Xiaopeng Chen

Beijing Institute of Technology

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i-10 index

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Co-Authors

Qiang Huang

Beijing Institute of Technology

Zhangguo Yu

Beijing Institute of Technology

Fei Meng

Beijing Institute of Technology

Ye Tian

Beijing Institute of Technology

Weimin Zhang

Beijing Institute of Technology

Taoran Zhang

BOE Technology Group (China)

Weizhong Zhang

University of Georgia

Mingming Yu

Beijing Institute of Technology

Di Fan

University of California, Irvine

Zakir Ullah

Beijing Institute of Technology

Cooperative Institutions

Beijing Institute of Technology

Ministry of Education of the People's Republic of China

Chinese Academy of Sciences

Beijing Advanced Sciences and Innovation Center

Zhejiang University

Tianjin University

Harbin Institute of Technology

Huazhong University of Science and Technology

Sichuan University

Chongqing University

Author Statistics

Papers

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Design for a Dual-Arm Space Robot

Courses and lectures (2010)

Hui Li Qiang Huang Que Dong Chen Li He Yu

10.1007/978-3-7091-0277-0_22

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Citations (2)

Kinematic calibration of a laser tracker based on nonlinear optimization of a refined geometric error model

Measurement (2022)

Xiaopeng Chen Yanyang Liu Xu Yang Siyuan Gou Siyan Ma

Laser tracker

10.1016/j.measurement.2021.110672

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Citations (4)

3D model based ladder tracking using vision and laser point cloud data

2021 IEEE International Conference on Robotics and Biomimetics (ROBIO) (2015)

Xiaopeng Chen Christopher G. Atkeson Qiang Huang

This paper presents 3D model based industrial ladder tracking using vision and laser point cloud data for the ladder climbing task of a humanoid robot ATLAS in the DARPA Robotics Challenge. A virtual visual servoing algorithm with a moving edge detector is used for visual 3D ladder tracking to obtain 6D pose of ladder relative to the robot. An iterative closest point algorithm, which is suitable for 6D pose recognition with laser point cloud data, is used for initialization and failure recovery of the visual 3D tracking algorithm. For each loop of the visual tracker, With 6D pose from previous image frame or from laser point cloud data, a virtual image of the 3D ladder geometric model is first generated by projective back-projection. Then, the moving edge detector is applied to find the displacement of edge features in the virtual and real image. Image Jacobian is calculated to obtain the gradient of the 6D pose with respect to displacement of edges features. Then, the visual virtual servoing algorithm is used to obtain the 6D pose of the ladder iteratively according to the image Jacobian and feature error. The iterative closest point algorithm with laser point cloud data is executed to get the 6D pose globally if necessary for reinitialization or recovering from tracking failure. The 3D ladder tracker has been verified both in drcsim/Gazebo simulation environment and with real data.

Visual Servoing

Iterative closest point

10.1109/robio.2015.7418961

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Citations (2)

The Design and Development of an Anthropomorphic Worm-Gear Driven Robotic Hand: BIT-JOCKO

Changjin Wang Yao Sun Jiafeng Xu Xingdong Liu Xinbing Zhou

A lightweight dexterous robotic hand named BITJOCKO with twenty degrees of freedom is presented in this paper. Each knuckle of the hand is equipped with an individually controlled servomotor to enable both-direction bending movements in the range of 0°-100°. The specially designed worm-gear of the drive system not only enlarge the torque of the motor shaft but also equip it with special ability when holding items. Each servomotor is connected with a worm gear. Compare to other forms of a driving system like direct-drive joint, bevel gear joint and harmonic joint. Such characteristics of the worm gears enable the dexterous hand to keep its pose even when the motor forces are turned off after seizing objects. That means this hand is capable of holding weight with considerable self-locking torque. The total weight of BITJOCKO is only 1.1 kilograms. The mechanical design and the philosophy behind is illustrated in detail.

Harmonic drive

Worm drive

Bevel gear

10.1109/icarm.2019.8834213

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Citations (2)

Design of a Space Robot System to Simulate Climbing of Astronaut Based on Binocular Vision System

Advances in intelligent systems and computing (2012)

Que Dong He Yu Hongjie Li Bo Wei Xiaopeng Chen

Robotic spacecraft

10.1007/978-3-642-33926-4_22

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Citations (0)

Mechanism Design and System Control for Humanoid Space Robot Movement Using a Simple Gravity-Compensation System

International Journal of Advanced Robotic Systems (2013)

Zhihong Jiang Shilong Liu Hui Li Que Dong Xiaopeng Chen

Space robots are an effective resource for astronauts working in a dangerous space environment. This paper proposes and implements a system to validate the performance of robot movement in space. A humanoid robot was designed with a vision-based self-calibration and navigation system. In addition, a path planning method was proposed to minimize joint torque. Simple gravity-compensation equipment with active and passive mechanisms was proposed. However, the flexible connection required for free movement between the robot and the gravity-compensation equipment meant that the space robot was likely to vibrate when moving. In order to address this challenge, a new hybrid force-position controller with joint torque feedforward was proposed. This controller was based on the system dynamics model with a particular focus on joint dynamics. Experimental test results validated the system design and methodology, showing that the humanoid space robot could move sufficiently using simple gravity-compensation equipment.

Feed forward

Robotic spacecraft

10.5772/56798

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Citations (10)

SANe: Space adaptation network for temporal knowledge graph completion

Information Sciences (2024)

Yancong Li Xiaoming Zhang Bo Zhang Feiran Huang Xiaopeng Chen

Snapshot (computer storage)

10.1016/j.ins.2024.120430

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Citations (3)

Network Pharmacology Bridges Traditional Application and Modern Development of Traditional Chinese Medicine

Chinese Herbal Medicines (2015)

Changxiao Liu Rui Liu Huirong Fan Xuefeng Xiao Xiaopeng Chen

Systems pharmacology

Drug Development

10.1016/s1674-6384(15)60014-4

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Citations (58)

TMBC: Topological map based coverage path planner for active exploration of an unknown environment

2021 IEEE International Conference on Robotics and Biomimetics (ROBIO) (2022)

Qihang Wang Xiaopeng Chen Zakir Ullah Shengquan Tang Mingming Yu

The ability to plan online paths, that passes through points of interest for coverage of an unknown environment is essential to robot autonomy. Existing state of the art coverage path planning techniques for active exploration (Frontier and Next-Best-View) are occupancy grid maps based, which do not scale well in large area environments, suffer from long term drift and are not robust at large values of sensor range noise, not address robot navigation safety. We proposed a Coverage Path Planning (CPP) algorithm, which is based on a coordinate system based topological map of the admissible locations of the environment. This algorithm scales well because of the sparse representation of large area environments, it is robust even at large value of sensor noise. This CPP is model free, computationally efficient and consider the robot safety by only considering the admissible locations for navigation. Viewpoints within the unexplored regions of robot workspace are chosen for traversal to cover the environment. The proposed procedure is experimentally verified in a 15 different 3D-gazebo world models using a 2-wheeled differential mobile robot with a Lidar sensor, using ROS framework for implementation. Simulation results shows the effectiveness of this algorithm for the real-world applications.

Occupancy grid mapping

Work space

Grid reference

10.1109/robio55434.2022.10012015

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Citations (1)

Kinematic analysis and solution of the natural posture of a 7DOF humanoid manipulator

Ye Tian Xiaopeng Chen Qiang Huang Weimin Zhang

Biped walking control and motion planning of humanoid robots have been researched for a long time and have made great progress. In order to serve people, the humanoid's arm should appear natural, have large working space and be easy to avoid obstacles In this paper a 7DOF manipulator with the same joint configuration as human's arm and its planning algorithm is proposed. The arm imitates the posture of human's arm to give the optimal solution in the joint space to make our manipulator look natural. The redundancy is solved and the manipulator's natural posture is derived conveniently and easily. Experiments show the feasibility of the method.

Manipulator (device)

Mobile manipulator

Robot manipulator

10.1109/ical.2010.5585402

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Citations (8)