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Unscented Kalman-filter-based sliding mode control for an underwater gliding snake-like robot 期刊论文
Science China Information Sciences, 2020, 卷号: 63, 期号: 1, 页码: 1-13
Authors:  Tang JG(唐敬阁);  Li B(李斌);  Chang J(常健);  Zhang AQ(张艾群)
Adobe PDF(1927Kb)  |  Favorite  |  View/Download:190/35  |  Submit date:2020/01/11
underwater gliding snake-like robot  sliding mode control, reaching law  nonlinear observer  unscented Kalman filter  robustness  
Rolling direction prediction of tensegrity robot on the slope based on FEM and GA 期刊论文
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2020, 卷号: 234, 期号: 19, 页码: 3846-3858
Authors:  Zhao KK(赵凯凯);  Chang J(常健);  Li B(李斌);  Du WJ(杜汶娟)
Adobe PDF(1449Kb)  |  Favorite  |  View/Download:136/26  |  Submit date:2020/05/16
Rolling direction predictions  tensegrity robot  finite element method  optimization  genetic algorithm  
Parameter optimization of eel robot based on NSGA-II algorithm 会议论文
Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings, Shenyang, China, August 8-11, 2019
Authors:  Zhang AF(张安翻);  Ma SG(马书根);  Li B(李斌);  Wang MH(王明辉);  Chang J(常健)
Adobe PDF(4016Kb)  |  Favorite  |  View/Download:143/26  |  Submit date:2019/09/05
Parameter optimization  Gait pattern  NSGA-II  Eel robot  
A Novel Serpentine Gait Generation Method for Snakelike Robots Based on Geometry Mechanics 期刊论文
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2018, 卷号: 23, 期号: 3, 页码: 1249-1258
Authors:  Guo X(郭宪);  Ma SG(马书根);  Li B(李斌);  Fang YC(方勇纯)
Adobe PDF(834Kb)  |  Favorite  |  View/Download:105/20  |  Submit date:2018/07/31
Differential Geometry  Geometric Modeling  Mobile Robot Motion-planning  Robot Kinematics  
The Path Planning Method of Tensegrity Robot Based on A* Algorithm 会议论文
Proceedings of 2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, Tianjin, China, July 19-23, 2018
Authors:  Chang J(常健);  Li B(李斌);  Liu WY(刘文元);  Du WJ(杜汶娟)
Adobe PDF(1811Kb)  |  Favorite  |  View/Download:149/33  |  Submit date:2018/12/27
A Novel Underwater Snake-like Robot with Gliding Gait 会议论文
2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017, Hawaii, USA, July 31 - August 4, 2017
Authors:  Tang JG(唐敬阁);  Li B(李斌);  Li ZQ(李志强);  Chang J(常健)
Adobe PDF(891Kb)  |  Favorite  |  View/Download:132/16  |  Submit date:2018/10/08
Underwater Snake-like Robot  Gliding Gait  Telescopic Joint  Dynamic Model  
轮手一体机器人能量次优重构规划方法 期刊论文
自动化学报, 2017, 卷号: 43, 期号: 8, 页码: 1358-1369
Authors:  胡亚南;  马书根;  李斌;  王明辉;  王越超
Adobe PDF(1071Kb)  |  Favorite  |  View/Download:250/32  |  Submit date:2017/09/18
模块化机器人  重构规划  模型简化  最优控制  
Adaptive controller design for underwater snake robot with unmatched uncertainties 期刊论文
SCIENCE CHINA-INFORMATION SCIENCES, 2016, 卷号: 59, 期号: 5, 页码: 1-15
Authors:  Zhang AF(张安翻);  Ma SG(马书根);  Li B(李斌);  Wang MH(王明辉);  Guo X(郭宪);  Wang YC(王越超)
Adobe PDF(1027Kb)  |  Favorite  |  View/Download:422/59  |  Submit date:2016/06/21
Underwater Snake-like Robot  Adaptive Control  Simplified System  Piecewise Constant Law  Unmatched Uncertainties  Underactuated Robots  
Force Analytic Method for Rolling Gaits of Tensegrity Robots 期刊论文
IEEE/ASME Transactions on Mechatronics, 2016, 卷号: 21, 期号: 5, 页码: 2249-2259
Authors:  Du WJ(杜汶娟);  Ma SG(马书根);  Li B(李斌);  Wang MH(王明辉);  Hirai, Shinichi
Adobe PDF(1286Kb)  |  Favorite  |  View/Download:361/67  |  Submit date:2016/09/11
Driving Parameters  Force Analytic Method  Material Parameters  Rolling Directions  Tensegrity Robots  
移动型模块化机器人的高效重构规划方法 期刊论文
机器人, 2016, 卷号: 38, 期号: 4, 页码: 467-474, 485
Authors:  胡亚南;  马书根;  李斌;  王明辉;  王越超
Adobe PDF(1054Kb)  |  Favorite  |  View/Download:283/44  |  Submit date:2016/09/04
模块化机器人  重构规划  运动学  最优控制  Hjb方程