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Electrode shifts estimation and adaptive correction for improving robustness of sEMG-based recognition 期刊论文
IEEE Journal of Biomedical and Health Informatics, 2021, 卷号: 25, 期号: 4, 页码: 1101-1110
Authors:  Li ZY(李自由);  Zhao XG(赵新刚);  Liu GJ(刘光军);  Zhang B(张弼);  Zhang DH(张道辉);  Han JD(韩建达)
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Surface electromyography (sEMG)  polar coordinate system  electrode shifts  adaptive correction  pattern recognition  
Cadence-Insensitive Soft Exoskeleton Design With Adaptive Gait State Detection and Iterative Force Control 期刊论文
IEEE Transactions on Automation Science and Engineering, 2021, 页码: 1-14
Authors:  Tan XW(谈晓伟);  Zhang B(张弼);  Liu GJ(刘光军);  Zhao XG(赵新刚);  Zhao YW(赵忆文)
Adobe PDF(4933Kb)  |  Favorite  |  View/Download:35/3  |  Submit date:2021/04/13
Assistive robotics  exoskeletons, exosuit  force control  gait state  human–robot interaction (HRI)  
Robust Control of an Aerial Manipulator Based on a Variable Inertia Parameters Model 期刊论文
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2020, 卷号: 67, 期号: 11, 页码: 9515-9525
Authors:  Zhang GY(张广玉);  He YQ(何玉庆);  Dai B(代波);  Gu F(谷丰);  Liu GJ(刘光军)
Adobe PDF(5846Kb)  |  Favorite  |  View/Download:216/56  |  Submit date:2020/08/08
Manipulator dynamics  Couplings  Vehicle dynamics  Unmanned aerial vehicles  Force  Robustness  Aerial manipulator  disturbance rejection  dynamic modeling  unmanned aerial vehicle (UAV) control  
面向自由飞行目标捕获的四旋翼最优轨迹规划 期刊论文
信息与控制, 2019, 卷号: 48, 期号: 4, 页码: 469-476, 485
Authors:  张广玉;  何玉庆;  代波;  谷丰;  杨丽英;  韩建达;  刘光军
Adobe PDF(637Kb)  |  Favorite  |  View/Download:136/15  |  Submit date:2019/09/15
四旋翼  轨迹规划  时间最优控制  模型预测控制(MPC)  障碍物避碰  
机器人串联弹性关节驱动器的刚度控制方法 期刊论文
信息与控制, 2019, 卷号: 48, 期号: 3, 页码: 364-371
Authors:  林光模;  赵新刚;  韩建达;  刘光军
Adobe PDF(2533Kb)  |  Favorite  |  View/Download:120/7  |  Submit date:2019/08/04
串联弹性驱动器  刚度控制  人机协作  
面向抓取作业的飞行机械臂系统及其控制 期刊论文
机器人, 2019, 卷号: 41, 期号: 1, 页码: 19-29
Authors:  张广玉;  何玉庆;  代波;  谷丰;  杨丽英;  韩建达;  刘光军
Adobe PDF(12376Kb)  |  Favorite  |  View/Download:308/54  |  Submit date:2018/06/17
飞行机械臂  飞行抓取  飞行机器人  鲁棒控制  
Aerial Grasping of an Object in the Strong Wind: Robust Control of an Aerial Manipulator 期刊论文
APPLIED SCIENCES-BASEL, 2019, 卷号: 9, 期号: 11, 页码: 1-17
Authors:  Zhang GY(张广玉);  He YQ(何玉庆);  Dai B(代波);  Gu F(谷丰);  Yang LY(杨丽英);  Han JD(韩建达);  Liu GJ(刘光军)
Adobe PDF(3969Kb)  |  Favorite  |  View/Download:201/35  |  Submit date:2019/08/04
aerial robot  aerial manipulator  robot control  disturbance rejection  robust control  UAV  
A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots 期刊论文
Mechanical Systems and Signal Processing, 2018, 卷号: 104, 页码: 758-775
Authors:  Li YK(李元凯);  Ding, Liang;  Zheng, Zhizhong;  Yang, Qizhi;  Zhao XG(赵新刚);  Liu GJ(刘光军)
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Terrain Parameters  Real-time Estimation  Multi-mode  Recursive Gauss-newton Method  Adaptive Robust Extended Kalman Filter  
Grasp a Moving Target from the Air: System & Control of an Aerial Manipulator 会议论文
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), Brisbane, AUSTRALIA, May 21-25, 2018
Authors:  Zhang GY(张广玉);  He YQ(何玉庆);  Dai B(代波);  Gu F(谷丰);  Yang LY(杨丽英);  Han JD(韩建达;  Liu GJ(刘光军);  Qi JT(齐俊桐)
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Wavelet-based detection on MUAPs decomposed from sEMG under different levels of muscle isometric contraction 会议论文
Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics, Macau, China, December 5-8, 2017
Authors:  Li ZY(李自由);  Ding QC(丁其川);  Zhao XG(赵新刚);  Han JD(韩建达);  Liu GJ(刘光军)
Adobe PDF(1210Kb)  |  Favorite  |  View/Download:85/10  |  Submit date:2018/07/30
EMG Decomposition  Motor Units Action Potential  Wavelet transform  muscle contraction evaluation