A5063434745- Robotic Locomotion and Control
- Prosthetics and Rehabilitation Robotics
- Control and Dynamics of Mobile Robots
- Lower Extremity Biomechanics and Pathologies
- COVID-19 Pandemic Impacts
- Medical Imaging and Analysis
- Robotic Mechanisms and Dynamics
- Soil Mechanics and Vehicle Dynamics
- Muscle Physiology and Disorders
- Real-time simulation and control systems
- Aviation Industry Analysis and Trends
- COVID-19 impact on air quality
- Soft Robotics and Applications
- Robotic Path Planning Algorithms
- Retinal and Macular Surgery
- Retinal Imaging and Analysis
Beijing Institute of Technology
2019-2025
Beijing Advanced Sciences and Innovation Center
2021
Highly dynamic movements such as jumping are important to improve the agility and environmental adaptation of humanoid robots. This article proposes an online optimization method realize a vertical jump with centroidal angular momentum (CAM) control landing impact absorption for robot. First, robot's center mass (CoM) trajectory is generated by nonlinear optimization. Then, quasi-sliding mode controller designed ensure that robot tracks CoM accurately. To avoid unexpected spinning in flight...
High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method high-dynamic explosive jumping. This paper proposes 3-step framework generating motion robot. To improve iteration speed ideal performance, the comprises three sub-optimizations. first incorporates momentum, inertia, center of pressure (CoP), treating robot as static reaction momentum pendulum (SRMP) model generate...
This paper proposes a vertical jump optimization strategy for one-legged robot with consideration of its variable reduction ratio joints. Firstly, the characteristic joint is derived to obtain influence on motion, which similar ratio. Secondly, referring joint's characteristic, initial posture jumping optimized maximize acceleration jumping. Then, generate trajectory center mass (CoM) and make motion more efficient, nonlinear CoM adopted respect human data. Full-body dynamics considered...
Jumping capability of humanoid robots can be considered as one the cruxes to improve performance future robot applications. This paper presents an optimization method on a three-linkage system achieve jumping behavior, which is followed by clarification mathematical modeling and motor-joint model with practical factors considered. In consideration constraints ZMP motor, output power joint motors maximized much possible higher height. Finally, verified simulation experiment. Different from...
High vertical jumping motion, which enables a humanoid robot to leap over obstacles, is direct reflection of its extreme motion capabilities. This article proposes single sequential kino-dynamic trajectory optimization method solve the whole-body for high motion. The process decomposed into two parts: computation centroidal dynamics and coherent kinematics. Both problems converge on common variables (the center mass, momentum, foot position) using cost functions while allowing some tolerance...
A novel structure of humanoid foot is proposed in this paper to reduce the impact force and absorb oscillation jumping robot landing. Referring human foot, a with bionic bones joints was designed. The dynamic model established for quantitative simulation optimization parameters. entity new processed. Then, landing experiments were carried out compare absorbing ability different parts other feet under same conditions. Finally, installed on ATHLETE test foot's performance indicators case...
Humanoid robot's stable walking and crawling movement patterns can help them adapt to a relatively flat road, but these are difficult deal with conditions such as ditches platforms. Adding jumping motion the robot greatly enhance ability environment. This paper explores forward of humanoid robot. A simplified three-link model in sagittal plane is established process decomposed into three phases: take-off phase, flight landing phase. The mathematical for each phase developed. In whole...