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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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Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA

《信息与电子工程前沿（英文）》 2015年第16卷第2期页码 166-172 doi: 10.1631/FITEE.1400183

摘要： This research formulates a path-following control problem subjected to wheel slippage and skid and solves it using a logic-based control scheme for a wheeled mobile robot (WMR). The novelty of the proposed scheme lies in its methodology that considers both longitudinal and lateral slip components. Based on the derived slip model, the controller for longitudinal motion slip has been synthesized. Various control parameters have been studied to investigate their effects on the performance of the controller resulting in selection of their optimum values. The designed controller for lateral slip or skid is based on the proposed side friction model and skid check condition. Considering a car-like WMR, simulation results demonstrate the effectiveness of the proposed control scheme. The robot successfully followed the desired circular trajectory in the presence of wheel slippage and skid. This research finds its potential in various applications involving WMR navigation and control.

关键词： Robot modeling Robot navigation Slip and skid control Wheeled mobile robots

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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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Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

《机械工程前沿（英文）》 2023年第18卷第3期 doi: 10.1007/s11465-023-0753-3

摘要： To achieve the collision-free trajectory tracking of the four-wheeled mobile robot (FMR), existing methods resolve the tracking control and obstacle avoidance separately. Guaranteeing the synergistic robustness and smooth navigation of mobile robots subjected to motion uncertainties in a dynamic environment using this non-cooperative processing method is difficult. To address this challenge, this paper proposes an obstacle-circumventing adaptive control (OCAC) framework. Specifically, a novel anti-disturbance terminal slide mode control with adaptive gains is formulated, incorporating specified control laws for different stages. This formulation guarantees rapid convergence and simultaneous chattering elimination. By introducing sub-target points, a new sub-target dynamic tracking regression obstacle avoidance strategy is presented to transfer the obstacle avoidance problem into a dynamic tracking one, thereby reducing the burden of local path searching while ensuring system stability during obstacle circumvention. Comparative experiments demonstrate that the proposed OCAC method can strengthen the convergence and obstacle avoidance efficiency of the concerned FMR system.

关键词： four-wheeled mobile robot obstacle-circumventing adaptive control adaptive anti-disturbance terminal sliding mode control sub-target dynamic tracking regression obstacle avoidance

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Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

《机械工程前沿（英文）》 2021年第16卷第2期页码 271-284 doi: 10.1007/s11465-020-0623-1

摘要： Legged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role in improving the stability of legged robots. A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposed in this paper. First, a force-based terrain classification method is suggested. Ground contact force is calculated by collecting joint torques and inertial measurement unit information. Ground substrates are classified with the feature vector extracted from the collected data using the support vector machine algorithm. Then, an adaptive locomotion on different ground properties is proposed. The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters of active compliance control change with the terrain. Finally, the method is integrated on a hexapod robot and tested by real experiments. Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam. The strategies and experimental results can be a valuable reference for other legged robots applied in outdoor environments.

关键词： terrain classification hexapod robot legged robot adaptive locomotion gait control

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Development of a novel hand−eye calibration for intuitive control of minimally invasive surgical robot

《机械工程前沿（英文）》 2022年第17卷第3期 doi: 10.1007/s11465-022-0698-y

摘要： Robotic-assisted surgical system has introduced a powerful platform through dexterous instrument and hand−eye coordination intuitive control. The knowledge of laparoscopic vision is a crucial piece of information for robot-assisted minimally invasive surgery focusing on improved surgical outcomes. Obtaining the transformation with respect to the laparoscope and robot slave arm frames using hand−eye calibration is essential, which is a key component for developing intuitive control algorithm. We proposed a novel two-step modified dual quaternion for hand−eye calibration in this study. The dual quaternion was exploited to solve the hand−eye calibration simultaneously and powered by an iteratively separate solution. The obtained hand−eye calibration result was applied to the intuitive control by using the hand−eye coordination criterion. Promising simulations and experimental studies were conducted to evaluate the proposed method on our surgical robot system. We extensively compared the proposed method with state-of-the-art methods. Results demonstrate this method can improve the calibration accuracy. The effectiveness of the intuitive control algorithm was quantitatively evaluated, and an improved hand−eye calibration method was developed. The relationship between laparoscope and robot kinematics can be established for intuitive control.

关键词： minimally invasive surgery hand−eye calibration intuitive control surgical robot dual quaternion

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Motion planning and tracking control of a four-wheel independently driven steered mobile robot with multiple

Xiaolong ZHANG, Yu HUANG, Shuting WANG, Gen LI, Yuanlong XIE, Wei MENG

《机械工程前沿（英文）》 2021年第16卷第3期页码 504-527 doi: 10.1007/s11465-020-0626-y

摘要： Safe and effective autonomous navigation in dynamic environments is challenging for four-wheel independently driven steered mobile robots (FWIDSMRs) due to the flexible allocation of multiple maneuver modes. To address this problem, this study proposes a novel multiple mode-based navigation system, which can achieve efficient motion planning and accurate tracking control. To reduce the calculation burden and obtain a comprehensive optimized global path, a kinodynamic interior–exterior cell exploration planning method, which leverages the hybrid space of available modes with an incorporated exploration guiding algorithm, is designed. By utilizing the sampled subgoals and the constructed global path, local planning is then performed to avoid unexpected obstacles and potential collisions. With the desired profile curvature and preselected mode, a fuzzy adaptive receding horizon control is proposed such that the online updating of the predictive horizon is realized to enhance the trajectory-following precision. The tracking controller design is achieved using the quadratic programming (QP) technique, and the primal–dual neural network optimization technique is used to solve the QP problem. Experimental results on a real-time FWIDSMR validate that the proposed method shows superior features over some existing methods in terms of efficiency and accuracy.

关键词： mobile robot multiple maneuvering mode motion planning tracking control receding horizon control

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Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment

LIU Hongyi, WANG Fei, WANG Lei

《机械工程前沿（英文）》 2007年第2卷第2期页码 168-174 doi: 10.1007/s11465-007-0028-4

摘要： To precisely implement the force control of robot manipulators in an unknown environment, a control strategy based on fuzzy prediction of the reference trajectory in the impedance model is developed. The force tracking experiments are executed in an open-architecture control system with different tracking velocities, different desired forces, different contact stiffnesses and different surface figurations. The corresponding force control results are compared and analyzed. The influences of unknown parameters of the environment on the contact force are analyzed based on experimental data, and the tunings of predictive scale factors are illustrated. The experimental results show that the desired trajectory in the impedance model is predicted exactly and rapidly in the cases that the contact surface is unknown, the contact stiffness changes, and the fuzzy force control algorithm has high adaptability to the unknown environment.

关键词： predictive tracking corresponding stiffness algorithm

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网络远程控制中机械臂的连续轨迹控制

郑桦,丛爽

《中国工程科学》 2008年第10卷第10期页码 91-95

摘要：

探讨了点位控制在二自由度机械臂网络远程控制中的问题，将连续轨迹控制应用到基于关节坐标空间的机器人控制系统中，分析了在远程操控环境中实现连续轨迹控制所需要满足的条件，给出了最佳合成速度的求法，并进行了实际系统的远程控制实验，在期望时间内实现了连续、平滑的运动效果，证实了在网络远程系统的控制中采用连续轨迹控制能够获得更高的精度。

关键词：远程控制连续轨迹控制机械臂系统

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Tracking control of robot manipulators via output feedback linearization

FEI Yue-nong, Wu Qing-hua

《机械工程前沿（英文）》 2006年第1卷第3期页码 329-335 doi: 10.1007/s11465-006-0034-y

摘要： This paper presents a robot manipulator tracking controller based on output feedback linearization. A sliding mode perturbation observer (SPO) is designed to estimate unmeasurable states and system perturbations that involve system nonlinearities, disturbances and unmodelled dynamics. The use of SPO allows to input/output linearize and decouple the strongly coupled nonlinear robot manipulator system merely by the feedback of joint angles. The controller design does not need an accurate model of the robot manipulator. Simulation studies are undertaken based on a two-link robot manipulator to evaluate the proposed approach. The simulation results show that the proposed controller has more superior tracking control performance, with payload changing in a wide range, in comparison with a sliding mode controller (SMC) designed based on state feedback linearization with full states available.

关键词： available comparison unmeasurable nonlinear perturbation observer

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Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

《机械工程前沿（英文）》 2020年第15卷第2期页码 193-208 doi: 10.1007/s11465-019-0569-3

摘要： As a well-explored template that captures the essential dynamical behaviors of legged locomotion on sagittal plane, the spring-loaded inverted pendulum (SLIP) model has been extensively employed in both biomechanical study and robotics research. Aiming at fully leveraging the merits of the SLIP model to generate the adaptive trajectories of the center of mass (CoM) with maneuverability, this study presents a novel two-layered sagittal SLIP-anchored (SSA) task space control for a monopode robot to deal with terrain irregularity. This work begins with an analytical investigation of sagittal SLIP dynamics by deriving an approximate solution with satisfactory apex prediction accuracy, and a two-layered SSA task space controller is subsequently developed for the monopode robot. The higher layer employs an analytical approximate representation of the sagittal SLIP model to form a deadbeat controller, which generates an adaptive reference trajectory for the CoM. The lower layer enforces the monopode robot to reproduce a generated CoM movement by using a task space controller to transfer the reference CoM commands into joint torques of the multi-degree of freedom monopode robot. Consequently, an adaptive hopping behavior is exhibited by the robot when traversing irregular terrain. Simulation results have demonstrated the effectiveness of the proposed method.

关键词： legged robots spring-loaded inverted pendulum task space control apex return map deadbeat control irregular terrain negotiation

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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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A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

《机械工程前沿（英文）》 2015年第10卷第2期页码 198-210 doi: 10.1007/s11465-015-0335-0

摘要：

Pressing demands of productivity and accuracy in today’s robotic applications have highlighted an urge to replace classical control strategies with their modern control counterparts. This recent trend is further justified by the fact that the robotic manipulators have complex nonlinear dynamic structure with uncertain parameters. Highlighting the authors’ research achievements in the domain of manipulator design and control, this paper presents a systematic and comprehensive review of the state-of-the-art control techniques that find enormous potential in controlling manipulators to execute cutting-edge applications. In particular, three kinds of strategies, i.e., intelligent proportional-integral-derivative (PID) scheme, robust control and adaptation based approaches, are reviewed. Future trend in the subject area is commented. Open-source simulators to facilitate controller design are also tabulated. With a comprehensive list of references, it is anticipated that the review will act as a first-hand reference for researchers, engineers and industrial-interns to realize the control laws for multi-degree of freedom (DOF) manipulators.

关键词： robot control robust and nonlinear control adaptive control intelligent control industrial manipulators robotic arm

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Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

《机械工程前沿（英文）》 2016年第11卷第2期页码 204-212 doi: 10.1007/s11465-016-0380-3

摘要：

In this paper, a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots is presented. The control is developed for devices actuated by speed-controlled servo drives. The conditions for the asymptotic stability of the closed-loop system are derived by ensuring its passivity. The capability of achieving improved trajectory tracking and vibration suppression is shown through experimental tests conducted on a three-axis Cartesian robot. The control is aimed to be compatible with most industrial applications given the simplicity of implementation, the reduced computational requirements, and the use of joint position as the only measured signal.

关键词： industrial robot nonlinear control vibration damping model-free control motion control

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基于阻抗控制的人机协作范式研究及其机器人装配应用 Article

赵兴炜, 陈沂洺, 钱璐, 陶波, 丁汉

《工程（英文）》 2023年第30卷第11期页码 83-92 doi: 10.1016/j.eng.2022.08.022

摘要：

人-机器人协作由于人和机器人的优势互补而成为一个新兴的研究领域。本文提出了一种基于阻抗控制人机协作理论框架。在人机理论协框架下，人是决策者，机器人是执行者，装配任务提供环境约束。机器人是执行装配动作的主要执行者，具有位置控制、拖动控制、正阻抗控制和负阻抗控制等方式。为了揭示人机协作框架的特点，本文讨论了不同控制模式的切换条件图和人机协同耦合系统的稳定性分析。最后进行了人机协作装配实验，在装配公差为0.08 mm或配合过盈配合时，均可完成装配任务。实验表明，人机协同装配具有人与机器人的互补优势，能够有效地完成复杂的装配任务。

关键词：人机协作阻抗控制机器人装配