Zhangguo Yu

Beijing Institute of Technology

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Papers

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i-10 index

Research Trends

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Co-Authors

Xuechao Chen

Beijing Institute of Technology

163

Qiang Huang

Beijing Institute of Technology

150

Weimin Zhang

Beijing Institute of Technology

Libo Meng

Tsinghua University

Fei Meng

Beijing Institute of Technology

Gan Ma

Shenzhen Technology University

Qingqing Li

Beijing Institute of Technology

Aiguo Ming

University of Electro-Communications

Xuechao Chen

Beijing Institute of Technology

Junyao Gao

University of Science and Technology of China

Cooperative Institutions

Cytoskeleton (United States)

256

Guidewire (United States)

249

Chinese Academy of Sciences

223

Beijing Institute of Technology

211

University of Chinese Academy of Sciences

105

Shanghai Jiao Tong University

Peking University

Zhejiang University

Ministry of Education of the People's Republic of China

Tsinghua University

Author Statistics

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High-precision dynamic torque control of high stiffness actuator for humanoids

ISA Transactions (2023)

Yaliang Liu Xuechao Chen Zhangguo Yu Yu Han Libo Meng

Joint stiffness

10.1016/j.isatra.2023.06.031

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Citations (4)

Bio-inspired falling motion control for a biped humanoid robot

IEEE-RAS International Conference on Humanoid Robots (2014)

Gan Ma Qiang Huang Zhangguo Yu Xuechao Chen Kenji Hashimoto

Although consistent stability is desirable, a biped humanoid robot encounters a high risk of falling. Such falls may cause serious damage to both the robot and the environment. This study focuses on this issue and investigates four strategies based on human protective falling motion. These strategies are: "knee flexion", "torso flexion forward", "torso translation backward" and "knee stretched". First, the effectiveness of the strategies for the safe landing is analyzed from an energy variation perspective of the robot system. The four strategies are used to do negative work that reduced the energy of the robot system, thereby reducing the impact velocity of the robot. Then, a simulation study on a human-sized humanoid robot is conducted to assess the influence of the strategies on safe landing. Finally, based on the simulation results for each strategy, a safe falling motion control method is proposed and validated through simulation.

Torso

Falling (accident)

10.1109/humanoids.2014.7041463

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Citations (15)

Biped Robots’ Push Recovery based on Viscoelastic Model

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) (2022)

Jiaheng Du Xuechao Chen Lianqiang Han Qingqing Li Zhifa Gao

Biped robots have great practical value. High stability and anti-disturbance ability are the prerequisites for the practical applications of biped robots. For standing stability research, the current methods could be roughly divided into three groups: ankle strategy, hip strategy, step strategy. For the first two strategies, the virtual model control method is always used. However, many above methods adopt virtual spring damping model as the basic control model, which is too stiff and lacks flexibility. Therefore, the robots controlled by the virtual spring damping model may be easy to fall down when the disturbance is large. To solve the problem of spring damping model's poor performance while dealing with large disturbance, the viscoelastic model is introduced in this paper, and this paper proposes a control algorithm for the underactuated biped robot to stand stably and resist disturbance in the two-dimensional environment. The new algorithm makes the robot perform a higher flexibility. The method includes the construction of linear quadratic regulator(LQR) with using viscoelastic model, the use of LQR controller to control the stable standing of biped robot and the realization of anti-disturbance function, etc. The comparsion simulations prove the better performance of the virtual viscoelastic model than the virtual spring damping model. The validity and effectiveness of the algorithm are verified through experiments.

10.1109/rcar54675.2022.9872202

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Citations (1)

Integrated translational and rotational COG motion to enhance the stability for humanoid robots

Jing Li Qiang Huang Zhangguo Yu Xuechao Chen Gan Ma

This paper presents a translational and rotational Center Of Gravity(COG) motion generation method to enhance the stability of the humanoid robot. When urgent cases occur, the humanoid robot requires severe Zero Moment Point(ZMP) adjustment to keep balance. The conventional methods that usually only generate translational COG motion at a constant height lead to large COG acceleration easily. The large acceleration can not be realized due to limited actuator capability or strong tendency to slip even the required large acceleration can be produced. To solve this problem, we propose a method to generate desired translational and rotational COG motion on the condition of minimum slippery tendency to adjust the ZMP. This COG motion can be achieved through coordinated motion in the joint space. This method not only adjusts the ZMP into the stability region but also prevents the occurrence of slippery, especially in the low-friction environments. The effectiveness of the method is demonstrated through simulations.

Cog

Zero moment point

Angular acceleration

10.1109/icma.2013.6618017

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Citations (0)

Design of the Facial Expression Mechanism for Humanoid Robots

Courses and lectures (2010)

Junyao Gao Qiang Huang Zhangguo Yu Xuechao Chen Wei Xu

Expression (computer science)

10.1007/978-3-7091-0277-0_51

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Citations (1)

On-line trajectory generation for a humanoid robot based on combination of off-line patterns

International Conference on Information and Automation (2009)

Zhangguo Yu Qiang Huang Xuechao Chen Wei Xu Ging Li

When a humanoid robot moves in an actual working environment, it is necessary for the robot to generate appropriate locomotion trajectory in real-time to ensure its stability. But it is difficult to solve nonlinear differential equations of stability constraints in real-time to get stable locomotion trajectory. This paper proposed a method to generate stable and smooth locomotion trajectory through linking basic off-line patterns together considering stability constraints. These basic locomotion patterns include forward walk, turn-about, standstill, mark time, etc. In order to move and adapt to different route circumstance, the robot makes a selection of one basic pattern which can be link with the current locomotion pattern according to stability constraints and route requirements. We adopt spline interpolation to link current pattern and newly selected pattern for generating smooth trajectory. The effectiveness of the proposed method was confirmed by experiments on our newly developed humanoid robot.

Line (geometry)

Interpolation

10.1109/icinfa.2009.5204898

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Citations (3)

System design of a 9-DOF robot capable of fast and flexible rally task

Wen Zhang Jing Li Qiang Huang Zhangguo Yu Xuechao Chen

Dynamic interactions between a robot and environments have been an active field for years. A table tennis robot can serve as a comprehensive platform for these researches. Investigating previous work, neither articulated robot nor Cartesian one can solely provide satisfying solutions on this topic. This paper proposes a 9-DOF table tennis robot consisting of a flexible arm, a fast-moving body and highspeed cameras. The high-speed vision system identifies and predicts the target trajectory. The 7-DOF articulated arm can accomplish complicated and flexible operations while the 2-DOF fast-moving body in Cartesian space helps the arm to form an enough workspace. To perform rally task, a distributed and hierarchical control system based on RT-Linux which can be divided into ball trajectory identification, ball trajectory prediction, paddle trajectory planning and a real-time distributed motion controller for joints control is constructed. Experiments demonstrate the validity of the system design.

Work space

Cartesian coordinate robot

Ball (mathematics)

10.1109/icma.2014.6885909

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Citations (2)

A walking control strategy combining global sensory reflex and leg synchronization

Robotica (2014)

Chenglong Fu Jianmei Wang Ken Chen Zhangguo Yu Qiang Huang

SUMMARY Biped walking can be regarded as a global limit cycle whose stability is difficult to verify by only local sensory feedback. This paper presents a control strategy combining global sensory reflex and leg synchronization. The inverted pendulum angle is utilized as global motion feedback to ensure global stability, and joint synchronization between legs is designed to stabilize bifurcations. The proposed strategy can achieve a stable gait and stabilize bifurcations. The robustness of this approach was evaluated against external disturbances. Walking experiments of a biped actuated by pneumatic muscles were conducted to confirm the validity of the proposed method. Instead of tracking predetermined trajectories, this method uses sensory reflexes to activate motor neurons and coincides with the biological idea wherein inessential degrees-of-freedom are barely controlled rather than strictly controlled.

Robustness

Limit cycle

10.1017/s0263574714002008

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Citations (8)

Design of a rigid mechanism for a knee joint with continuously variable reduction ratio

Ning Sun Weimin Zhang Zhangguo Yu Xuechao Chen Lianqiang Han

The knee joint with adequate torque is necessary in order to achieve natural, fast and versatile motions. However, the margin of torque for a knee joint occurs because of a reducer with constant reduction ratio. Therefore, a new rigid mechanism for a knee joint with continuously variable reduction ratio is proposed in this paper. Firstly, the requirements of a new mechanism should be met to reduce the margin of torque. And the requirements were got based on motion simulation of BHR-5. Then, the new mechanism is developed and the parameters of link length and the angle between links for the new mechanism is determined. Finally, the motion simulation of BHR-5 based on the new mechanism is conducted to verify the effectiveness and feasibility of the new rigid mechanism.

10.1109/icarm.2017.8273169

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Citations (0)

Vertical Jump of a Humanoid Robot With CoP-Guided Angular Momentum Control and Impact Absorption

IEEE Transactions on Robotics (2023)

Haoxiang Qi Xuechao Chen Zhangguo Yu Gao Huang Yaliang Liu

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 to realize a vertical jump with centroidal angular momentum (CAM) control and landing impact absorption for a humanoid robot. First, the robot's center of mass (CoM) trajectory is generated by nonlinear optimization. Then, a quasi-sliding mode controller is designed to ensure that the robot tracks the CoM trajectory accurately. To avoid unexpected spinning in the flight phase, a center-of-pressure-guided angular momentum controller is designed to stabilize the CAM. The modifications of CoM and CAM are realized by online optimization of dynamic components and inverse dynamics. Two quadratic programming optimizations are utilized to generate feasible contact force/torque and joint acceleration referring to uplevel CoM and CAM controllers. In addition, a viscoelastic model-based controller is designed to absorb the vibration caused by a large contact impact. A simulation and experiment of a 0.5-m high (foot lifting distance) vertical jump are achieved on a humanoid robot platform in this article (Fig. 1).

Inverse dynamics

Angular acceleration

10.1109/tro.2023.3271136

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Citations (18)