Pub Date : 2021-07-03DOI: 10.1109/ICARM52023.2021.9536069
Chao Yao, Changkun Jiang, Zun Liu, Jie Chen, Jianqiang Li
UAVs-assisted content caching has emerged as a promising content delivery paradigm to effectively reduce the user equipments (UEs) access delay caused by the ever-increasing data traffic in current networks. Existing research on UAVs caching mainly focuses on stand-alone UAVs, without considering the complicated service interactions among UAVs in a cooperative manner. To this end, we focus on the UAVs collaborative edge caching scheme with one more link to retrieve the target files from one UAV to another. We propose a three-stage sequential optimization model to capture the complicated interactions involved in such a system. Specifically, in Stage I, we aim to maximize the benefit of the Internet Content Provider, by optimizing the number of UAVs and the cache capacity of UAVs to be deployed. In Stage II, given the UAVs’ deployment, we optimize the service scheduling for UAVs to balance the service energy and communication energy. In Stage III, we assign a caching strategy to maximize the number of UEs served by UAVs. Extensive simulation results show that our proposed collaborative edge caching model significantly outperforms existing edge caching strategies in terms of the number of UEs served by UAVs, the UAV cache hit rate, the average downloading latency, and the diversity of files.
{"title":"Optimal Capacity Allocation and Caching Strategy for Multi-UAV Collaborative Edge Caching","authors":"Chao Yao, Changkun Jiang, Zun Liu, Jie Chen, Jianqiang Li","doi":"10.1109/ICARM52023.2021.9536069","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536069","url":null,"abstract":"UAVs-assisted content caching has emerged as a promising content delivery paradigm to effectively reduce the user equipments (UEs) access delay caused by the ever-increasing data traffic in current networks. Existing research on UAVs caching mainly focuses on stand-alone UAVs, without considering the complicated service interactions among UAVs in a cooperative manner. To this end, we focus on the UAVs collaborative edge caching scheme with one more link to retrieve the target files from one UAV to another. We propose a three-stage sequential optimization model to capture the complicated interactions involved in such a system. Specifically, in Stage I, we aim to maximize the benefit of the Internet Content Provider, by optimizing the number of UAVs and the cache capacity of UAVs to be deployed. In Stage II, given the UAVs’ deployment, we optimize the service scheduling for UAVs to balance the service energy and communication energy. In Stage III, we assign a caching strategy to maximize the number of UEs served by UAVs. Extensive simulation results show that our proposed collaborative edge caching model significantly outperforms existing edge caching strategies in terms of the number of UEs served by UAVs, the UAV cache hit rate, the average downloading latency, and the diversity of files.","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134404878","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-07-03DOI: 10.1109/ICARM52023.2021.9536135
Zhiyong Zhou, Bin Li, Qi Li, Yuan Zhang
Under the same workspace, the different structural parameters of parallel mechanism will lead to different mechanism performances. Therefore, obtaining the optimal structural parameters of parallel mechanism is an important guarantee for mechanism performance. To address this problem, a new 3-DOF 2-RRU&RSR parallel robot is selected as the research object. Firstly, the parameter modeling is carried out and imported into ADAMS. Secondly, several important parameters of the parallel robot are selected as design variables for design and research. The trajectories and loads of the moving platform end of the parallel robot are limited, and the effects of various parameters on the quality, transfer efficiency, total kinetic energy consumption and input angular amplitude of the parallel robot are obtained. Finally, multiple objectives are synthesized into a total objective function by the weighting factor method. Based on the design research, the four important parameters are used as design variables to optimize the design, and an optimal solution that weighs multiple objectives is obtained, so that the parallel robot obtains Lightweight design and performance improvement.
{"title":"Multi-objective Parameters Optimization Design of a Novel 3-DOF Parallel Robot","authors":"Zhiyong Zhou, Bin Li, Qi Li, Yuan Zhang","doi":"10.1109/ICARM52023.2021.9536135","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536135","url":null,"abstract":"Under the same workspace, the different structural parameters of parallel mechanism will lead to different mechanism performances. Therefore, obtaining the optimal structural parameters of parallel mechanism is an important guarantee for mechanism performance. To address this problem, a new 3-DOF 2-RRU&RSR parallel robot is selected as the research object. Firstly, the parameter modeling is carried out and imported into ADAMS. Secondly, several important parameters of the parallel robot are selected as design variables for design and research. The trajectories and loads of the moving platform end of the parallel robot are limited, and the effects of various parameters on the quality, transfer efficiency, total kinetic energy consumption and input angular amplitude of the parallel robot are obtained. Finally, multiple objectives are synthesized into a total objective function by the weighting factor method. Based on the design research, the four important parameters are used as design variables to optimize the design, and an optimal solution that weighs multiple objectives is obtained, so that the parallel robot obtains Lightweight design and performance improvement.","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114385444","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-07-03DOI: 10.1109/ICARM52023.2021.9536099
Shang Liu, Guoqing Zhang, B. Li, Xianku Zhang
This article mainly concentrates on the formation control issue for the under-actuated ship with the consideration of ocean practice, i.e., the waypoints-based predefined route and the restricted communication resource. With the improved logical virtual ship (LVS) guidance algorithm, the formation can sail along the smoothed waypoint-based route under the ocean environment. For merit of the event-triggered strategy, the control commands (i.e., the engine speed and the rudder angle) are updated only when necessary, and that can reduce the communication load of the communication channels between the controller and actuators. Besides, by employing the neural damping method, system uncertain terms can be remodeled and only two relevant adaptive learning parameters are required to be updated online, thus avoiding the updating of numerous neural networks weights. Finally, by the Lyapunov analysis, all tracking errors in the formation system can be guaranteed the semi-globally uniformly ultimately bounded (SGUUB) convergence. The digital simulated experiment can verify the effectiveness and superiority of our control algorithm.
{"title":"Robust Event-Triggered Formation Control for Underactuated Ships Under the Practice Constraint*","authors":"Shang Liu, Guoqing Zhang, B. Li, Xianku Zhang","doi":"10.1109/ICARM52023.2021.9536099","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536099","url":null,"abstract":"This article mainly concentrates on the formation control issue for the under-actuated ship with the consideration of ocean practice, i.e., the waypoints-based predefined route and the restricted communication resource. With the improved logical virtual ship (LVS) guidance algorithm, the formation can sail along the smoothed waypoint-based route under the ocean environment. For merit of the event-triggered strategy, the control commands (i.e., the engine speed and the rudder angle) are updated only when necessary, and that can reduce the communication load of the communication channels between the controller and actuators. Besides, by employing the neural damping method, system uncertain terms can be remodeled and only two relevant adaptive learning parameters are required to be updated online, thus avoiding the updating of numerous neural networks weights. Finally, by the Lyapunov analysis, all tracking errors in the formation system can be guaranteed the semi-globally uniformly ultimately bounded (SGUUB) convergence. The digital simulated experiment can verify the effectiveness and superiority of our control algorithm.","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114782658","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-07-03DOI: 10.1109/ICARM52023.2021.9536169
Liangwen Wang, Shizhao Zhang, Ruolan Wang, Jie Liu, Yangguang Kong, Xuling Liu, Junlong Liu
Taking the production process requirements of the pyrophyllite block as an example, which is raw material for the synthetic diamond. The manipulator with internal bracing grasping and pressing assembly for the fragile thin-walled cylindrical inner wall parts is designed, which can complete the grasping and assembling parts operation in a narrow space by a combination of the fingers and palm. In order to find the general structure and grasping law of the grasping manipulator suitable for the fragile thin-walled cylindrical inner wall parts, based on the introduction of the overall structure of the manipulator, the conditions of grasping and transferring fragile parts stably, the restrictions of cylinder driving force, and the different structure types of driving finger motion are discussed in detail in this paper. The grasping and assembling process of actual manipulator is taken as an example to verify our design. The research in this paper is beneficial to improve the design theory of the manipulator system with special functions.
{"title":"Structure Configuration of a Manipulator for Internal Bracing Grasping of the Fragile Thin-Walled Cylindrical Inner Wall Parts","authors":"Liangwen Wang, Shizhao Zhang, Ruolan Wang, Jie Liu, Yangguang Kong, Xuling Liu, Junlong Liu","doi":"10.1109/ICARM52023.2021.9536169","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536169","url":null,"abstract":"Taking the production process requirements of the pyrophyllite block as an example, which is raw material for the synthetic diamond. The manipulator with internal bracing grasping and pressing assembly for the fragile thin-walled cylindrical inner wall parts is designed, which can complete the grasping and assembling parts operation in a narrow space by a combination of the fingers and palm. In order to find the general structure and grasping law of the grasping manipulator suitable for the fragile thin-walled cylindrical inner wall parts, based on the introduction of the overall structure of the manipulator, the conditions of grasping and transferring fragile parts stably, the restrictions of cylinder driving force, and the different structure types of driving finger motion are discussed in detail in this paper. The grasping and assembling process of actual manipulator is taken as an example to verify our design. The research in this paper is beneficial to improve the design theory of the manipulator system with special functions.","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128302333","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-07-03DOI: 10.1109/ICARM52023.2021.9536097
{"title":"Copyright Page","authors":"","doi":"10.1109/ICARM52023.2021.9536097","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536097","url":null,"abstract":"","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134348055","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-07-03DOI: 10.1109/ICARM52023.2021.9536054
Yiwen Chen, Chenguang Yang, Miao Li, Shi‐Lu Dai
In the medical field, B-ultrasound is an important way to diagnose diseases. However, due to the lack of professional sonographers, patients have to queue for a long time for examination. Or due to some easily contagious diseases, sonographers cannot directly contact the patient for examination. Therefore, it is necessary to use robotic arms to perform automated B-ultrasound examinations on patients. In our work, the strategy of how to move the probe to detect the kidney is studied. The sonographer is required to hold a special probe instrument to collect the demonstration data, including the B-ultrasound image, as well as the posture and force information of the probe. Then, we leverage the data learning to realize the guidance of the B-ultrasound probe action. In this paper, supervised learning is firstly used to predict actions according image inputs. In other words, the supervised network is input with the B-ultrasound image and output posture and force that the probe should reach at the next moment. Based on the supervised learning, an actor-critic reinforcement learning algorithm that uses asymmetrical data is proposed to improve the utilization of data and enhance the generalization of neural networks.
{"title":"Learning to Predict Action Based on B-ultrasound Image Information","authors":"Yiwen Chen, Chenguang Yang, Miao Li, Shi‐Lu Dai","doi":"10.1109/ICARM52023.2021.9536054","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536054","url":null,"abstract":"In the medical field, B-ultrasound is an important way to diagnose diseases. However, due to the lack of professional sonographers, patients have to queue for a long time for examination. Or due to some easily contagious diseases, sonographers cannot directly contact the patient for examination. Therefore, it is necessary to use robotic arms to perform automated B-ultrasound examinations on patients. In our work, the strategy of how to move the probe to detect the kidney is studied. The sonographer is required to hold a special probe instrument to collect the demonstration data, including the B-ultrasound image, as well as the posture and force information of the probe. Then, we leverage the data learning to realize the guidance of the B-ultrasound probe action. In this paper, supervised learning is firstly used to predict actions according image inputs. In other words, the supervised network is input with the B-ultrasound image and output posture and force that the probe should reach at the next moment. Based on the supervised learning, an actor-critic reinforcement learning algorithm that uses asymmetrical data is proposed to improve the utilization of data and enhance the generalization of neural networks.","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133983076","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-07-03DOI: 10.1109/ICARM52023.2021.9536065
C. Fang, Jinyong Shangguan, Hao Li, M. Yue
A distributed cooperative control of the vehicle platoon is proposed in this study based on a composite safety distance model under highway condition. To begin with, a supervisor controller, combining the dominant superiorities between the constant time headway and the improved driver-preview safety distance models, is designed to ensure the safety of the vehicle platoon under the complex highway condition. Afterwards, model predictive control method is employed to design the lateral controller of each individual vehicle, which can achieve the satisfactory tracking performance of the vehicle posture due to its multi-constraint processing and rolling optimization advantages. Meanwhile, sliding mode control method is applied in the velocity controller of each individual vehicle because of its numerous merits, such as fast convergence and strong robustness, to ensure safety distance maintenance. In the end, the effectiveness of the proposed method is verified under the Matlab/Simulink environment.
{"title":"Distributed Cooperative Control of Vehicle Platoon Based on a Composite Safety Distance","authors":"C. Fang, Jinyong Shangguan, Hao Li, M. Yue","doi":"10.1109/ICARM52023.2021.9536065","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536065","url":null,"abstract":"A distributed cooperative control of the vehicle platoon is proposed in this study based on a composite safety distance model under highway condition. To begin with, a supervisor controller, combining the dominant superiorities between the constant time headway and the improved driver-preview safety distance models, is designed to ensure the safety of the vehicle platoon under the complex highway condition. Afterwards, model predictive control method is employed to design the lateral controller of each individual vehicle, which can achieve the satisfactory tracking performance of the vehicle posture due to its multi-constraint processing and rolling optimization advantages. Meanwhile, sliding mode control method is applied in the velocity controller of each individual vehicle because of its numerous merits, such as fast convergence and strong robustness, to ensure safety distance maintenance. In the end, the effectiveness of the proposed method is verified under the Matlab/Simulink environment.","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132884464","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-07-03DOI: 10.1109/ICARM52023.2021.9536163
Wen Qi, Hang Su, Junhao Zhang, R. Song, G. Ferrigno, E. De Momi, A. Aliverti
Capturing biosignals from wearable devices is widely applied in the human-robot interaction (HRI) area. For example, surface electromyography (sEMG) signals are always adopted to track finger flexion for hand robot control. However, it is difficult to extract features from the weak sEMG signals with several noises. The existing regression model cannot be dealing with changes in real robot control scenarios. This paper proposed an sEMG based finger flexion tracking framework for robot hand control using the active learning strategy. It consists of an offline regression model and an online model updating module—the former aims to build the regression model based on the processed sEMG and finger angles. The latter is to update the model when it gets a trigger. The comparison results prove the performance of the active learning strategy in the online scenario. By comparing the overall updating times and errors, the decision tree method saves more computational time. At the same time, Gaussian regression obtains a higher accuracy.
{"title":"Active Learning Strategy of Finger Flexion Tracking using sEMG for Robot Hand Control","authors":"Wen Qi, Hang Su, Junhao Zhang, R. Song, G. Ferrigno, E. De Momi, A. Aliverti","doi":"10.1109/ICARM52023.2021.9536163","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536163","url":null,"abstract":"Capturing biosignals from wearable devices is widely applied in the human-robot interaction (HRI) area. For example, surface electromyography (sEMG) signals are always adopted to track finger flexion for hand robot control. However, it is difficult to extract features from the weak sEMG signals with several noises. The existing regression model cannot be dealing with changes in real robot control scenarios. This paper proposed an sEMG based finger flexion tracking framework for robot hand control using the active learning strategy. It consists of an offline regression model and an online model updating module—the former aims to build the regression model based on the processed sEMG and finger angles. The latter is to update the model when it gets a trigger. The comparison results prove the performance of the active learning strategy in the online scenario. By comparing the overall updating times and errors, the decision tree method saves more computational time. At the same time, Gaussian regression obtains a higher accuracy.","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116680342","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pattern generation is the basis of balanced motion for biped robots, especially when highly dynamic motions are desired. For fast walking, convention pattern generation based on LIPM (linear inverted pendulum model) alone can’t guarantee balance of the robot, while pattern generation based on full-body dynamics takes a lot of time. This paper proposes a swing-foot trajectory generation method for biped walking, which aims to minimize the velocity and acceleration of swing leg. Experiment showed that biped walking of 4km/h can be achieved with optimized swing-foot trajectory.
{"title":"A Swing-foot Trajectory Generation Method For Biped Walking*","authors":"Huanzhong Chen, Xuechao Chen, Zhangguo Yu, Chencheng Dong, Qingqing Li, Runming Zhang, Qiang Huang","doi":"10.1109/ICARM52023.2021.9536057","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536057","url":null,"abstract":"Pattern generation is the basis of balanced motion for biped robots, especially when highly dynamic motions are desired. For fast walking, convention pattern generation based on LIPM (linear inverted pendulum model) alone can’t guarantee balance of the robot, while pattern generation based on full-body dynamics takes a lot of time. This paper proposes a swing-foot trajectory generation method for biped walking, which aims to minimize the velocity and acceleration of swing leg. Experiment showed that biped walking of 4km/h can be achieved with optimized swing-foot trajectory.","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123617036","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
To give the biped robots a faster locomotion and better obstacle passing performance, high-dynamic motions are important. However, the instabilities and the huge impact result from the high-dynamic motions are remained challenges for the control. In this paper, a complete control framework is proposed, unifying all the controllers by the essential idea of contact force and torque control. The control framework is divided into two phases: The support phase control, which including the posture controller, the zero-moment-point controller and the threshold-added-torso-position-compliance controller; The flying phase control, which including the swing leg controller and the step position controller. To obtain a better performance for the contact force and torque control, a novel contact torque controller and a collision absorbing controller are proposed. The control framework is validated with experiments of the biped robot BHR-T performing running and jumping motions.
{"title":"A Unified Control Framework for High-Dynamic Motions of Biped Robots","authors":"Chencheng Dong, Xuechao Chen, Zhangguo Yu, Yuanxi Zhang, Huanzhong Chen, Qingqing Li, Qiang Huang","doi":"10.1109/ICARM52023.2021.9536066","DOIUrl":"https://doi.org/10.1109/ICARM52023.2021.9536066","url":null,"abstract":"To give the biped robots a faster locomotion and better obstacle passing performance, high-dynamic motions are important. However, the instabilities and the huge impact result from the high-dynamic motions are remained challenges for the control. In this paper, a complete control framework is proposed, unifying all the controllers by the essential idea of contact force and torque control. The control framework is divided into two phases: The support phase control, which including the posture controller, the zero-moment-point controller and the threshold-added-torso-position-compliance controller; The flying phase control, which including the swing leg controller and the step position controller. To obtain a better performance for the contact force and torque control, a novel contact torque controller and a collision absorbing controller are proposed. The control framework is validated with experiments of the biped robot BHR-T performing running and jumping motions.","PeriodicalId":367307,"journal":{"name":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124853996","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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