4区计算机科学

Robotica Pub Date : 2026-01-01 DOI: 10.1017/s0263574725103007

Yunpeng Liang, Zhihui Peng, Yanzheng Zhao, Weixin Yan

{"title":"Learning robust bipedal running via structured gait and trajectory guidance","authors":"Yunpeng Liang, Zhihui Peng, Yanzheng Zhao, Weixin Yan","doi":"10.1017/s0263574725103007","DOIUrl":"https://doi.org/10.1017/s0263574725103007","url":null,"abstract":"Abstract Legged robots have demonstrated remarkable potential for dynamic locomotion and terrain adaptability, making them a prominent focus of research. However, achieving robust and agile bipedal running remains challenging due to the complex dynamics of legged locomotion. In this paper, we propose a reinforcement learning framework for robust bipedal running, incorporating a simple reference trajectory generator and an asymmetric actor-critic architecture. The reference generator, based on kinematics, provides diverse trajectory references while preserving key gait characteristics, facilitating efficient policy exploration. To mitigate the simulation-to-reality gap, we extract latent variables encoding environmental and motion information from dual historical observations. Our method simplifies the trajectory generation process while maintaining effective guidance for learning. Extensive simulation and physical experiments demonstrate that, compared to model-based and learning-based baselines, our approach achieves higher agility, more accurate velocity tracking, and stronger disturbance rejection while preserving gait stability. The resulting controller exhibits spring–mass running dynamics that remain robust on both flat and uneven terrains.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"44 1","pages":"150-168"},"PeriodicalIF":0.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147887447","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Human–machine coupling dynamics modeling and adaptive admittance control of lower limb rehabilitation robot 下肢康复机器人人机耦合动力学建模与自适应导纳控制

4区计算机科学

Robotica Pub Date : 2025-09-24 DOI: 10.1017/s0263574725102300

Chao Gao, Chang Wang, Hui Li, Jianhua Zhang, Xinpeng Du, Jianjun Zhang

{"title":"Human–machine coupling dynamics modeling and adaptive admittance control of lower limb rehabilitation robot","authors":"Chao Gao, Chang Wang, Hui Li, Jianhua Zhang, Xinpeng Du, Jianjun Zhang","doi":"10.1017/s0263574725102300","DOIUrl":"https://doi.org/10.1017/s0263574725102300","url":null,"abstract":"Abstract Human–machine compatibility and collaborative control for stroke patients utilizing lower limb rehabilitation robots have attracted considerable research attention. As a highly human–machine-coupled system, ensuring adequate compliance and safety is fundamental to efficient and comfortable rehabilitation. Therefore, this paper first quantifies human–machine contact interactions, proposes a human–machine coupling dynamics modeling method, and identifies the robot’s dynamic inertia parameters and human lower limb parameters. Second, a dual closed-loop controller for the rehabilitation robot is designed. Based on the bottom position control, an adaptive admittance control algorithm is proposed that employs the root-mean-square propagation (RMSprop) algorithm to tune the adaptive gain. In rehabilitation training, the controller can adaptively adjust the admittance parameters according to the human–machine interaction force to achieve responsiveness to the dynamic changes of the human–machine system. The experimental results of the control system show that the human–machine cooperative control performance is significantly improved, the maximum joint angle error is reduced by more than 40.9%, and the maximum human–machine interaction force is reduced by more than 19.4%.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"43 10","pages":"3419-3441"},"PeriodicalIF":0.0,"publicationDate":"2025-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147910860","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Safety supervision framework for legged robots through safety verification and fall protection 通过安全验证和坠落防护的足式机器人安全监管框架

4区计算机科学

Robotica Pub Date : 2025-04-10 DOI: 10.1017/s026357472500044x

Ming Sun, Gao Yue

{"title":"Safety supervision framework for legged robots through safety verification and fall protection","authors":"Ming Sun, Gao Yue","doi":"10.1017/s026357472500044x","DOIUrl":"https://doi.org/10.1017/s026357472500044x","url":null,"abstract":"Abstract Safety is an essential requirement as well as a major bottleneck for legged robots in the real world. Particularly for learning-based methods, their trial-and-error nature and unexplainable policy have raised widespread concerns. Existing methods usually treat this challenge as a trade-off between safety assurance and task performance. One reason for this drawback stems from the inaccurate inference for the robot’s safety. In this paper, we re-examine the segmentation of the robot’s state space in terms of safety. According to the current state and the prediction of the state transition trajectory, the states of legged robots are classified into safe , recoverable , unsafe , and failure , and a safety verification method is introduced to online infer the robot’s safety. Then, task, recovery, and fall protection policies are trained to ensure the robot’s safety in different states, forming a safety supervision framework independently from the learning algorithm. To validate the proposed method and framework, experiment results are conducted both in the simulation and on the real-world robot, indicating improvements in terms of safety and efficiency.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"43 5","pages":"1691-1707"},"PeriodicalIF":0.0,"publicationDate":"2025-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147382179","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Control of stance-leg motion and zero-moment point for achieving perfect upright stationary state of rimless wheel type walker with parallel linkage legs 控制平行联动腿的无轮辋轮式助行器的姿态腿运动和零时刻点，以实现完美的直立静止状态

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-19 DOI: 10.1017/s0263574724001292

Fumihiko Asano, Mizuki Kawai

{"title":"Control of stance-leg motion and zero-moment point for achieving perfect upright stationary state of rimless wheel type walker with parallel linkage legs","authors":"Fumihiko Asano, Mizuki Kawai","doi":"10.1017/s0263574724001292","DOIUrl":"https://doi.org/10.1017/s0263574724001292","url":null,"abstract":"The authors have studied models and control methods for legged robots without having active ankle joints that can not only walk efficiently but also stop and developed a method for generating a gait that starts from an upright stationary state and returns to the same state in one step for a simple walker with one control input. It was clarified, however, that achieving a perfect upright stationary state including zero dynamics is impossible. Based on the observation, in this paper we propose a novel robotic walker with parallel linkage legs that can return to a perfect stationary standing posture in one step while simultaneously controlling the stance-leg motion and zero-moment point (ZMP) using two control inputs. First, we introduce a model of a planar walker that consists of two eight-legged rimless wheels, a body frame, a reaction wheel, and massless rods and describe the system dynamics. Second, we consider two target control conditions; one is control of the stance-leg motion, and the other is control of the ZMP to stabilize zero dynamics. We then determine the control input based on the two conditions with the target control period derived from the linearized model and consider adding a sinusoidal control input with an offset to correct the resultant terminal state of the reaction wheel. The validity of the proposed method is investigated through numerical simulations.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"75 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142265236","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Trajectory tracking control of a mobile robot using fuzzy logic controller with optimal parameters 使用具有最佳参数的模糊逻辑控制器对移动机器人进行轨迹跟踪控制

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-19 DOI: 10.1017/s0263574724001140

Tesfaye Deme Tolossa, Manavaalan Gunasekaran, Kaushik Halder, Hitendra Kumar Verma, Shyam Sundar Parswal, Nishant Jorwal, Felix Orlando Maria Joseph, Yogesh Vijay Hote

{"title":"Trajectory tracking control of a mobile robot using fuzzy logic controller with optimal parameters","authors":"Tesfaye Deme Tolossa, Manavaalan Gunasekaran, Kaushik Halder, Hitendra Kumar Verma, Shyam Sundar Parswal, Nishant Jorwal, Felix Orlando Maria Joseph, Yogesh Vijay Hote","doi":"10.1017/s0263574724001140","DOIUrl":"https://doi.org/10.1017/s0263574724001140","url":null,"abstract":"This work investigates the use of a fuzzy logic controller (FLC) for two-wheeled differential drive mobile robot trajectory tracking control. Due to the inherent complexity associated with tuning the membership functions of an FLC, this work employs a particle swarm optimization algorithm to optimize the parameters of these functions. In order to automate and reduce the number of rule bases, the genetic algorithm is also employed for this study. The effectiveness of the proposed approach is validated through MATLAB simulations involving diverse path tracking scenarios. The performance of the FLC is compared against established controllers, including minimum norm solution, closed-loop inverse kinematics, and Jacobian transpose-based controllers. The results demonstrate that the FLC offers accurate trajectory tracking with reduced root mean square error and controller effort. An experimental, hardware-based investigation is also performed for further verification of the proposed system. In addition, the simulation is conducted for various paths in the presence of noise in order to assess the proposed controller’s robustness. The proposed method is resilient against noise and disturbances, according to the simulation outcomes.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"33 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142265238","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

High accuracy hybrid kinematic modeling for serial robotic manipulators 串行机器人机械手的高精度混合运动学建模

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-19 DOI: 10.1017/s026357472400136x

Marco Ojer, Ander Etxezarreta, Gorka Kortaberria, Brahim Ahmed, Jon Flores, Javier Hernandez, Elena Lazkano, Xiao Lin

{"title":"High accuracy hybrid kinematic modeling for serial robotic manipulators","authors":"Marco Ojer, Ander Etxezarreta, Gorka Kortaberria, Brahim Ahmed, Jon Flores, Javier Hernandez, Elena Lazkano, Xiao Lin","doi":"10.1017/s026357472400136x","DOIUrl":"https://doi.org/10.1017/s026357472400136x","url":null,"abstract":"In this study, we present a hybrid kinematic modeling approach for serial robotic manipulators, which offers improved accuracy compared to conventional methods. Our method integrates the geometric properties of the robot with ground truth data, resulting in enhanced modeling precision. The proposed forward kinematic model combines classical kinematic modeling techniques with neural networks trained on accurate ground truth data. This fusion enables us to minimize modeling errors effectively. In order to address the inverse kinematic problem, we utilize the forward hybrid model as feedback within a non-linear optimization process. Unlike previous works, our formulation incorporates the rotational component of the end effector, which is beneficial for applications involving orientation, such as inspection tasks. Furthermore, our inverse kinematic strategy can handle multiple possible solutions. Through our research, we demonstrate the effectiveness of the hybrid models as a high-accuracy kinematic modeling strategy, surpassing the performance of traditional physical models in terms of positioning accuracy.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"45 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142269368","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An application of natural matrices to the dynamic balance problem of planar parallel manipulators 自然矩阵在平面平行机械手动态平衡问题中的应用

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-19 DOI: 10.1017/s0263574724001267

Jaime Gallardo-Alvarado

引用次数: 0

3D dynamics and control of a snake robot in uncertain underwater environment 不确定水下环境中蛇形机器人的三维动力学与控制

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-19 DOI: 10.1017/s0263574724000821

Bhavik M. Patel, Santosha K. Dwivedy

{"title":"3D dynamics and control of a snake robot in uncertain underwater environment","authors":"Bhavik M. Patel, Santosha K. Dwivedy","doi":"10.1017/s0263574724000821","DOIUrl":"https://doi.org/10.1017/s0263574724000821","url":null,"abstract":"<p>The snake robot can be used to monitor and maintain underwater structures and environments. The motion of a snake robot is achieved by lateral undulation which is called the gait pattern of the snake robot. The parameters of a gait pattern need to be adjusted for compensating environmental uncertainties. In this work, 3D motion dynamics of a snake robot for the underwater environment is proposed with vertical motion using the buoyancy variation technique and horizontal motion using lateral undulation. “The neutral buoyant snake robot motion in hypothetical plane and added mass effect is negligible”, these previous assumptions are removed in this work. Two different control algorithms are designed for horizontal and vertical motions. The existing super twisting sliding mode control (STSMC) is used for the horizontal serpentine motion of the snake robot. The control law is designed on a reduced-ordered dynamic system based on virtual holonomic constraints. The vertical motion is achieved by controlling the mass variation using a pump. The water pumps are controlled using the event-based controller or Proportional Derivative (PD) controller. The results of the proposed control technique are verified with various external environmental disturbances and uncertainties to check the robustness of the control approach for various path following cases. Moreover, the results of STSMC scheme are compared with SMC scheme to check the effectiveness of STSMC. The practical implementation of the work is also performed using Simscape Multibody environment where the designed control algorithm is deployed on the virtual snake robot.</p>","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"44 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142265232","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Artificial neural network-based control of powered knee exoskeletons for lifting tasks: design and experimental validation 基于人工神经网络的动力膝关节外骨骼起重任务控制：设计与实验验证

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-18 DOI: 10.1017/s0263574724001206

Asif Arefeen, Yujiang Xiang

{"title":"Artificial neural network-based control of powered knee exoskeletons for lifting tasks: design and experimental validation","authors":"Asif Arefeen, Yujiang Xiang","doi":"10.1017/s0263574724001206","DOIUrl":"https://doi.org/10.1017/s0263574724001206","url":null,"abstract":"This study introduces a hybrid model that utilizes a model-based optimization method to generate training data and an artificial neural network (ANN)-based learning method to offer real-time exoskeleton support in lifting activities. For the model-based optimization method, the torque of the knee exoskeleton and the optimal lifting motion are predicted utilizing a two-dimensional (2D) human–exoskeleton model. The control points for exoskeleton motor current profiles and human joint angle profiles from cubic B-spline interpolation represent the design variables. Minimizing the square of the normalized human joint torque is considered as the cost function. Subsequently, the lifting optimization problem is tackled using a sequential quadratic programming (SQP) algorithm in sparse nonlinear optimizer (SNOPT). For the learning-based approach, the learning-based control model is trained using the general regression neural network (GRNN). The anthropometric parameters of the human subjects and lifting boundary postures are used as input parameters, while the control points for exoskeleton torque are treated as output parameters. Once trained, the learning-based control model can provide exoskeleton assistive torque in real time for lifting tasks. Two test subjects’ joint angles and ground reaction forces (GRFs) comparisons are presented between the experimental and simulation results. Furthermore, the utilization of exoskeletons significantly reduces activations of the four knee extensor and flexor muscles compared to lifting without the exoskeletons for both subjects. Overall, the learning-based control method can generate assistive torque profiles in real time and faster than the model-based optimal control approach.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"196 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142265237","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Obstacle avoidance control of UGV based on adaptive-dynamic control barrier function in unstructured terrain 基于自适应动态控制障碍函数的 UGV 在非结构化地形中的避障控制

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-18 DOI: 10.1017/s026357472400122x

Liang Guo, Suyu Zhang, Wenlong Zhao, Jun Liu, Ruijun Liu

引用次数: 0

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