Jingru Luo

Anhui Polytechnic University

Author Statistics

Papers

Citation

H-Index

i-10 index

Research Trends

Author Order

Document Type

Co-Authors

Qi Dong

Hefei National Center for Physical Sciences at Nanoscale

Dunwei Wang

Boston College

Kris Hauser

University of Illinois Urbana-Champaign

Christopher Povinelli

Boston College

Haochuan Zhang

Boston College

Wei Fan

State Key Laboratory of Food Science and Technology

Nicholas Wong

Boston College

Yajia Zhang

Yunnan Open University

Miao Qi

Zhengzhou University

Shiru Lin

Texas Woman's University

Cooperative Institutions

University of Maryland, College Park

Boston College

Anhui Polytechnic University

Chinese Academy of Sciences

Hunan University

Zhengzhou University

Park University

University of Science and Technology of China

State Key Laboratory of Chemobiosensing and Chemometrics

Huazhong University of Science and Technology

Author Statistics

Papers

Citation

H-Index

i-10 index

Research Field

Interactive generation of dynamically feasible robot trajectories from sketches using temporal mimicking

Jingru Luo Kris Hauser

This paper presents a method for generating dynamically-feasible, natural-looking robot motion from freehand sketches. Using trajectory optimization, it handles sketches that are too fast, jerky, or pass out of reach by enforcing the constraints of the robot's dynamic limitations while minimizing the relative temporal differences between the robot's trajectory and the sketch. To make the optimization fast enough for interactive use, a variety of enhancements are employed including decoupling the geometric and temporal optimizations and methods to select good initial trajectories. The technique is also applicable to transferring human motions onto robots with non-human appearance and dynamics, and we use our method to demonstrate a simulated humanoid imitating a golf swing as well as an industrial robot performing the motion of writing a cursive "hello" word.

Sketch

Decoupling (probability)

Trajectory Optimization

10.1109/icra.2012.6225341

Cite

Citations (15)

A glucuronokinase gene in Arabidopsis, AtGlcAK, is involved in drought tolerance by modulating sugar metabolism

Plant Molecular Biology Reporter (2017)

Wenjun Xiao Shuai Hu Xiaoxun Zhou Runyu Yao Jingru Luo

Drought Tolerance

10.1007/s11105-017-1023-5

Cite

Citations (18)

Enabling rechargeable non-aqueous Mg–O₂ battery operations with dual redox mediators

Chemical Communications (2016)

Qi Dong Xiahui Yao Jingru Luo Xizi Zhang Ha-Jin Hwang

The problems of low discharge voltage and poor rechargeability for Mg–O₂ batteries can be addressed by using two redox mediators.

Dual role

10.1039/c6cc07818d

Cite

Citations (30)

An Analysis of Reentrant Loops

The Protein Journal (2010)

Changhui Yan Jingru Luo

Reentrancy

Structural motif

10.1007/s10930-010-9259-z

Cite

Citations (29)

Robust ladder-climbing with a humanoid robot with application to the DARPA Robotics Challenge

Jingru Luo Yajia Zhang Kris Hauser H. Andy Park Manas Paldhe

This paper presents an autonomous planning and control framework for humanoid robots to climb general ladder- and stair-like structures. The approach consists of two major components: 1) a multi-limbed locomotion planner that takes as input a ladder model and automatically generates a whole-body climbing trajectory that satisfies contact, collision, and torque limit constraints; 2) a compliance controller which allows the robot to tolerate errors from sensing, calibration, and execution. Simulations demonstrate that the robot is capable of climbing a wide range of ladders and tolerating disturbances and errors. Physical experiments demonstrate the DRC-Hubo humanoid robot successfully mounting, climbing, and dismounting an industrial ladder similar to the one intended to be used in the DARPA Robotics Challenge Trials.

Climbing

Climb

10.1109/icra.2014.6907259

Cite

Citations (29)

A Metal–Organic Framework Thin Film for Selective Mg²⁺ Transport

Angewandte Chemie (2019)

Jingru Luo Yang Li Haochuan Zhang Ailun Wang Wei‐Shang Lo

Abstract The incompatibility between the anode and the cathode chemistry limits the used of Mg as an anode. This issue may be addressed by separating the anolyte and the catholyte with a membrane that only allows for Mg 2+ transport. Mg‐MOF‐74 thin films were used as the separator for this purpose. It was shown to meet the needs of low‐resistance, selective Mg 2+ transport. The uniform MOF thin films supported on Au substrate with thicknesses down to ca. 202 nm showed an intrinsic resistance as low as 6.4 Ω cm 2 , with the normalized room‐temperature ionic conductivity of ca. 3.17×10 −6 S cm −1 . When synthesized directly onto a porous anodized aluminum oxide (AAO) support, the resulting films were used as a standalone membrane to permit stable, low‐overpotential Mg striping and plating for over 100 cycles at a current density of 0.05 mA cm −2 . The film was effective in blocking solvent molecules and counterions from crossing over for extended period of time.

Anodizing

Overpotential

10.1002/ange.201908706

Cite

Citations (1)

Motion planning and control of ladder climbing on DRC-Hubo for DARPA Robotics Challenge

Yajia Zhang Jingru Luo Kris Hauser H. Andy Park Manas Paldhe

This video presents our preliminary work towards addressing the ladder climbing event in DARPA Robotics Challenge (DRC) using DRC-Hubo robot. A ladder-climbing motion planner is developed which generates a collision-free, stable quasi-static trajectory for execution. Compliance control is enabled on arm joints to compensate for the calibration error, modeling error and control error. We have demonstrated that DRC-Hubo can robustly climb a variety of ladders in simulation and successfully climb a ship ladder on the hardware.

Climb

Climbing

Planner

10.1109/icra.2014.6907139

Cite

Citations (21)

Robust trajectory optimization under frictional contact with iterative learning

Autonomous Robots (2017)

Jingru Luo Kris Hauser

Trajectory Optimization

Robust Optimization

10.1007/s10514-017-9629-x

Cite

Citations (35)

Unbiased, scalable sampling of closed kinematic chains

Yajia Zhang Kris Hauser Jingru Luo

This paper presents a Monte Carlo technique for sampling configurations of a kinematic chain according to a specified probability density while accounting for loop closure constraints. A key contribution is a method for sampling sub-loops in unbiased fashion using analytical inverse kinematics techniques. Sub-loops are then iterated across the chain to produce samples for the entire chain. The method is demonstrated to scale well to high-dimensional chains (>200DOFs) and is applied to flexible 2D chains, protein molecules, and robots with multiple closed-chains.

Chain (unit)

Iterated function

10.1109/icra.2013.6630911

Cite

Citations (13)

Model Reduction via Principe Component Analysis and Markov Chain Monte Carlo (MCMC) Methods

AGUFM (2011)

Ruoting Gong J. Chen Michael Hoversten Jingru Luo

Component (thermodynamics)

Source

Cite

Citations (0)