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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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New Second-Level-Discrete Zeroing Neural Network for Solving Dynamic Linear System

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1521-1523页

作者： Min Yang school of robotics Hunan UniversityChangsha 410082China

Dear Editor,This letter deals with a new second-level-discretization method with higher precision than the traditional first-level-discretization ***,the traditional discretization method utilizes the first-order time derivative information,and it is termed first-level-discretization *** contrast,the new discretization method not only utilizes the first-order time derivative information,but also makes use of the second-order derivative *** combining the new second-level-discretization method with zeroing neural network(ZNN),the second-level-discrete ZNN(SLDZNN)model is proposed to solve dynamic(i.e.,time-variant or time-dependent)linear *** experiments and application to angle-of-arrival(AoA)localization show the effectiveness and superiority of the SLDZNN model.

关键词： method derivative utilize

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Gait Analysis of Quadruped Robot Using the Equivalent Mechanism Concept Based on Metamorphosis

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Chinese Journal of Mechanical Engineering 2019年第1期32卷 31-41页

作者： Kun Xu Peijin Zi Xilun Ding robotics Institute School of Mechanical Engineering & Automation Beihang University

The previous research regarding the gait planning of quadruped robot focuses on the sequence for lifting o and placing the feet, but neglects the influence of body height. However, body height a ects gait performance significantly, such as in terms of the stride length and stability margin. We herein study the performance of a quadruped robot using the equivalent mechanism concept based on metamorphosis. Assuming the constraints between standing feet and the ground with hinges, the ground, standing legs and robot body are considered as a parallel mechanism, and each swing leg is regarded as a typical serial manipulator. The equivalent mechanism varies while the robot moves on the ground. One gait cycle is divided into several periods, including step forward stages and switching stages. There exists a specific equivalent mechanism corresponding to each gait period. The robot's locomotion can be regarded as the motion of these series of equivalent mechanisms. The kinematics model and simplified model of the equivalent mechanism is established. A new definition of the multilegged robot stability margin, based on friction coe cient, is presented to evaluate the robot stability. The stable workspaces of the equivalent mechanism in the step forward stage of trotting gait under di erent friction coe cients are analyzed. The stride length of the robots is presented by analyzing the relationship between the stable workspaces of the equivalent mechanisms of two adjacent step forward stages in one gait cycle. The simulation results show that the stride length is larger with increasing friction coe cient. We herein propose a new method based on metamorphosis, and an equivalent mechanism to analyze the stability margin and stable workspace of the multilegged robot.

关键词： Quadruped robot Gait transference Metamorphosis Metamorphic mechanism Stability Stride length

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Learning the external and internal priors for multispectral and hyperspectral image fusion

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Science China(Information Sciences) 2023年第4期66卷 64-78页

作者： Shutao LI Renwei DIAN Haibo LIU College of Electrical and Information Engineering Hunan University school of robotics Hunan University

Recently, multispectral image(MSI) and hyperspectral image(HSI) fusion has been a popular topic in high-resolution HSI acquisition. This fusion leads to a challenging underdetermined problem, which image priors are used to regularize, aiming at improving fusion accuracy. To fully exploit HSI priors, this paper proposes two kinds of priors, i.e., external priors and internal priors, to regularize the fusion *** external prior represents the general image characteristics and is learned from abundant training data by using a Gaussian denoising convolutional neural network(CNN) trained in the additional gray images. An internal prior represents the unique characteristics of the HSI and MSI to be fused. To learn the external prior, we first segment the MSI into several superpixels and then enforce a low-rank constraint for each superpixel, which can well model local similarities in the HSI. In addition, to model a low-rank property in the spectral mode, the high-resolution HSI is decomposed into a low-rank spectral basis and ***, we formulate the fusion as an external and internal prior-regularized optimization problem, which is efficiently tackled through the alternating direction method of multipliers. Experiments on simulated and real datasets demonstrate the superiority of the proposed method.

关键词： multispectral and hyperspectral image fusion external and internal prior learning high-resolution hyperspectral imaging

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Closed-Form Modeling and Analysis of an XY Flexure-Based Nano-Manipulator

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Chinese Journal of Mechanical Engineering 2018年第1期31卷 176-186页

作者： Yan-Ding Qin Xin Zhao Bijan Shirinzadeh Yan-Ling Tian Da-Wei Zhang Institute of robotics and Automatic Information System (Tianjin Key Laboratory of Intelligent robotics) Nankai University robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University school of Mechanical Engineering Tianjin University

Flexure-based mechanisms are widely utilized in nano manipulations. The closed-form statics and dynamics modeling is difficult due to the complex topologies, the inevitable compliance of levers, the Hertzian contact interface, etc. This paper presents the closed-form modeling of an XY nano-manipulator consisting of statically indeterminate symmetric(SIS) structures using leaf and circular flexure hinges. Theoretical analysis reveals that the lever’s compliance, the contact stiffness, and the load mass have significant influence on the static and dynamic performances of the *** are conducted to verify the effectiveness of the established models. If no piezoelectric actuator(PEA) is installed, the influence of the contact stiffness can be eliminated. Experimental results show that the estimation error on the output stiffness and first natural frequency can reach 2% and 1.7%, respectively. If PEAs are installed, the contact stiffness shows up in the models. As no effective method is currently available to measure or estimate the contact stiffness, it is impossible to precisely estimate the performance of the overall system. In this case, the established closed-form models can be utilized to calculate the bounds of the performance. The established closed-form models are widely applicable in the design and optimization of planar flexure-based mechanisms.

关键词： Flexure-based mechanism Statically indeterminate structure Dynamics Lever mechanism Piezoelectric actuator

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Determination of Vertices and Edges in a Parametric Polytope to Analyze Root Indices of Robust Control Quality

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International Journal of Automation and computing 2019年第6期16卷 828-837页

作者： Sergey Gayvoronskiy Tatiana Ezangina Ivan Khozhaev Viktor Kazmin school of Computer Science and robotics National Research Tomsk Polytechnic University

The research deals with the methodology intended to root robust quality indices in the interval control system, the parameters of which are affinely included in the coefficients of a characteristic polynomial. To determine the root quality indices we propose to depict on the root plane not all edges of the interval parametric polytope(as the edge theorem says), but its particular vertex-edge route. In order to define this route we need to know the angle sequence at which the edge branches depart from any integrated pole on the allocation area. It is revealed that the edge branches can integrate into the route both fully or partially due to intersection with other branches. The conditions which determine the intersection of one-face edge images have been proven. It is shown that the root quality indices can be determined by its ends or by any other internal point depending on a type of edge branch. The conditions which allow determining the edge branch type have been identified. On the basis of these studies we developed the algorithm intended to construct a boundary vertex-edge route on the polytope with the interval parameters of the system. As an illustration of how the algorithm can be implemented, we determined and introduced the root indices reflecting the robust quality of the system used to stabilize the position of an underwater charging station for autonomous unmanned vehicles.

关键词： Robust control parametric uncertainty parametric polytope interval parameters system analysis

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A Trot and Flying Trot Control Method for Quadruped Robot Based on Optimal Foot Force Distribution

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Journal of Bionic Engineering 2019年第4期16卷 621-632页

作者： Teng Chen Xiaobo Sun Ze Xu Yibin Li Xuewen Rong Lelai Zhou Center for robotics School of Control Science and EngineeringShandong UniversityJinan 250061China

In order to enhance the dynamic motion capability of the bionic quadruped robot,a flying trot gait control method based on full-scale virtual model and optimal plantar force distribution is proposed.A stable flying trot gait is accomplished by mapping the robot torso motion to the foot *** force distribution calculated by the torso virtual model is converted into a quadratic optimization problem and solved in real time by the open source library *** transition between the trot gait and the flying trot gait is achieved by coordinating leg motion *** results of the dynamic simulation verify that the proposed method can realize the 3D stable flying trot *** against the trot gait,the flying trot gait can improve the speed of the quadruped *** the trot gait and the flying trot gait,the quadruped robot can move efficiently and adapt to complex terrains.

关键词： quadruped robot flying trot virtual model control quadratic optimization

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Learning physical characteristics like animals for legged robots

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National Science Review 2023年第5期10卷 22-37页

作者： Peng Xu Liang Ding Zhengyang Li Huaiguang Yang Zhikai Wang Haibo Gao Ruyi Zhou Yang Su Zongquan Deng Yanlong Huang Key Laboratory of robotics and Systems Harbin Institute of Technology school of Computing University of Leeds

Physical characteristics of terrains,such as softness and friction,provide essential information for legged robots to avoid non-geometric obstacles,like mires and slippery stones,in the *** perception of such characteristics often relies on tactile perception and vision *** tactile perception is more accurate,it is limited to close-range us e;by contrast,establishing a supervised or self-supervised contactless prediction system using computer vision re quires adequate labeled data and lacks the ability to adapt to the dynamic *** this paper,we simulate the behavior of animals and propose an unsupervised learning framework for legged robots to learn the physical characteristics of terrains,which is the first report to manage it online,incrementally and with the ability to solve cognitive *** proposed scheme allows robots to interact with the environment and adjust their cognition in real time,therefore endowing robots with the adaptation *** and outdoor experiments on a hexapod robot are carried out to show that the robot can extract tactile and visual features of terrains to create cognitive networks independently;an associative layer between visual and tactile features is created during the robot’s exploration;with the layer,the robot can autonomously generate a physical segmentation model of terrains and solve cognitive conflicts in an ever-changing environment,facilitating its safe navigation.

关键词： legged robot unsupervised learning environmental perception cognitive learning

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Design Principle of High-precision Flexure Mechanisms Based on Parasitic-motion Compensation

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Chinese Journal of Mechanical Engineering 2014年第4期27卷 663-672页

作者： LI Shouzhong YU Jingjun school of Mechanical Engineering University of Science and Technology Beijing robotics Institute Beihang University

In design of flexure mechanism, diminishing the parasitic-motion is a key point to improve the accuracy. However, most of existing topics concentrate on improving the accuracy of linear-motion flexure mechanisms via compensating the parasitic error, but few research the multi-dimensional flexure mechanisms. A general design principle and method for high-precision flexure mechanisms based on the parasitic-motion compensation is presented, and the proposed method can compensate the parasitic rotation in company with translation, or the parasitic translation in company with rotation, or both. The crucial step for the method is that the parasitic motion of a flexure mechanism is formulated and evaluated in terms of its compliance. The overall compliance matrix of a general flexure mechanism is formulated by using screw theory firstly, then the criteria for the parasitic motions is introduced by analyzing the characteristics of the resultant compliance matrix as well as with aid of the concept of instantaneous rotation center. Subsequently, a compliance-based compensation approach for reducing parasitic-motion is addressed as the most important part. The design principles and procedure are further discussed to help with improving the accuracy of flexure mechanisms, and case studies are provided to illustrate this method. Finally, an analytical verification is provided to demonstrate that the symmetry design philosophy widely used in flexure design can effectively improve accuracy in terms of the proposed method. The proposed compensation method can be well used to diminish the parasitic-motion of multi-dimensional flexure mechanisms.

关键词： flexure mechanism compliance matrix parasitic motion compensation

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An Energy Efficient Motion Controller Based on SLCP for the Electrically Actuated Quadruped Robot

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Journal of Bionic Engineering 2020年第2期17卷 290-302页

作者： Tianfa Li Lelai Zhou Yibin Li Hui Chai Kun Yang school of Control Science and Engineering Center for RoboticsShandong UniversityJinan 250061China

Energy efficiency has been the focus of quadruped robot *** the energy loss caused by the DC motor can contribute to the walking efficiency of electrically actuated quadruped *** works have focused on the quadruped mechanisms or actuations such as the Series Elastic Actuation(SEA).This work proposes a better efficient controller to perform the stable 5 m·s-1 movements of quadruped *** dynamic model of the electrically actuated leg is established by Lagrangian *** energy efficiency of the DC motors in the electrically actuated quadruped robot is formulated as an optimization *** Stochastic Linear Complementarity Problem(SLCP)and sinusoidal pulse force are proposed to reduce the energy consumption at the *** Bemstein polynomials are used for planning a quasi-elliptic foot motion *** stability and energy efficiency of the proposed controller are verified with computer simulation and an actual single leg robot *** with other works,the proposed controller performs the optimal Cost of Transport(COT).

关键词： bionic quadruped robots Stochastic Linear Complementarity Problem sinusoidal pulse force quasi-elliptic trajectory

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