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下肢外骨骼机器人；人机交互；运动学习；轨迹生成；运动基元；黑盒优化 1

下肢；外骨骼；自平衡；双足行走；模块化设计 1

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Landing control method of a lightweight four-legged landing and walking robot

《机械工程前沿（英文）》 2022年第17卷第4期 doi: 10.1007/s11465-022-0707-1

摘要： The prober with an immovable lander and a movable rover is commonly used to explore the Moon’s surface. The rover can complete the detection on relatively flat terrain of the lunar surface well, but its detection efficiency on deep craters and mountains is relatively low due to the difficulties of reaching such places. A lightweight four-legged landing and walking robot called “FLLWR” is designed in this study. It can take off and land repeatedly between any two sites wherever on deep craters, mountains or other challenging landforms that are difficult to reach by direct ground movement. The robot integrates the functions of a lander and a rover, including folding, deploying, repetitive landing, and walking. A landing control method via compliance control is proposed to solve the critical problem of impact energy dissipation to realize buffer landing. Repetitive landing experiments on a five-degree-of-freedom lunar gravity testing platform are performed. Under the landing conditions with a vertical velocity of 2.1 m/s and a loading weight of 140 kg, the torque safety margin is 10.3% and 16.7%, and the height safety margin is 36.4% and 50.1% for the cases with or without an additional horizontal disturbance velocity of 0.4 m/s, respectively. The study provides a novel insight into the next-generation lunar exploration equipment.

关键词： landing and walking robot lunar exploration buffer landing compliance control

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Footholds optimization for legged robots walking on complex terrain

《机械工程前沿（英文）》 2023年第18卷第2期 doi: 10.1007/s11465-022-0742-y

摘要： This paper proposes a novel continuous footholds optimization method for legged robots to expand their walking ability on complex terrains. The algorithm can efficiently run onboard and online by using terrain perception information to protect the robot against slipping or tripping on the edge of obstacles, and to improve its stability and safety when walking on complex terrain. By relying on the depth camera installed on the robot and obtaining the terrain heightmap, the algorithm converts the discrete grid heightmap into a continuous costmap. Then, it constructs an optimization function combined with the robot’s state information to select the next footholds and generate the motion trajectory to control the robot’s locomotion. Compared with most existing footholds selection algorithms that rely on discrete enumeration search, as far as we know, the proposed algorithm is the first to use a continuous optimization method. We successfully implemented the algorithm on a hexapod robot, and verified its feasibility in a walking experiment on a complex terrain.

关键词： footholds optimization legged robot complex terrain adapting hexapod robot locomotion control

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An experimental analysis of human straight walking

Tao LI, Marco CECCARELLI

《机械工程前沿（英文）》 2013年第8卷第1期页码 95-103 doi: 10.1007/s11465-013-0357-4

摘要：

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.

关键词： human locomotion walking gait characterization humanoid robot biped robot

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A novel six-legged walking machine tool for

Jimu LIU, Yuan TIAN, Feng GAO

《机械工程前沿（英文）》 2020年第15卷第3期页码 351-364 doi: 10.1007/s11465-020-0594-2

摘要： The manufacture and maintenance of large parts in ships, trains, aircrafts, and so on create an increasing demand for mobile machine tools to perform operations. However, few mobile robots can accommodate the complex environment of industrial plants while performing machining tasks. This study proposes a novel six-legged walking machine tool consisting of a legged mobile robot and a portable parallel kinematic machine tool. The kinematic model of the entire system is presented, and the workspace of different components, including a leg, the body, and the head, is analyzed. A hierarchical motion planning scheme is proposed to take advantage of the large workspace of the legged mobile platform and the high precision of the parallel machine tool. The repeatability of the head motion, body motion, and walking distance is evaluated through experiments, which is 0.11, 1.0, and 3.4 mm, respectively. Finally, an application scenario is shown in which the walking machine tool steps successfully over a 250 mm-high obstacle and drills a hole in an aluminum plate. The experiments prove the rationality of the hierarchical motion planning scheme and demonstrate the extensive potential of the walking machine tool for operations on large parts.

关键词： legged robot parallel mechanism mobile machine tool in-situ machining

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美国国防部先进研究项目局举办的机器人大挑战赛的参与和崎岖地面行走的滑雪式步态 Article

王宏飞, 李诗濛, 郑元芳

《工程（英文）》 2015年第1卷第1期页码 36-45 doi: 10.15302/J-ENG-2015006

摘要：

本文简要介绍了美国国防部先进研究项目局举办的机器人大挑战赛的历史，并将关注的焦点放在了2012机器人挑战赛上。作为该挑战赛DRC-HUBO队的成员，我们为完成崎岖地面的任务提出了不同的方法，如增大脚踏板、转换成四足行走等。同时，本文还介绍了一种帮助提高仿人机器人运动稳定性的新步态——滑雪式步态。本文对该步态的稳定性进行了分析，并利用稳定度裕量从两种备选的步进顺序（爬行-1和爬行-2）中进行选择。接下来，本文对滑雪式步态中冗余的闭链系统进行力/力矩分析，通过最小化总耗能量来确定关节力矩。根据稳定性分析和力/力矩分析，我们设计了一种手杖长度，使其可以支撑HUBO2仿人机器人平台稳定地实现爬行-2步态。最后，通过将本文的试验结果和两足步行进行对比，验证了滑雪式步态的可行性。同时，介绍了我队在该机器人挑战赛上的表现。

关键词：仿人机器人美国国防部先进研究项目局举办的机器人大挑战赛（DRC）崎岖地面行走滑雪式步态

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天基发射与载人登月初探

张泽明,姜毅,傅德彬

《中国工程科学》 2006年第8卷第10期页码 37-41

摘要：

登月是载人航天向深空探测的延续，它与载人飞船工程相比，可靠性要求更高，工程规模更大，资金投入更多。结合国外登月历程和我国航天事业取得的重大成就，探讨了利用现有运载技术，分批次将登月飞船和航天员送入近地轨道，并在天基发射平台上进行组装发射，实现载人登月的设想；并就天基发射平台和天基发射方式进行了初步探讨。

关键词：登月天基发射发射平台登月轨道技术途径

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

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《机械工程前沿（英文）》 2016年第11卷第2期页码 144-158 doi: 10.1007/s11465-016-0391-0

摘要：

A feasibility study on the mechanical design and walking operation of a Cassino biped locomotor is presented in this paper. The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallel manipulator architecture. Planning of the biped walking gait is performed by coordinating the motions of the two leg mechanisms and waist. A three-dimensional model is elaborated in SolidWorks^® environment in order to characterize a feasible mechanical design. Dynamic simulation is carried out in MSC.ADAMS^® environment with the aims of characterizing and evaluating the dynamic walking performance of the proposed design. Simulation results show that the proposed biped locomotor with proper input motions of linear actuators performs practical and feasible walking on flat surfaces with limited actuation and reaction forces between its feet and the ground. A preliminary prototype of the biped locomotor is built for the purpose of evaluating the operation performance of the biped walking gait of the proposed locomotor.

关键词： feasibility study biped locomotor biped walking mechanical design dynamic simulation tripod leg mechanism 3-UPU parallel manipulator

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Image-based fall detection and classification of a user with a walking support system

Sajjad TAGHVAEI, Kazuhiro KOSUGE

《机械工程前沿（英文）》 2018年第13卷第3期页码 427-441 doi: 10.1007/s11465-017-0465-7

摘要：

The classification of visual human action is important in the development of systems that interact with humans. This study investigates an image-based classification of the human state while using a walking support system to improve the safety and dependability of these systems. We categorize the possible human behavior while utilizing a walker robot into eight states (i.e., sitting, standing, walking, and five falling types), and propose two different methods, namely, normal distribution and hidden Markov models (HMMs), to detect and recognize these states. The visual feature for the state classification is the centroid position of the upper body, which is extracted from the user’s depth images. The first method shows that the centroid position follows a normal distribution while walking, which can be adopted to detect any non-walking state. The second method implements HMMs to detect and recognize these states. We then measure and compare the performance of both methods. The classification results are employed to control the motion of a passive-type walker (called “RT Walker”) by activating its brakes in non-walking states. Thus, the system can be used for sit/stand support and fall prevention. The experiments are performed with four subjects, including an experienced physiotherapist. Results show that the algorithm can be adapted to the new user’s motion pattern within 40 s, with a fall detection rate of 96.25% and state classification rate of 81.0%. The proposed method can be implemented to other abnormality detection/classification applications that employ depth image-sensing devices.

关键词： fall detection walking support hidden Markov model multivariate analysis

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Estimation of fatigue damage of airplane landing gear

LIU Ke-ge, YAN Chu-liang, ZHANG Shu-ming

《机械工程前沿（英文）》 2006年第1卷第4期页码 424-428 doi: 10.1007/s11465-006-0051-x

摘要： Taking the main landing gears of fighter and transport airplanes as examples, the fatigue life was estimated by means of the Miner s rule and from the spectrum of the real measurements. The computed results show that the landing damage to the fighter and transport airplanes is 75% and 60% of the total damage, and the damage caused by the landing stroke is 40% of the landing-gear damage. The fatigue damage properties can provide important information for reliable designing and the structural optimization.

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

Qilong YUAN, I-Ming CHEN

《机械工程前沿（英文）》 2012年第7卷第2期页码 100-108 doi: 10.1007/s11465-012-0318-3

摘要：

This paper introduces a method to generate the planar jumping motion for biped robot. In this work, through determining the upper body posture trajectory in the flight phase, the foot landing posture is made to be flat while landing. Together with properly designing the trajectory for local center of gravity and the foot landing velocity, the soft landing trajectory is generated. A controller on the ankle joint is added to avoid significant impact with the ground and stabilize the robot after landing. Jumping motion with stable landing is achieved in a dynamic simulation environment based on this method.

关键词： biped jumping stable landing control jumping motion generation

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Modeling and analysis of landing collision dynamics for a shipborne helicopter

Dingxuan ZHAO, Haojie YANG, Carbone GIUSEPPE, Wenhang LI, Tao NI, Shuangji YAO

《机械工程前沿（英文）》 2021年第16卷第1期页码 151-162 doi: 10.1007/s11465-020-0617-z

摘要： A Lagrange dynamic model is established based on small-angle approximation to improve the simulation model for shipborne helicopter landing collision. To describe fuselage motion effectively, the proposed model considers ship motion, the interaction of the tires with the deck, and tire slippage. A mechanism of sliding motion is built, and a real-time reliability analysis of the algorithm is implemented to validate the proposed model. Numerical simulations are also conducted under different operation conditions. Results show that the proposed dynamic model can simulate the collision motion of helicopter landing in real time. Several suggestions for helicopter pilot landing are likewise provided.

关键词： shipborne helicopter landing model Lagrange equations dynamics validation

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Harvesting biomechanical energy in the walking by shoe based on liquid metal magnetohydrodynamics

Dan DAI, Jing LIU, Yixin ZHOU

《能源前沿（英文）》 2012年第6卷第2期页码 112-121 doi: 10.1007/s11708-012-0186-x

摘要： A liquid metal magnetohydrodynamics generation system (LMMGS) was proposed and demonstrated in this paper for collecting parasitic power in shoe while walking. Unlike the conventional shoe-mounted human power harvesters that use solid coil and gear mechanism, the proposed system employs liquid metal (Ga In Sn ) as energy carrier, where no moving part is requested in magnetohydrodynamics generators (MHGs). While walking with the LMMGS, the foot alternately presses the two liquid metal pumps (LMPs) which are respectively placed in the front and rear of the sole. As a result, the liquid metal in the LMPs (LMP I and II) is extruded and flows through the MHGs (MHG I and II) in which electricity is produced. For a comparison, three types of LMMGSs (LMMGS A, B and C) were built where all the parts are the same except for the LMPs. Furthermore, performances of these LMMGSs with different volume of injected liquid metal were tested respectively. Experimental results reveal that both the output voltage and power of the LMMGS increase with the volume of injected liquid metal and the size of the LMPs. In addition, a maximum output power of 80 mW is obtained by the LMMGS C with an efficiency of approximately 1.3%. Given its advantages of no side effect, light weight, small size and reliability, The LMMGS is well-suited for powering the wearable and implantable micro/nano device, such as wearable sensors, drug pumps and so on.

关键词： human energy harvesting liquid metal wearable magnetohydrodynamics generator parasitic power in shoe

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一种新型自主下肢外骨骼助行机器人的研制 Special Feature on Intelligent Robats

Yong HE, Nan LI, Chao WANG, Lin-qing XIA, Xu YONG, Xin-yu WU

《信息与电子工程前沿（英文）》 2019年第20卷第3期页码 318-329 doi: 10.1631/FITEE.1800561

摘要：目前，外骨骼被广泛应用于下肢运动障碍患者的步行辅助。现有外骨骼机器人大部分采用欠驱动模式，导致一系列使用问题，如行走过程中步行干扰和不自然步态。提出一种新型智能自主下肢外骨骼(Auto-LEE)，旨在改善穿戴式助行器用户体验，扩大应用范围。与传统外骨骼不同，Auto-LEE有10个自由度，所有关节都由直流电机独立驱动，使机器人能在无外部支撑下保持平衡行走。此外，在设计中采用模块化结构理念，在控制系统中考虑多模态人机交互。为验证机器人自主平衡双足行走能力，对比3种常用步态规划算法，初步实现行走实验。

关键词：下肢；外骨骼；自平衡；双足行走；模块化设计

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Review of human–robot coordination control for rehabilitation based on motor function evaluation

《机械工程前沿（英文）》 2022年第17卷第2期 doi: 10.1007/s11465-022-0684-4

摘要： As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliary rehabilitation training for patients with lower limb walking impairment/loss and address the existing problem of insufficient medical resources. One of the main elements of such a human–robot coupling system is a control system to ensure human–robot coordination. This review aims to summarise the development of human–robot coordination control and the associated research achievements and provide insight into the research challenges in promoting innovative design in such control systems. The patients’ functional disorders and clinical rehabilitation needs regarding lower limbs are analysed in detail, forming the basis for the human–robot coordination of lower limb rehabilitation robots. Then, human–robot coordination is discussed in terms of three aspects: modelling, perception and control. Based on the reviewed research, the demand for robotic rehabilitation, modelling for human–robot coupling systems with new structures and assessment methods with different etiologies based on multi-mode sensors are discussed in detail, suggesting development directions of human–robot coordination and providing a reference for relevant research.

关键词： human–robot coupling lower limb rehabilitation exoskeleton robot motor assessment dynamical model perception

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Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

《机械工程前沿（英文）》 2022年第17卷第4期 doi: 10.1007/s11465-022-0687-1

摘要： Masticatory robots are an effective in vitro performance testing device for dental material and mandibular prostheses. A cable-driven linear actuator (CDLA) capable of bidirectional motion is proposed in this study to design a masticatory robot that can achieve increasingly human-like chewing motion. The CDLA presents remarkable advantages, such as lightweight and high stiffness structure, in using cable amplification and pulley systems. This work also exploits the proposed CDLA and designs a masticatory robot called Southeast University masticatory robot (SMAR) to solve existing problems, such as bulky driving linkage and position change of the muscle’s origin. Stiffness analysis and performance experiment validate the CDLA’s efficiency, with its stiffness reaching 1379.6 N/mm (number of cable parts n = 4), which is 21.4 times the input wire stiffness. Accordingly, the CDLA’s force transmission efficiencies in two directions are 84.5% and 85.9%. Chewing experiments are carried out on the developed masticatory robot to verify whether the CDLA can help SMAR achieve a natural human-like chewing motion and sufficient chewing forces for potential applications in performance tests of dental materials or prostheses.

关键词： masticatory robot cable-driven linear actuator parallel robot stiffness analysis