***,in numerical simulation experiments,comparative analysis revealed that using only a controller based on hybrid zero dynamics was insufficient to converge the motion of a planar five-link bipedal robot subjected to periodic forces or bounded noise disturbances to a stable *** contrast,in the adaptive feedback compensation control method,the use of an adaptive parameter adjustment optimization algorithm to generate time-varying control parameters successfully achieved stable walking of the robot under these *** indicates the effectiveness of the adaptive parameter adjustment algorithm and the robustness of the adaptive feedback compensation control method.

关键词： Bipedal robot External disturbance Walking stability Adaptive feedback compensation Anti-disturbance control

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Few-shot font style transfer with multiple style encoders

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Science China(Information Sciences) 2022年第6期65卷 83-84页

作者： Kejun ZHANG Rui ZHANG Yonglin WU Yifei LI Yonggen LING Bolin WANG Lingyun SUN Yingming LI State Key Lab of CAD&CG Zhejiang University School of Software Technology Zhejiang University robotics x tencent College of Information Science & Electronic Engineering Zhejiang University

Dear editor,From the sketch to an encapsulated font, text font design is a labor-intensive and time-consuming process that relies heavily on the expertise of designers and usually takes months,even years, for a professional institution. This scenario is particularly prominent for glyph-rich scripts, such as Chinese, where each character is composed of varying numbers of highly complex structured components.

关键词： Font Generation Image-to-Image Translation GANs Multi-task Learning Font Fusion Style Transfer

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Kinematic,Workspace and Force Analysis of A Five-DOF Hybrid Manipulator R(2RPR)R/SP+RR

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Chinese Journal of Mechanical Engineering 2022年第5期35卷 232-243页

作者： Yundou xu Fan Yang Youen Mei Dongsheng Zhang Yulin Zhou Yongsheng Zhao Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 006004China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China tencent robotics x Tencent HoldingsShenzhen 518057China

In the present study,the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research *** this paper,kinematics of the hybrid manipulator,including the forward and inverse position,are ***,the workspace is checked based on the inverse position solution to evaluate whether the workspace of the hybrid manipulator meets the requirements,and the actual workspace of the hybrid robot is *** that,the force analysis of the over-constrained parallel mechanism is carried out,and an ADAMS-ANSYS rigid-flexible hybrid body model is established to verify the *** on the obtained results from the force analysis,the manipulator structure is ***,the structure optimization is carried out to improve the robot ***,calibration and workspace verification experiments are performed on the prototype,cutting experiment of an S-shaped aluminum alloy workpiece is completed,and the experiment verifies the machining ability of the *** work conducts kinematics,workspace,force analyses,structural optimization design and experiments on the over-constrained hybrid manipulator R(2RPR)R/SP+RR,providing design basis and technical support for the development of the novel hybrid manipulator in practical engineering.

关键词： Hybrid manipulator Over-constrained Kinematic analysis Stiffness analysis

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Optical Micro/Nano Fibers Enabled Smart Textiles for Human-Machine Interface

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Advanced Fiber Materials 2022年第5期4卷 1108-1117页

作者： Shuqi Ma xiaoyu Wang Pan Li Ni Yao Jianliang xiao Haitao Liu Zhang Zhang Longteng Yu Guangming Tao xiong Li Limin Tong Lei Zhang Research Center for Intelligent Sensing Zhejiang LabHangzhou 310000People’s Republic of China Wuhan National Laboratory for Optoelectronics Huazhong University of Science and TechnologyWuhan 430074People’s Republic of China State Key Laboratory of Modern Optical Instrumentation College of Optical Science and EngineeringZhejiang UniversityHangzhou 310027People’s Republic of China tencent robotics x Lab Tencent Technology(Shenzhen)Co.Ltd.Shenzhen 518054People’s Republic of China

Wearable human-machine interface(HMI)is an advanced technology that has a wide range of applications from robotics to augmented/virtual reality(AR/VR).In this study,an optically driven wearable human-interactive smart textile is proposed by integrating a polydimethylsiloxane(PDMS)patch embedded with optical micro/nanofibers(MNF)array with a piece of *** by the highly sensitive pressure dependent bending loss of MNF,the smart textile shows high sensitivity(65.5 kPa^(−1))and fast response(25 ms)for touch *** from the warp and weft structure of the textile,the optical smart textile can feel slight finger slip along the ***,machine learning is utilized to classify the touch manners,achieving a recognition accuracy as high as 98.1%.As a proof-of-concept,a remote-control robotic hand and a smart interactive doll are demonstrated based on the optical smart *** optical smart textile represents an ideal HMI for AR/VR and robotics applications.

关键词： Smart textiles Human-machine interfaces Optical micro/nano fiber tactile sensor Augmented/virtual reality robotics

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Highly sensitive and fast response strain sensor based on evanescently coupled micro/nanofibers

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Opto-Electronic Advances 2022年第9期5卷 34-42页

作者： Wen Yu Ni Yao Jing Pan Wei Fang xiong Li Limin Tong Lei Zhang State Key Laboratory of Modern Optical Instrumentation College of Optical Science and EngineeringZhejiang UniversityHangzhou 310027China Research Center for Intelligent Sensing Zhejiang LabHangzhou 311121China tencent robotics x Lab Tencent Technology(Shenzhen)Co.LtdShenzhen 518054China

Flexible strain sensors play an important role in electronic skins,wearable medical devices,and advanced ***,a highly sensitive and fast response optical strain sensor with two evanescently coupled optical micro/nanofibers(MNFs)embedded in a polydimethylsiloxane(PDMS)film is *** strain sensor exhibits a gauge factor as high as 64.5 for strain≤0.5%and a strain resolution of 0.0012%which corresponds to elongation of 120 nm on a 1 cm long *** a proof-of-concept,highly sensitive fingertip pulse measurement is *** properties of fast temporal frequency response up to 30 kHz and a pressure sensitivity of 102 kPa^(−1) enable the sensor for sound *** versatile sensor could be of great use in physiological signal monitoring,voice recognition and micro-displacement detection.

关键词： optical micro/nanofiber strain sensor pressure sensor micro-displacement directional coupler

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Miniaturization of mechanical actuators in skin-integrated electronics for haptic interfaces

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Microsystems & Nanoengineering 2021年第5期7卷 31-39页

作者： Dengfeng Li Jiahui He Zhen Song Kuanming Yao Mengge Wu Haoran Fu Yiming Liu Zhan Gao Jingkun Zhou Lei Wei Zhengyou Zhang Yuan Dai Zhaoqian xie xinge Yu Department of Biomedical Engineering City University of Hong KongHong Kong SARChina Hong Kong Centre for Cerebro-Cardiovascular Health Engineering(COCHE) Hong Kong SARChina State Key Laboratory of Structural Analysis for Industrial Equipment Department of Engineering MechanicsDalian University of TechnologyDalianChina lnstitute of Flexible Electronic Technology of Tsinghua JiaxingChina tencent robotics x ShenzhenChina Ningbo Institute of Dalian University of Technology NingboChina

Skin-integrated electronics,also known as electronic skin(e-skin);are rapidly developing and are gradually being adopted in biomedical fields as well as in our daily lives.E-skin capable of providing sensitive and high-resolution tactile sensations and haptic feedback to the human body would open a new e-skin paradigm for closed-loop human-machine ***,we report a class of materials and mechanical designs for the miniaturization of mechanical actuators and strategies for their integration into thin,soft e-skin for haptic *** mechanical actuators exhibit small dimensions of 5 mm diameter and 1.45 mm thickness and work in an electromagnetically driven vibrotactile mode with resonance frequency overlapping the most sensitive frequency of human *** mini actuators can be integrated simultaneously in a small area of 2 cm×2 cm to form a 3×3 haptic feedback array,which is small and compact enough to mount on a thumb ***,the thin,soft haptic interface exhibits good mechanical properties that work properly during stretching,bending,and twisting and therefore can conformally fit onto various parts of the human body to afford programmable tactile enhancement and Braille recognition with an accuracy rate over 85%.

关键词： stretching properly mount

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Single optical microfiber enabled tactile sensor for simultaneous temperature and pressure measurement

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Photonics Research 2022年第9期10卷 2040-2046页

作者： NI YAO xIAOYU WANG SHUQI MA xINGDA SONG SHAN WANG ZHANGxING SHI JING PAN SHIPENG WANG JIANLIANG xIAO HAITAO LIU LONGTENG YU YAO TANG ZHANG ZHANG xIONG LI WEI FANG LEI ZHANG LIMIN TONG Research Center for Humanoid Sensing Zhejiang LabHangzhou 311121China State Key Laboratory of Modern Optical Instrumentation College of Optical Science and EngineeringZhejiang UniversityHangzhou 310027China Shandong Institute of Advanced Technology Jinan 250100China tencent robotics x Lab Tencent Technology(Shenzhen)Co.LtdShenzhen 518054China

The ability to sense heat and touch is essential for healthcare,robotics,and human–machine *** taking advantage of the engineerable waveguiding properties,we design and fabricate a flexible optical microfiber sensor for simultaneous temperature and pressure measurement based on theoretical *** sensor exhibits a high temperature sensitivity of 1.2 nm/℃ by measuring the shift of a high-order mode cutoff wavelength in the short-wavelength *** the case of pressure sensing,the sensor shows a sensitivity of 4.5%per kilopascal with a fast temporal frequency response of 1000 Hz owing to the strong evanescent wave guided outside the *** cross talk is negligible because the temperature and pressure signals are measured at different wavelengths based on different *** properties of fast temporal response,high temperature,and pressure sensitivity enable the sensor for real-time skin temperature and wrist pulse measurements,which is critical to the accurate analysis of pulse *** believe the sensor will have great potential in wearable optical devices ranging from healthcare to humanoid robots.

关键词： simultaneous optical sensor

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Intelligent Recognition Using Ultralight Multifunctional Nano‑Layered Carbon Aerogel Sensors with Human‑Like Tactile Perception

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Nano-Micro Letters 2024年第1期16卷 172-186页

作者： Huiqi Zhao Yizheng Zhang Lei Han Weiqi Qian Jiabin Wang Heting Wu Jingchen Li Yuan Dai Zhengyou Zhang Chris RBowen Ya Yang CAS Center for Excellence in Nanoscience Beijing Key Laboratory of Micro‑Nano Energy and SensorBeijing Institute of Nanoenergy and NanosystemsChinese Academy of SciencesBeijing 101400People’s Republic of China tencent robotics x Shenzhen 518054People’s Republic of China School of Nanoscience and Technology University of Chinese Academy of SciencesBeijing 100049People’s Republic of China Department of Mechanical Engineering University of BathBath BA27AKUK Center on Nanoenergy Research School of Physical Science and TechnologyGuangxi UniversityNanning 530004People’s Republic of China

Humans can perceive our complex world through multi-sensory *** limited visual conditions,people can sense a variety of tactile signals to identify objects accurately and ***,replicating this unique capability in robots remains a significant ***,we present a new form of ultralight multifunctional tactile nano-layered carbon aerogel sensor that provides pressure,temperature,material recognition and 3D location capabilities,which is combined with multimodal supervised learning algorithms for object *** sensor exhibits human-like pressure(0.04–100 kPa)and temperature(21.5–66.2℃)detection,millisecond response times(11 ms),a pressure sensitivity of 92.22 kPa^(−1)and triboelectric durability of over 6000 *** devised algorithm has universality and can accommodate a range of application *** tactile system can identify common foods in a kitchen scene with 94.63%accuracy and explore the topographic and geomorphic features of a Mars scene with 100%*** sensing approach empowers robots with versatile tactile perception to advance future society toward heightened sensing,recognition and intelligence.

关键词： Multifunctional sensor Tactile perception Multimodal machine learning algorithms Universal tactile system Intelligent object recognition

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基于数据驱动的冗余机器人末端执行器位姿控制方案

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自动化学报 2024年第3期50卷 518-526页

作者：金龙张凡刘佰阳郑宇兰州大学信息科学与工程学院兰州730000 腾讯科技(深圳)有限公司robotics x 深圳518057

模型未知的冗余机器人执行任务的过程中会产生较大的控制误差,其末端执行器的位置与姿态也需要针对不同任务进行修正.为解决该问题,提出一种基于数据驱动的冗余机器人末端执行器位置与姿态控制方案.该方案使用在线学习技术,能够应用于... 详细信息

模型未知的冗余机器人执行任务的过程中会产生较大的控制误差,其末端执行器的位置与姿态也需要针对不同任务进行修正.为解决该问题,提出一种基于数据驱动的冗余机器人末端执行器位置与姿态控制方案.该方案使用在线学习技术,能够应用于模型未知的冗余机器人控制.同时引入四元数表示法将控制机器人末端执行器姿态问题转化为基于四元数表示的控制方法.随后,设计一种神经动力学求解器对所提方案进行求解.相关的理论分析、仿真及对比体现了所提方案的可行性、有效性与新颖性.

关键词：冗余机器人数据驱动位姿控制轨迹跟踪

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Iontronic pressure sensor with high sensitivity and linear response over a wide pressure range based on soft micropillared electrodes

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Science Bulletin 2021年第11期66卷 1091-1100,M0003页

作者： Peng Lu Liu Wang Pang Zhu Jun Huang Yueji Wang Ningning Bai Yan Wang Gang Li Junlong Yang Kewei xie Jianming Zhang Bo Yu Yuan Dai Chuan Fei Guo Department of Materials Science and Engineering Southern University of Science and TechnologyShenzhen 518055China Academy for Advanced Interdisciplinary Studies Southern University of Science and TechnologyShenzhen 518055China Ningbo Fengcheng Advanced Energy Materials Research Institute Ningbo 315500China tencent robotics x Shenzhen 518000China Centers for Mechanical Engineering Research and Education at MIT and SUSTech&Shenzhen Engineering Research Center for Novel Electronic Information Materials and Devices Southern University of Science and TechnologyShenzhen 518055China

Electronic skins and flexible pressure sensors are important devices for advanced healthcare and intelligent *** is a key parameter of flexible pressure *** introducing surface microstructures in a capacitive-type sensor can significantly improve its sensitivity,the signal becomes nonlinear and the pressure response range gets much narrower,significantly limiting the applications of flexible pressure ***,we designed a pressure sensor that utilizes a nanoscale iontronic interface of an ionic gel layer and a micropillared electrode,for highly linear capacitance-to-pressure response and high sensitivity over a wide pressure *** micropillars undergo three stages of deformation upon loading:initial contact(0-6 k Pa)and structure buckling(6-12 k Pa)that exhibit a low and nonlinear response,as well as a post-buckling stage that has a high signal linearity with high sensitivity(33.16 k Pa-1)over a broad pressure range of 12-176 k *** high linearity lies in the subtle balance between the structure compression and mechanical matching of the two materials at the gel-electrode *** sensor has been applied in pulse detection,plantar pressure mapping,and grasp task of an artificial *** work provides a physical insight in achieving linear response through the design of appropriate microstructures and selection of materials with suitable modulus in flexible pressure sensors,which are potentially useful in intelligent robots and health monitoring.

关键词： Iontronic interface Linearity Flexible pressure sensor Mechanical matching

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