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Stability and agility: biped running over varied and unknown terrain

Yang YI,Zhi-yun LIN

Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 4,   Pages 283-292 doi: 10.1631/FITEE.1400284

Abstract: We tackle the problem of a biped running over varied and unknown terrain.Running is a necessary skill for a biped moving fast, but it increases the challenge of dynamic balance, especially when a biped is running on varied terrain without terrain information (due to the difficultya running-feasible set, instead of running on a periodic limit cycle gait in the traditional way.A five-link biped with underactuated point foot is considered in simulations.

Keywords： Underactuated running biped     Dynamic balance     Varied and unknown terrain    

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Control strategy for gait transition of an underactuated 3Dbipedal robot Research Articles

Hai-hui YUAN, Yi-min GE, Chun-biao GAN

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 8,   Pages 1026-1035 doi: 10.1631/FITEE.1800206

Abstract: In this paper, we consider the gait transition of a five-link underactuated three-dimensional (3D) bipedalFinally, the effectiveness of the control strategy is illustrated on the underactuated 3D bipedal robot

Keywords： Gait transition     Underactuated three-dimensional biped     Event-based feedback controller     Adaptive control    

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Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0696-0

Abstract: The loss of hand functions in upper limb amputees severely restricts their mobility in daily life. Wearing a humanoid prosthetic hand would be an effective way of restoring lost hand functions. In a prosthetic hand design, replicating the natural and dexterous grasping functions with a few actuators remains a big challenge. In this study, a function-oriented optimization design (FOD) method is proposed for the design of a tendon-driven humanoid prosthetic hand. An optimization function of different functional conditions of full-phalanx contact, total contact force, and force isotropy was constructed based on the kinetostatic model of a prosthetic finger for the evaluation of grasping performance. Using a genetic algorithm, the optimal geometric parameters of the prosthetic finger could be determined for specific functional requirements. Optimal results reveal that the structure of the prosthetic finger is significantly different when designed for different functional requirements and grasping target sizes. A prosthetic finger was fabricated and tested with grasping experiments. The mean absolute percentage error between the theoretical value and the experimental result is less than 10%, demonstrating that the kinetostatic model of the prosthetic finger is effective and makes the FOD method possible. This study suggests that the FOD method enables the systematic evaluation of grasping performance for prosthetic hands in the design stage, which could improve the design efficiency and help prosthetic hands meet the design requirements.

Keywords： function-oriented     tendon driven     prosthetic hand     optimization     humanoid     underactuated    

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Analysis and optimal design of an underactuated finger mechanism for LARM hand

Shuangji YAO, Marco CECCARELLI, Giuseppe CARBONE, Qiang ZHAN, Zhen LU

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 3,   Pages 332-343 doi: 10.1007/s11465-011-0229-8

Abstract:

This paper aims to present general design considerations and optimality criteria for underactuatedA numerical case of an underactuated robot finger design for Laboratory of Robotics and Mechatronics

Keywords： robotic finger     underactuated mechanisms     design considerations    

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A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

Mingfeng WANG,Marco CECCARELLI,Giuseppe CARBONE

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 144-158 doi: 10.1007/s11465-016-0391-0

Abstract:

A feasibility study on the mechanical design and walking operation of a Cassino biped locomotor isThe biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallelPlanning of the biped walking gait is performed by coordinating the motions of the two leg mechanismsSimulation results show that the proposed biped locomotor with proper input motions of linear actuatorsof the biped walking gait of the proposed locomotor.

Keywords： feasibility study     biped locomotor     biped walking     mechanical design     dynamic simulation     tripod leg mechanism    

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Analysis on running safety of train on the bridge considering sudden change of wind load caused by wind

Tian ZHANG, He XIA, Weiwei GUO

Frontiers of Structural and Civil Engineering 2018, Volume 12, Issue 4,   Pages 558-567 doi: 10.1007/s11709-017-0455-1

Abstract: wind-vehicle-bridge system with wind barrier is established, and the influence of sudden change of wind load on the runningsimply-supported U-shaped girder bridge with 100 m long double-side 3.5 m barrier, the response and the runningThe running safety indices of train vehicle with sectional wind barriers are worse than those with full

Keywords： wind barrier     sudden change of wind load     dynamic response     running safety     comfort    

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Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot

Conghui LIANG, Marco CECCARELLI, Yukio TAKEDA

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 4,   Pages 357-370 doi: 10.1007/s11465-012-0340-5

Abstract: analysis of a Chebyshev-Pantograph leg mechanism is presented for a single degree of freedom (DOF) bipedA prototype of a single DOF biped robot equipped with two proposed leg mechanisms has been built at LARM

Keywords： biped robots     leg mechanisms     simulation    

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Engineering Running Shoes to Break Records

Chris Palmer

Engineering 2020, Volume 6, Issue 9,   Pages 962-963 doi: 10.1016/j.eng.2020.07.006

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Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with

Hui LI, Ruiqin LI, Jianwei ZHANG

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 2,   Pages 353-362 doi: 10.1007/s11465-020-0620-4

Abstract: The performance of controlling underactuated robotic systems can be further improved by the adoptionIn addition, an underactuated robotic system with uncertainties is studied to validate the effectiveness

Keywords： sliding-mode control     robot control     discrete-time uncertain systems     fuzzy logic    

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Dynamic response of a long span suspension bridge and running safety of a train under wind action

GUO Weiwei, XIA He, XU You-lin

Frontiers of Structural and Civil Engineering 2007, Volume 1, Issue 1,   Pages 71-79 doi: 10.1007/s11709-007-0007-1

Abstract: The running safeties of the train vehicles are much affected by wind.

Keywords： rotational     offload     vertical     m/s     attention    

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An experimental analysis of human straight walking

Tao LI, Marco CECCARELLI

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 1,   Pages 95-103 doi: 10.1007/s11465-013-0357-4

Abstract:

In this paper, an experimental analysis of human straight walking has been presented. Experiments on human walking were carried out by using Cassino tracking system which is a passive cable-based measuring system. This system is adopted because it is capable of both pose and wrench measurements with fairly simple monitoring of operation. By using experimental results, trajectories of a human limb extremity and its posture have been analyzed; forces that are exerted against cables by the limb of a person under test have been measured by force sensors as well. Furthermore, by using experimental tests, modeling and characterization of the human straight walking gait have been proposed.

Keywords： human locomotion     walking gait     characterization     humanoid robot     biped robot    

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Machine learning for detecting mesial temporal lobe epilepsy by structural and functional neuroimaging

Baiwan Zhou, Dongmei An, Fenglai Xiao, Running Niu, Wenbin Li, Wei Li, Xin Tong, Graham J Kemp, Dong

Frontiers of Medicine 2020, Volume 14, Issue 5,   Pages 630-641 doi: 10.1007/s11684-019-0718-4

Abstract: Mesial temporal lobe epilepsy (mTLE), the most common type of focal epilepsy, is associated with functional and structural brain alterations. Machine learning (ML) techniques have been successfully used in discriminating mTLE from healthy controls. However, either functional or structural neuroimaging data are mostly used separately as input, and the opportunity to combine both has not been exploited yet. We conducted a multimodal ML study based on functional and structural neuroimaging measures. We enrolled 37 patients with left mTLE, 37 patients with right mTLE, and 74 healthy controls and trained a support vector ML model to distinguish them by using each measure and the combinations of the measures. For each single measure, we obtained a mean accuracy of 74% and 69% for discriminating left mTLE and right mTLE from controls, respectively, and 64% when all patients were combined. We achieved an accuracy of 78% by integrating functional data and 79% by integrating structural data for left mTLE, and the highest accuracy of 84% was obtained when all functional and structural measures were combined. These findings suggest that combining multimodal measures within a single model is a promising direction for improving the classification of individual patients with mTLE.

Keywords： mesial temporal lobe epilepsy     functional magnetic resonance imaging     structural magnetic resonance imaging     machine learning     support vector machine    

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Evaluation of power regeneration in primary suspension for a railway vehicle

Ruichen WANG, Zhiwei WANG

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 2,   Pages 265-278 doi: 10.1007/s11465-019-0571-9

Abstract: evaluated with respect to key performance indicators, including regenerated power, ride comfort, and running

Keywords： railway vehicle     primary damper     power regeneration     ride comfort     running safety    

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Planar jumping with stable landing through foot orientation design and ankle joint control

Qilong YUAN, I-Ming CHEN

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 100-108 doi: 10.1007/s11465-012-0318-3

Abstract:

This paper introduces a method to generate the planar jumping motion for biped robot.

Keywords： biped jumping     stable landing control     jumping motion generation    

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Title Author Date Type Operation

Stability and agility: biped running over varied and unknown terrain

Yang YI,Zhi-yun LIN

Journal Article

Control strategy for gait transition of an underactuated 3Dbipedal robot

Hai-hui YUAN, Yi-min GE, Chun-biao GAN

Journal Article

Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

Journal Article

Analysis and optimal design of an underactuated finger mechanism for LARM hand

Shuangji YAO, Marco CECCARELLI, Giuseppe CARBONE, Qiang ZHAN, Zhen LU

Journal Article

A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

Mingfeng WANG,Marco CECCARELLI,Giuseppe CARBONE

Journal Article

Analysis on running safety of train on the bridge considering sudden change of wind load caused by wind

Tian ZHANG, He XIA, Weiwei GUO

Journal Article

Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot

Conghui LIANG, Marco CECCARELLI, Yukio TAKEDA

Journal Article

Engineering Running Shoes to Break Records

Chris Palmer

Journal Article

Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with

Hui LI, Ruiqin LI, Jianwei ZHANG

Journal Article

Dynamic response of a long span suspension bridge and running safety of a train under wind action

GUO Weiwei, XIA He, XU You-lin

Journal Article

An experimental analysis of human straight walking

Tao LI, Marco CECCARELLI

Journal Article

Machine learning for detecting mesial temporal lobe epilepsy by structural and functional neuroimaging

Baiwan Zhou, Dongmei An, Fenglai Xiao, Running Niu, Wenbin Li, Wei Li, Xin Tong, Graham J Kemp, Dong

Journal Article

Running China Engineering Science Well Serves for Promoting the Development of China’s Engineering Science

丁朝模

Journal Article

Evaluation of power regeneration in primary suspension for a railway vehicle

Ruichen WANG, Zhiwei WANG

Journal Article

Planar jumping with stable landing through foot orientation design and ankle joint control

Qilong YUAN, I-Ming CHEN

Journal Article