Article
Multidisciplinary Sciences
Xujiong Feng, Shuaishuai Liu, Qiang Yuan, Junbo Xiao, Daxu Zhao
Summary: A new wheel-legged two-wheeled robot is developed in this study to improve the passing ability of traditional two-wheeled self-balancing robots. The robot features a seven-link leg structure that decouples its balanced motion and leg motion. By solving the Riccati equation in real-time using the linear quadratic regulator (LQR) method and implementing active disturbance rejection control (ADRC) for leg motion control, the robot is able to pass through bumpy roads. Experimental results demonstrate the effectiveness of the proposed control method.
SCIENTIFIC REPORTS
(2023)
Article
Robotics
Yaojie Shen, Guangrong Chen, Zhaoyang Li, Ningze Wei, Huafeng Lu, Qingyu Meng, Sheng Guo
Summary: This paper presents a four wheel-legged robot that integrates the adaptivity of legged robots on uneven terrains and the speed capacity of wheeled robots on even terrains. The cooperative control strategy of wheels and legs based on attitude balance is investigated. By using the quaternion method and complementary filtering, the attitude stability control of the wheel-legged robot is studied. Experimental results show that the established wheel-legged robot can perform walk, trot, and wheel-leg compound motion to overcome complex terrains and environments.
Article
Automation & Control Systems
Jingsong Gao, Hongzhe Jin, Liang Gao, Jie Zhao, Yanhe Zhu, Hegao Cai
Summary: This article introduces a new two-wheel-legged land-air locomotion robot (TLR) with three independent modes: flight, two-wheel, and four-wheel. By studying the cooperative control of rotor power and leg power, stable cooperative algorithm and walking cooperative algorithm are proposed to improve the stability, load capacity, and uphill ability of the robot.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Automation & Control Systems
Lingxuan Zhao, Zhangguo Yu, Lianqiang Han, Xuechao Chen, Xuejian Qiu, Qiang Huang
Summary: Wheeled-legged humanoid robots combine humanoid robot's terrain adaptability and wheeled robot's efficiency. However, stability control in dealing with rough terrains and external disturbances remains unsolved. This research proposes a compliant balance control framework that can absorb shocks, withstand disturbances, and maintain stable motion.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Automation & Control Systems
Zhihua Chen, Shoukun Wang, Junzheng Wang, Kang Xu, Tao Lei, Hao Zhang, Xiuwen Wang, Daohe Liu, Jinge Si
Summary: This paper presents a legged stable walking control strategy based on multi-sensor feedback, realizing smooth motion transition with event-driven state machine switching controller, and addressing contact impact and sliding issues in Z and X directions using active compliance control and swing leg retraction control, respectively. The effectiveness of the control strategy is verified through simulations and experiments.
Article
Automation & Control Systems
Shoukun Wang, Zhihua Chen, Jiehao Li, Junzheng Wang, Jing Li, Jiangbo Zhao
Summary: This article presents a novel hierarchical framework for the flexible motion of a six wheel-legged robot. Experimental results demonstrate the effectiveness and robustness of the developed framework, indicating satisfactory stable performance in real-world environments.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Automation & Control Systems
Dongchen Liu, Junzheng Wang, Dawei Shi, Hongwen He, Huaihang Zheng
Summary: This work proposes a force control strategy for a wheel-legged robotic system to adjust its posture on uneven roads. The strategy utilizes a dynamic model and feedback information to calculate desired leg forces, which are used as tracking references. The control scheme is based on the funnel control scheme and incorporates an event-triggering condition to improve system robustness. Experimental results demonstrate the stability and effectiveness of the proposed methodology.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Automation & Control Systems
Jing Li, Qingbin Wu, Junzheng Wang, Jiehao Li
Summary: The article presents a neural network-based sliding mode tracking control scheme (SMCR) for a developed four wheel-legged robot (BIT-NAZA) under uncertain interaction. A non-singular fast terminal function based on the kinematic model is proposed for path tracking to reduce the influence of uncertain disturbances, while ensuring path tracking control accuracy via neural networks. Demonstrations using the autonomous platform of the BIT-NAZA robot show the robustness and effectiveness of the hybrid algorithm.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2021)
Article
Computer Science, Information Systems
Fahad Raza, Wei Zhu, Mitsuhiro Hayashibe
Summary: The self-balancing wheel-legged robot has higher maneuverability and mobility, attracting interest from academia and the commercial sector. This paper focuses on using active arm control to improve the balance stability and robustness of the robot, providing important insights for future applications in real-world environments with human-robot interactions.
Article
Engineering, Multidisciplinary
Yong Ni, Li Li, Jiahui Qiu, Yi Sun, Guodong Qin, Qingfei Han, Aihong Ji
Summary: In this paper, a multi-functional wheel-legged hexapod robot with strong climbing capacity was designed by combining the advantages of wheeled robots and legged robots. It can adapt well to various environmental conditions and traverse rugged terrains without terrain sensing or actively controlled adaptation.
Article
Chemistry, Analytical
Junkai Sun, Zezhou Sun, Jianfei Li, Chu Wang, Xin Jing, Qingqing Wei, Bin Liu, Chuliang Yan
Summary: This paper proposes a time-efficient control method based on velocity planning for a hexapod wheel-legged robot in order to address the complexity issue of control methods for future Mars exploration missions. The desired velocity of the foot end or knee is transformed based on the velocity transformation of the rigid body from the desired velocity of the torso. The torques of joints are obtained using impedance control and the leg in a suspended state is controlled as a system consisting of a virtual spring and a virtual damper. Leg sequences for switching between wheeled and legged configurations are planned. The complexity analysis shows that velocity planning control has lower time complexity and fewer multiplication and addition operations compared to virtual model control. Furthermore, simulations demonstrate that velocity planning control can achieve stable periodic gait motion, wheel-leg switching motion, and wheeled motion, with a 33.89% reduction in operation time compared to virtual model control, indicating a promising prospect for velocity planning control in future planetary exploration missions.
Article
Engineering, Mechanical
Kang Xu, Yanqun Lu, Lei Shi, Jianyong Li, Shoukun Wang, Tao Lei
Summary: This paper proposes a novel event-based disturbance control and whole-body stability control for a hexapod robot, enabling it to drive stably over rough terrain.
MECHANISM AND MACHINE THEORY
(2023)
Article
Engineering, Mechanical
Liwei Ni, Fangwu Ma, Linhe Ge, Liang Wu
Summary: This paper presents a novel solution for posture control and ride comfort in complex terrain using an actively passively transformable suspension system. The research results show that the system can effectively control posture in complex terrain and improve ride comfort.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2021)
Article
Engineering, Electrical & Electronic
Huipeng Zhao, Junjie Zhou, Sanxi Ma, Shanxiao Du, Hui Liu, Lijin Han
Summary: This paper proposes a highly integrated electro-hydrostatic actuator (EHA) for high-dynamic performance in giant wheel-legged robots (>200 kg). A prototype with a high force-to-weight ratio is developed, capable of bearing larger loads compared to existing EHA-based robots. A detailed EHA model is presented, and controllers are designed for position and force control. Simulations and experiments confirm the fast response and potential of the developed EHA for future large wheel-legged robots.
Article
Chemistry, Multidisciplinary
Jinfu Li, Yongxi Liu, Ze Yu, Yuntao Guan, Yingzhuo Zhao, Zheming Zhuang, Tao Sun
Summary: In this paper, a wheel-legged mobile robot with a curling mechanism as the main part is proposed. Geometric analysis and statics modeling are used to design the parameter of the wheel-leg structure. Particle swarm optimization is applied to determine the number and length of body sections. Based on dynamic simulation, rubber is chosen as the cover material for the wheel-leg. A prototype is fabricated and experimented in different terrains, showing its adaptability and obstacle-crossing ability.
APPLIED SCIENCES-BASEL
(2023)
Article
Engineering, Aerospace
Chunhui Li, Hengguang Zou, Dawei Shi, Jiliang Song, Junzheng Wang
Summary: This article investigates the control problem of coupled attitude and orbit tracking for rigid spacecraft motion. A PI-type event-triggered active disturbance rejection control scheme is proposed to address unknown uncertainties and disturbances. The stability of the closed-loop control system is proven, and simulation results show satisfactory tracking performance and stable operation.
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
(2022)
Article
Engineering, Aerospace
Lijun Hou, Hengguang Zou, Kaikai Zheng, Lei Zhang, Na Zhou, Junqiang Ren, Dawei Shi
Summary: This article addresses the problem of spacecraft orbit estimation with measurement transmission restrictions by proposing an event-triggered state estimation approach. A novel algorithm based on an unscented Kalman filter is designed, which achieves satisfactory estimation performance at reduced measurement transmission rates.
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
(2022)
Article
Automation & Control Systems
Hui Peng, Meiping Wu, Huimin Lu, Junzheng Wang, Junhao Xiao, Yuan Huang, Dawei Shi
Summary: This article proposes a coordinated attitude control strategy for parallel electrical manipulators, which combines the distributed active disturbance rejection control (ADRC) framework with a consensus algorithm. The strategy solves the uncoordinated problem of electric actuators, compensates for disturbances, and achieves stable tracking performance.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Editorial Material
Automation & Control Systems
Xiang Chen, Toshiaki Tsuji, Raffaella Carloni, Xinkai Chen, Zheng Chen, Jongeun Choi, Garrett Clayton, Cedric Clevy, Markus Grebenstein, Mathieu Grossard, Kazuaki Ito, Soo Jeon, Chao-Chieh Lan, Guangjun Liu, Huaping Liu, Hugh H. Liu, Chris Manzie, Kenn Oldham, Ya-Jun Pan, Barys Shyrokau, Dawei Shi, Tomoyuki Shimono, Mahdi Tavakoli, Yan Wan, Dirk Wollherr, Jianyong Yao, Jingang Yi, Haoyong Yu, Guoming Zhu
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Robotics
Shilei Li, Lijing Li, Dawei Shi, Wulin Zou, Pu Duan, Ling Shi
Summary: Inertial measurement units (IMUs) composed of gyroscopes, accelerometers, and magnetometers are widely used in various fields. However, their performance deteriorates when faced with external acceleration and magnetic disturbance. To address this issue, researchers have developed a multi-kernel maximum correntropy Kalman filter (MKMCKF) to suppress adversarial disturbance and used Bayesian optimization (BO) to find the optimal kernel bandwidths. Experimental results demonstrate that the proposed method outperforms the traditional error state Kalman filter (ESKF) and gradient descent (GD) methods, achieving a root mean square error (RMSE) of less than 0.4629 degrees on the roll and pitch even in the worst testing scenario.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Automation & Control Systems
Yi Yang, Kaixin Cui, Dawei Shi, Ghulam Mustafa, Jiadong Wang
Summary: This work presents a PID controller based on a PID event-triggering condition for unknown time-varying nonlinear systems. A parameter set is developed to ensure the stability of the ET-PID controller. The effectiveness of the algorithm is demonstrated through experiments.
CONTROL ENGINEERING PRACTICE
(2022)
Article
Engineering, Biomedical
Lei Wang, Rong Xiao, Jing Chen, Lingling Zhu, Dawei Shi, Junzheng Wang
Summary: The aim of this study is to develop an intelligent approach for the individual susceptibility assessment of acute mountain sickness (AMS) based on dynamic heterogeneous data monitored by multiple wearable devices.
BIOMEDICAL SIGNAL PROCESSING AND CONTROL
(2023)
Article
Automation & Control Systems
Jing Chen, Yuan Tian, Guangbo Zhang, Zhengtao Cao, Lingling Zhu, Dawei Shi
Summary: The rapid developments in Internet of Medical Things have opened up new possibilities for personalized healthcare. In this article, a method for risk assessment of acute mountain sickness (AMS) is introduced, using wearable devices to collect continuous physiological data and transmit it based on an event-triggered schedule. The results show that the proposed approach is feasible and that event-triggered signal processing can significantly reduce data transmission rate while maintaining the performance of the risk assessment.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2023)
Article
Automation & Control Systems
Shilei Li, Peihu Duan, Dawei Shi, Wulin Zou, Pu Duan, Ling Shi
Summary: This paper investigates the application of maximum correntropy-based Kalman filtering in exoskeleton orientation. By fusing signals from accelerometers and gyroscopes, a compact maximum correntropy-based Kalman filter is proposed, which can effectively estimate the orientation of exoskeletons both with and without non-Gaussian noises.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2023)
Article
Computer Science, Interdisciplinary Applications
Lei Wang, Zhenglin Pan, Wei Liu, Junzheng Wang, Linong Ji, Dawei Shi
Summary: This paper proposes a new coupling network with hierarchical dual-attention that utilizes heterogeneous data for diabetes classification. The network shows promising results in achieving high accuracy using Flash Glucose Monitoring (FGM) data and biomarkers from electronic medical records.
JOURNAL OF BIOMEDICAL INFORMATICS
(2023)
Proceedings Paper
Engineering, Manufacturing
LiChang Gu, Yubin Lin, Rongfeng Deng, Dawei Shi, Wang Wei, Zhixia Wang, Qishan Chen, Fengshou Gu, Andrew D. Ball
Summary: The paper introduces a novel magnetic coupled piezoelectric energy harvester for supplying an on-rotor sensing (ORS) IoT device. The harvester performs outstandingly in both the resonance frequency band and the frequency range lower than half of the resonance frequency. Simulation studies also show that the harvester can be used for both horizontal and vertical rotor systems.
PROCEEDINGS OF INCOME-VI AND TEPEN 2021: PERFORMANCE ENGINEERING AND MAINTENANCE ENGINEERING
(2023)
Proceedings Paper
Engineering, Manufacturing
Huanqing Han, Dawei Shi, Lichang Gu, Nasha Wei, Fengshou Gu
Summary: This paper presents a methodology of condition monitoring for industrial robots using vibration signals. Through experiments and frequency response function analysis, the fault degree of the robot is identified under different working conditions and verified through amplitude and RMS value calculations.
PROCEEDINGS OF INCOME-VI AND TEPEN 2021: PERFORMANCE ENGINEERING AND MAINTENANCE ENGINEERING
(2023)
Proceedings Paper
Engineering, Manufacturing
Chun Li, Dawei Shi, Bing Li, Hongjun Wang, Guojin Feng, Fengshou Gu, Andrew D. Ball
Summary: This study investigates a novel method for tool condition monitoring to improve machining accuracy by installing an ORS on the rotating workpiece to obtain vibration signals. A multi-degree-of-freedom system is established and the multi-mode natural frequency is obtained using the FEM method. The study finds that the dynamic response of the spindle rotor determines machining accuracy, and the main responses of the system can be effectively captured by the ORS within the frequency range of 2000 Hz.
PROCEEDINGS OF INCOME-VI AND TEPEN 2021: PERFORMANCE ENGINEERING AND MAINTENANCE ENGINEERING
(2023)
Article
Automation & Control Systems
Huaihang Zheng, Junzheng Wang, Dawei Shi, Dongchen Liu, Shoukun Wang
Summary: In this paper, a quasi time-fuel optimal control strategy is proposed for solving the dynamic tracking problem of a double integrator system. The method demonstrates superior performance in multi-target switching tracking tasks and overcomes high-frequency oscillation problem by incorporating local linear control region and two nonlinear buffer areas.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2022)
Article
Automation & Control Systems
Shilei Li, Dawei Shi, Wulin Zou, Ling Shi
Summary: This letter proposes a multi-kernel maximum correntropy Kalman filter (MKMCKF) to handle multivariate non-Gaussian noises and disturbance. The performance of the proposed method is demonstrated through three examples.
IEEE CONTROL SYSTEMS LETTERS
(2022)
