A5023408487- Robotic Locomotion and Control
- Robotic Path Planning Algorithms
- Prosthetics and Rehabilitation Robotics
- Control and Dynamics of Mobile Robots
- Robotic Mechanisms and Dynamics
- Vehicle Dynamics and Control Systems
- Hydraulic and Pneumatic Systems
- Adaptive Control of Nonlinear Systems
- Soft Robotics and Applications
- Soil Mechanics and Vehicle Dynamics
- Guidance and Control Systems
- Robotics and Sensor-Based Localization
- Distributed Control Multi-Agent Systems
- Teleoperation and Haptic Systems
- Robot Manipulation and Learning
- Aquaculture disease management and microbiota
- Advanced Algorithms and Applications
- Aquaculture Nutrition and Growth
- Image and Video Stabilization
- Optical Systems and Laser Technology
- Advanced Sensor and Control Systems
- Autonomous Vehicle Technology and Safety
- Parasitic Infections and Diagnostics
- Advanced Control Systems Optimization
- Industrial Technology and Control Systems
Beijing Institute of Technology
2016-2025
Ministry of Industry and Information Technology
2019-2024
Vision Medicals (China)
2024
Yanshan University
2023
Beijing Jiaotong University
2020
Fujian Agriculture and Forestry University
2005-2019
Beijing University of Technology
2019
BOE Technology Group (China)
2017-2018
Chongqing University
2016
Jilin University
2010
In complex real-world scenarios, wheel-legged robots with maneuverability, stability, and reliability have addressed growing research attention, especially in material transportation, emergency rescue, as well the exploration of unknown environments. How to achieve stable high-level movement payload delivery simultaneously is main challenge for robot. this article, a novel hierarchical framework flexible motion six robot considered experimental results. First, wheeled motion, speed consensus...
Accurate and robust state estimation is critical for the heterogeneous agent systems, particularly when considering challenges posed by Unmanned Aerial Vehicles (UAVs) operating in perceptually-degraded environments where access to Global Navigation Satellite System (GNSS) signals lost. We can, however, actively increase amount of optimal localization available UAV augmenting them with a small number more expensive, but less resource-constrained, agents. In this paper, we propose novel...
Purpose This paper aims on the trajectory tracking of developed six wheel-legged robot with heavy load conditions under uncertain physical interaction. The accuracy and stable operation are main challenges parallel mechanism for robots, especially in complex road conditions. To guarantee performance an environment, disturbances, including internal friction, external environment interaction, should be considered practical system. Design/methodology/approach In this paper, a fuzzy...
In this article, a speed consensus strategy that combined distributed active disturbance rejection control (ADRC) framework with algorithm is proposed for the coordinated motion of wheel-leg robot. addition, strategy, new steering system designed. The can deal problem robot internal modeling uncertainty and external disturbances. To end, ADRC protocol under an undirected graph. By applying to system, be solved. consists four inverted Stewart platforms achieve angle range -60° - +60° make...
Purpose When it comes to the high accuracy autonomous motion of mobile robot, is challenging effectively control robot follow desired trajectory and transport payload simultaneously, especially for cloud system. In this paper, a flexible tracking scheme developed via iterative learning manage distributed (BIT-6NAZA) under delivery scenarios. Design/methodology/approach Considering relationship six-wheeled independent steering in BIT-6NAZA an controller implemented reliable with...
Purpose Determining how to enhance foot walking ability and maintain pose control in unstructured terrain is a significant technological challenge for multilegged robots. To address this problem, the authors have devised stable strategy whole body improve of This paper studies whole-body posture order quadruped Design/methodology/approach In work, investigated First, perception system used obtain height environment send it trajectory planner generate foot-end different terrains. Next,...
This paper presents an observer-based robust controller equipped with a fast friction estimator for 6-DOF parallel electrical manipulator (PEM) in the joint-task space. First, space framework PEM is constructed, which not only avoids time-consuming forward kinematics, but also contains dynamic model. Second, nonlinear disturbance observer designed to estimate deviation uncertainties are modeled as disturbances proposed In addition, based on Lyapunov design method uncertain caused by spiral...
Purpose This paper aims to investigate an autonomous obstacle-surmounting method based on a hybrid gait for the problem of crossing low-height obstacles autonomously by six wheel-legged robot. The autonomy is reflected in obstacle recognition multi-frame point cloud fusion. Design/methodology/approach In this paper, first, that lidar robot cannot scan obstacles, driven rotate 2D turntable obtain under Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping algorithm, fast ground...
Multi wheeled-legged robot systems are MIMO complex with multi information fusion. In this paper, a multi-sensor fusion based cooperative control strategy is proposed to solve the problem of attitude stability for six robot-BIT-NAZA-II. First, when wheel motion, overall adjusted by controlling vertical degree freedom(DOF) Stewart platform. Second, movement on uneven road, foot end easy be suspended or raised. The impedance method position inner loop used leg suspension Third, in order ensure...
There is a strong demand for Planetary Exploration Mobile robots (PEMRs) that have the capability of traversability, stability, efficiency and high load while tackling specialized tasks on planet surface. In this paper, an electric parallel wheel-legged hexapod robot which has high-adaption locomotion unstructured terrain presented. Also, hybrid control framework, enables to stably carry heavy loads as well traverse uneven by utilizing both legged wheeled locomotion, also proposed. Based...
This paper proposes a principle of fully autonomous ground mobile landing recovery Unmanned Aerial Vehicles (UAV) for the problems relatively fixed point, passive recovery, poor flexibility, and environmental adaptability, which mainly includes localization, point tracking, buffering quadrotor UAV. Firstly, aiming at problem that it is difficult to accurately obtain position UAV in dynamic target location method based on Asynchronous Multisensor Information Fusion(AMIF) servo turntable focus...