Article
Engineering, Mechanical
Masoumeh Safartoobi, Morteza Dardel, Hamidreza Mohammadi Daniali
Summary: This paper presents the application of an internal damping mechanism to the mathematical description of the simplest passive walking model, making walking natural and efficient. By using viscoelastic legs and precise boundary conditions, the biped starts walking from a stable condition and exhibits stable period-one gait cycles. Numerical simulations demonstrate that the overall effect of viscoelastic legs on passive walking is efficient in terms of stability and energy dissipation.
NONLINEAR DYNAMICS
(2022)
Article
Engineering, Electrical & Electronic
Aiwen Luo, Sandip Bhattacharya, Sunandan Dutta, Yoshihiro Ochi, Mitiko Miura-Mattausch, Jian Weng, Yicong Zhou, Hans J. Mattausch
Summary: The study aims to implement surface recognition through walking-pattern classification using a support vector machine (SVM) and time-domain feature descriptors. By extracting real-time dynamic force-sensing data streams and applying multiple binary SVM classifiers, the developed cost-efficient and accurate surface-recognition system is valuable for ensuring safe indoor locomotion for biped robots and enhancing their understanding of the human living environment.
IEEE SENSORS JOURNAL
(2021)
Article
Engineering, Mechanical
Masoumeh Safartoobi, Morteza Dardel, Hamidreza Mohammadi Daniali
Summary: This paper investigates a passive walking robot model with flexible legs, utilizes numerical techniques to find suitable initial conditions for gait cycles, and demonstrates that elastic legs result in non-periodic motion patterns for small slope angles.
MECHANISM AND MACHINE THEORY
(2021)
Article
Chemistry, Multidisciplinary
Long Li, Zhongqu Xie, Xiang Luo, Juanjuan Li
Summary: This study focused on the impact of gait pattern generation on the walking quality of biped robots, particularly comparing the energy efficiency of maintaining a vertical torso versus having torso pitch motion during walking. Results showed that torso pitch motion saves over 12% energy compared to maintaining a vertical torso, with the main energy-saving factor being the reduction of energy consumption of the swing knee in the double support phase.
APPLIED SCIENCES-BASEL
(2021)
Article
Robotics
J. Rogelio Guadarrama-Olvera, Shuuji Kajita, Gordon Cheng
Summary: This work introduces a novel method for enhancing ankle/foot compliance in biped humanoid robots walking on uneven terrain using distributed plantar proximity sensing. The proposed Preemptive Foot Compliance (PFC) control generates a Preemptive Ground Reaction Wrench to modify foot orientation and maximize contact area, thus reducing impact force. PFC can be easily integrated into walking controllers for flat ground, enabling robots to walk on uneven terrains. Experiment results show that both robots significantly improve their ability to walk on uneven terrain, with a reduction of approximately 80% in impact force during flat ground walking.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Biotechnology & Applied Microbiology
Qiaoli Ji, Zhihui Qian, Lei Ren, Luquan Ren
Summary: This paper studied the influence of impulsive ankle push-off on the walking speed of a biped robot, showing that it can effectively increase the speed of the robot by accelerating the swing leg and reducing the fluctuation of the center of mass instantaneous speed.
FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
(2021)
Article
Engineering, Multidisciplinary
Peng Sun, Yunfei Gu, Haoyu Mao, Zhao Chen, Yanbiao Li
Summary: A kinematics analysis was conducted on a new hybrid mechanical leg for bipedal robots, and the walking gait of the robot on flat ground was planned. The kinematics of the hybrid mechanical leg were analyzed and relevant models were established. The robot walking was divided into three stages using the inverted pendulum model for gait planning, and the trajectories of the robot centroid motion and swinging leg joints were calculated. The feasibility of the mechanism design and gait planning was verified through dynamic simulation of the robot's virtual prototype. This study provides a reference for the gait planning of hybrid mechanical legged bipedal robots and lays the foundation for further research on the robots involved in this thesis.
Article
Engineering, Multidisciplinary
Wafa Znegui, Hassene Gritli, Safya Belghith
Summary: This paper aims to develop an improved closed-form analytical expression for analyzing the complex walking behavior and stability of a passive-dynamics biped walker. By linearizing and approximating the hybrid dynamics, an enhanced closed-form expression of the Poincaré map and an analytical expression for the computation of step period are designed. A simplification of these expressions is achieved by decreasing dimension and providing a Jacobian matrix expression for investigating the stability of the designed simplified Poincaré map.
APPLIED MATHEMATICAL MODELLING
(2021)
Article
Chemistry, Multidisciplinary
Kuang-Hui Chi, Yung-Feng Hsiao, Chung-Cheng Chen
Summary: The study proposes difficult nonlinear convergent radius and convergent rate formulas and derives a mathematical model for the nonlinear five-link human biped robot (FLHBR) system. The feedback linearization technique is applied to globally stabilize the FLHBR system, addressing the shortcomings of nonlinear function approximator and expanding its effective working range.
APPLIED SCIENCES-BASEL
(2023)
Article
Robotics
Mathieu Hobon, Victor De-Leon-Gomez, Gabriel Abba, Yannick Aoustin, Christine Chevallereau
Summary: The study aims to define the feasible speed range for two walking motions of a particular planar biped robot, revealing that the first gait is more energy-efficient at moderate to fast velocities, while the second gait is more efficient at low walking speeds. The results were obtained through numerical calculations and a parametric optimization algorithm.
Article
Automation & Control Systems
Rollen S. D'Souza, Christopher Nielsen
Summary: This paper characterizes the necessary and sufficient conditions for a single-input system to be locally transversally feedback linearizable to a specific submanifold using exterior differential systems.
Article
Chemistry, Multidisciplinary
Jaeuk Cho, Jong Hyeon Park
Summary: This paper proposes a method for online motion control of a running biped robot on an uneven terrain based on a dual linear inverted pendulum model (D-LIPM) and hierarchical control. The method generates the trajectory of the center of mass (COM) using linear model predictive control (MPC) and generates the angular motions of the robot using quadratic-problem (QP) based momentum control, ensuring stable bipedal running on uneven terrains.
APPLIED SCIENCES-BASEL
(2022)
Article
Mathematics
Jiarui Chen, Aimin Tang, Guanfeng Zhou, Ling Lin, Guirong Jiang
Summary: This study presents an ascending stair biped robot model with impulse thrust and obtains the conditions for the existence and stability of period-1 gait through linearization and discrete mapping. Numerical simulations validate the feasibility of theoretical analysis.
ELECTRONIC RESEARCH ARCHIVE
(2022)
Article
Automation & Control Systems
Hae Yeon Park, Jung Hoon Kim, Ko Yamamoto
Summary: This article proposes a new stability criterion for biped walking systems on the linear inverted pendulum model, and introduces a norm-based criterion and related control approaches. The research shows that the stability regions can be explicitly obtained through only finite numbers of computations.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2022)
Article
Automation & Control Systems
Qiang Huang, Chencheng Dong, Zhangguo Yu, Xuechao Chen, Qingqing Li, Huanzhong Chen, Huaxin Liu
Summary: Compliance control is crucial for disturbance absorption in biped robots, but it can cause balance deterioration due to the robot's floating base nature. To address this issue, we propose a strategy called resistant compliance, inspired by how humans resist external disturbance by reconciling their posture and pushing back. This strategy allows the robot to initially comply with the disturbance and then repel it to reduce imbalance caused by motion adjustments, resulting in improved stability and human-like reactions in locomotion and interactions.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Automation & Control Systems
Jian Hou, Zhiyun Lin, Zhimin Han
Summary: This paper explores achieving almost sure consensus among agents in two special nonlinear cases by utilizing only group information. The study indicates that specific conditions on the weighting parameter can determine consensus in both discrete time and continuous time scenarios for the L oo and L 2 -norm cases.
EUROPEAN JOURNAL OF CONTROL
(2021)
Article
Automation & Control Systems
Jian Hou, Zhiyun Lin, Mengfan Xiang, Mingyue Jiang
Summary: This paper proposes algorithms to solve the resilient beamforming problem for a network of collaborative sensors in the presence of faulty nodes. By using the random grouping distributed beamforming and random grouping based resilient distributed beamforming algorithms, the issues of signal phase synchronization and maximizing signal power are addressed, with simulation results validating the algorithm performance.
Article
Automation & Control Systems
Xiasheng Shi, Zhiyun Lin, Ronghao Zheng, Xuesong Wang
Summary: This study investigates the distributed convex optimisation problem of a multi-agent system over an undirected network. Two zero-gradient-sum algorithms with state-based dynamic event-triggered mechanism are designed to address the problem.
INTERNATIONAL JOURNAL OF CONTROL
(2022)
Article
Automation & Control Systems
Xiasheng Shi, Zhiyun Lin, Tao Yang, Xuesong Wang
Summary: This paper investigates the distributed convex optimisation problem of multi-agent system over an undirected network. A state-based dynamic event-triggered algorithm is proposed to reduce communication consumption between agents. Sampling control technology is integrated into the event-triggered algorithm. Numerical simulations are presented to illustrate the effectiveness of the proposed algorithms.
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
(2021)
Article
Engineering, Electrical & Electronic
Xiasheng Shi, Lei Xu, Tao Yang, Zhiyun Lin, Xuesong Wang
Summary: This paper focuses on the distributed resource allocation problem for a general linear heterogeneous multi-agent system, proposing an initialization-free algorithm based on multi-agent consensus approach and symbolic-function-based fixed-time control theory. The algorithm solves the equality constraint using the proportional-integral (PI) control idea and achieves optimal solution convergence within fixed-time. Simulation results demonstrate the effectiveness and fast convergence performance of the proposed algorithm.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
(2022)
Article
Automation & Control Systems
Yanjun Lin, Zhiyun Lin, Zhiyong Sun, Brian D. O. Anderson
Summary: This article studies the multiagent control problem for affine, rigid, and translational formation and provides a general solution based on the sliding mode control idea. Two approaches for designing the extra control force are presented. The proposed control laws solve the open problem of global and finite-time stabilization of affine, rigid, and translational formations.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2022)
Article
Automation & Control Systems
Liangming Chen, Zhiyun Lin, Hector Garcia de Marina, Zhiyong Sun, Mir Feroskhan
Summary: This paper focuses on solving the maneuvering problem of angle rigid formations in both 2D and 3D environments. In the 2D case, a formation maneuvering law is designed using local relative position and velocity measurements. In the 3D case, a formation maneuvering law is proposed by assuming that all the followers' coordinate frames share a common Z direction. The effectiveness of the proposed algorithms is validated through simulation examples.
IEEE-CAA JOURNAL OF AUTOMATICA SINICA
(2022)
Article
Computer Science, Artificial Intelligence
Yinmiao Wang, Zhimin Han, Keyou You, Zhiyun Lin
Summary: This paper proposes a Two-channel model for relation extraction, which utilizes multiple trained word embeddings to alleviate the polysemy problem. Additionally, a two-channel fusion method is introduced to improve performance. The experiment shows that the Two-channel model outperforms existing models and the fusion method achieves better results than concatenation or addition.
KNOWLEDGE-BASED SYSTEMS
(2022)
Article
Engineering, Electrical & Electronic
Rui Feng, Zhiyun Lin, Peng Wu, Zhimin Han, Bo Wang
Summary: This study investigates the task scheduling problem for an earth observation satellite (EOS) constellation. The EOS constellation collaboratively completes a set of observation tasks, with each EOS following a specified observation order described by a task graph. The goal is to maximize the total number of observation tasks by the constellation, considering repeated observations only once. The task scheduling problem is formulated as an exact potential game to find a Nash equilibrium (NE), and a double auction strategy along with a sieving scheme is proposed to iteratively solve for an NE, with proven convergence in finite steps.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
(2023)
Article
Engineering, Electrical & Electronic
Lifu Ding, Zhiyun Lin, Xiasheng Shi, Gangfeng Yan
Summary: A multi-agent coordinated deep reinforcement learning algorithm is proposed to solve distributed nonconvex economic dispatch problems. Agents run independent reinforcement learning algorithms and update their local Q-functions with a newly defined joint reward. The double network structure is adopted to approximate the Q-function, allowing the offline trained model to provide recommended power outputs for time-varying demands in real-time. The algorithm introduces a reward network to establish a competition mechanism and achieve coordination among agents, resulting in well-converged Q-network losses. Theoretical analysis and case studies demonstrate the advantages compared to existing approaches.
IEEE TRANSACTIONS ON POWER SYSTEMS
(2023)
Article
Computer Science, Information Systems
Xucun Yan, Zihuai Lin, Zhiyun Lin, Branka Vucetic
Summary: Emotion recognition is widely used in patient-doctor interactions, but traditional methods have reliability and efficiency issues. This study proposes an ECG-based emotion recognition scheme using gray wolf optimization algorithm and SVM, achieving high accuracy.
IEEE INTERNET OF THINGS JOURNAL
(2023)
Article
Computer Science, Information Systems
Weilong Zhu, Chunsheng Zhu
Summary: Intelligent and green transportation systems face the challenge of traffic congestion. A prediction-based route guidance method (PRGM) is proposed, which includes a novel hybrid dynamic system architecture and a novel traffic congestion control strategy. Simulations show that PRGM can perceive traffic congestion more accurately and timely, and reduce the travel time, fuel consumption, and CO2 emission of vehicles.
IEEE INTERNET OF THINGS JOURNAL
(2023)
Article
Engineering, Aerospace
Rui Feng, Zhiyun Lin, Peng Wu, Zhimin Han, Bo Wang
Summary: In this study, we investigate the task scheduling problem for multiple earth observation satellites (EOSs) to achieve the maximal task observation ratio with the least repeated tasks. To solve this problem, we build a task graph and construct utility functions to model the problem as a potential game. Then, we develop sequential and simultaneous iterative algorithms to find the Nash equilibrium (NE) and prove the convergence of the algorithms. Additionally, we propose a sieving scheme to reduce the searching spaces and use the Bezier curve and model predictive control scheme for smoothening the observation path and designing the control law of EOSs.
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
(2023)
Proceedings Paper
Automation & Control Systems
Yanjun Lin, Zhiyun Lin
Summary: This paper focuses on the affine formation control problem for multiple unmanned underwater vehicles (UUVs) under mixed distance and bearing measurements. A distributed formation control strategy is developed by integrating a mixed measurement based multi-dimensional scaling (MMB-MDS) algorithm and a discontinuous event-triggered mechanism, achieving the desired affine formation shape for all UUVs.
2022 41ST CHINESE CONTROL CONFERENCE (CCC)
(2022)
Proceedings Paper
Automation & Control Systems
Xiasheng Shi, Zhiyun Lin
Summary: This study addresses the distributed resource allocation problem over unbalanced directed networks with local inequality constraint and global equality constraint. A distributed gradient algorithm is developed based on the fixed-time projection method, and the corresponding eigenvalue is obtained within fixed-time by tapping the row-stochastic or column-stochastic Laplacian matrix to overcome the unbalance of directed weights. Therefore, the optimal solution can be obtained asymptotically. The proposed algorithm is initialization-free and has constant control parameters. The effectiveness is demonstrated through several case studies.
