Nonlinear Model Predictive Control for a Self-Balancing Wheelchair

Autor: Chen Liu, Kairong Qin, Guiyang Xin, Chengbao Li, Sibo Wang

Publikováno v: IEEE Access, Vol 12, Pp 28938-28949 (2024)

The self-balancing wheelchair is characterized by its small size, flexibility, and strong ground adaptability. To expand the control range of the pitch angle and enhance the stability of the self-balancing wheelchair, this paper presents a nonlinear

Externí odkaz: https://doaj.org/article/4823dd6e911a4a1fa0efa2788db1ac34

An Optimization-Based Locomotion Controller for Quadruped Robots Leveraging Cartesian Impedance Control

Autor: Guiyang Xin, Wouter Wolfslag, Hsiu-Chin Lin, Carlo Tiseo, Michael Mistry

Publikováno v: Frontiers in Robotics and AI, Vol 7 (2020)

Quadruped robots require compliance to handle unexpected external forces, such as impulsive contact forces from rough terrain, or from physical human-robot interaction. This paper presents a locomotion controller using Cartesian impedance control to

Externí odkaz: https://doaj.org/article/01b6fd29cc3e44058c07309a6c516424

Hierarchical Kinematic Modelling and Optimal Design of a Novel Hexapod Robot with Integrated Limb Mechanism

Autor: Guiyang Xin, Hua Deng, Guoliang Zhong, Hengsheng Wang

Publikováno v: International Journal of Advanced Robotic Systems, Vol 12 (2015)

This paper presents a novel hexapod robot, hereafter named PH-Robot, with three degrees of freedom (3-DOF) parallel leg mechanisms based on the concept of an integrated limb mechanism (ILM) for the integration of legged locomotion and arm manipulatio

Externí odkaz: https://doaj.org/article/5765105f16814a769012dc12d6467c6a

Choosing Stiffness and Damping for Optimal Impedance Planning

Autor: Mathew Jose Pollayil, Franco Angelini, Guiyang Xin, Michael Mistry, Sethu Vijayakumar, Antonio Bicchi, Manolo Garabini

Publikováno v: Pollayil, M J, Angelini, F, Xin, G, Mistry, M, Vijayakumar, S, Bicchi, A & Garabini, M 2023, ' Choosing Stiffness and Damping for Optimal Impedance Planning ', IEEE Transactions on Robotics, vol. 39, no. 2, pp. 1281-1300 . https://doi.org/10.1109/TRO.2022.3216078

The attention given to impedance control in recent years does not match a similar focus on the choice of impedance values that the controller should execute. Current methods are hardly general and often compute fixed controller gains relying on the u

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::3c2a1153814798a451649bee58e958d2
https://www.pure.ed.ac.uk/ws/files/313473567/Choosing_Stiffness_POLLAYIL_DOA01112022_AFV.pdf

Automatic Gait Pattern Selection for Legged Robots

Autor: Sethu Vijayakumar, Carlos Mastalli, Guiyang Xin, Steve Tonneau, Iordanis Chatzinikolaidis, Jiayi Wang, Wouter Wolfslag

Publikováno v: IROS
Wang, J, Chatzinikolaidis, I, Mastalli, C, Wolfslag, W, Xin, G, Tonneau, S & Vijayakumar, S 2021, Automatic Gait Pattern Selection for Legged Robots . in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . Institute of Electrical and Electronics Engineers (IEEE), pp. 3990-3997, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, United States, 25/10/20 . https://doi.org/10.1109/IROS45743.2020.9340789
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

An important issue when synthesizing legged locomotion plans is the combinatorial complexity that arises from gait pattern selection. Though it can be defined manually, the gait pattern plays an important role in the feasibility and optimality of a m

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::56e9e9f664b6390609653a4a731c7089
https://doi.org/10.1109/iros45743.2020.9340789