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学者姓名：陈彦杰
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Abstract ：
The wheeled bipedal robots have great application potential in environments with a mixture of structured and unstructured terrain. However, wheeled bipedal robots have problems such as poor balance ability and low movement level on rough roads. In this paper, a novel and low-cost wheeled bipedal robot with an asymmetrical five-link mechanism is proposed, and the kinematics of the legs and the dynamics of the Wheeled Inverted Pendulum (WIP) are modeled. The primary balance controller of the wheeled bipedal robot is built based on the Linear Quadratic Regulator (LQR) and the compensation method of the virtual pitch angle adjusting the Center of Mass (CoM) position, then the whole-body hybrid torque-position control is established by combining attitude and leg controllers. The stability of the robot's attitude control and motion is verified with simulations and prototype experiments, which confirm the robot's ability to pass through complex terrain and resist external interference. The feasibility and reliability of the proposed control model are verified.
Keyword ：
Wheeled Robots Legged Robots Motion Control Mechanism Design Wheeled Robots Legged Robots Motion Control Mechanism Design
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| GB/T 7714 | Xiong, Yi , Liu, Haojie , Chen, Bingxing et al. Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot [J]. | JOURNAL OF BIONIC ENGINEERING , 2025 , 22 (2) : 626-641 . |
| MLA | Xiong, Yi et al. "Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot" . | JOURNAL OF BIONIC ENGINEERING 22 . 2 (2025) : 626-641 . |
| APA | Xiong, Yi , Liu, Haojie , Chen, Bingxing , Chen, Yanjie , Yao, Ligang , Lu, Zongxing . Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot . | JOURNAL OF BIONIC ENGINEERING , 2025 , 22 (2) , 626-641 . |
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PurposeThis study aims to introduce the fast reactive tree (FRT*) algorithm for enhancing replanning speed and reducing the overall cost of navigation in unknown dynamic environments.Design/methodology/approachFRT* comprises four key components: inverted tree build, convex hull construction, dead nodes inform activation and lazy-rewiring replanning. First, an initial path is found from the inverted tree where the valid structure is preserved to minimise re-exploration areas during the replanning phase. As the robot encounters environment changes, convex hulls are extracted to sparsely describe impacted areas. Next, the growth direction of the modified tree is biased by the inform activation of dead nodes to avoid unnecessary exploration. In the replanning phase, the tree structure is optimized using the proposed lazy-rewiring replanning to find a high-quality path with low computation burden.FindingsA series of comprehensive simulation experiments demonstrate that the proposed FRT* algorithm can efficiently replan short-cost feasible paths in unknown dynamic environments. The differential wheeled mobile robot with varying reference linear velocities is used to validate the effectiveness and adaptability of the proposed strategy in real word scenarios. Furthermore, ablation studies are conducted to analyze the significance of the key components of FRT*.Originality/valueThe proposed FRT* algorithm introduces a novel approach to addressing the challenges of navigation in unknown dynamic environments. This capability allows mobile robots to safely and efficiently navigate through unknown and dynamic environments, making the method highly applicable to real-world scenarios.
Keyword ：
Mobile robot Mobile robot Replanning Replanning Time efficiency and navigation cost Time efficiency and navigation cost Unknown dynamic environment Unknown dynamic environment
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| GB/T 7714 | Li, Zheng , Chen, Yanjie , Zhang, Zhixing et al. FRT*: fast reactive tree for mobile robot replanning in unknown dynamic environments [J]. | ROBOTIC INTELLIGENCE AND AUTOMATION , 2025 , 45 (2) : 173-186 . |
| MLA | Li, Zheng et al. "FRT*: fast reactive tree for mobile robot replanning in unknown dynamic environments" . | ROBOTIC INTELLIGENCE AND AUTOMATION 45 . 2 (2025) : 173-186 . |
| APA | Li, Zheng , Chen, Yanjie , Zhang, Zhixing , Zhong, Hang , Wang, Yaonan . FRT*: fast reactive tree for mobile robot replanning in unknown dynamic environments . | ROBOTIC INTELLIGENCE AND AUTOMATION , 2025 , 45 (2) , 173-186 . |
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Abstract ：
The wheeled bipedal robots have great application potential in environments with a mixture of structured and unstructured terrain.However,wheeled bipedal robots have problems such as poor balance ability and low movement level on rough roads.In this paper,a novel and low-cost wheeled bipedal robot with an asymmetrical five-link mechanism is proposed,and the kinematics of the legs and the dynamics of the Wheeled Inverted Pendulum(WIP)are modeled.The primary bal-ance controller of the wheeled bipedal robot is built based on the Linear Quadratic Regulator(LQR)and the compensation method of the virtual pitch angle adjusting the Center of Mass(CoM)position,then the whole-body hybrid torque-position control is established by combining attitude and leg controllers.The stability of the robot's attitude control and motion is verified with simulations and prototype experiments,which confirm the robot's ability to pass through complex terrain and resist external interference.The feasibility and reliability of the proposed control model are verified.
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| GB/T 7714 | Yi Xiong , Haojie Liu , Bingxing Chen et al. Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot [J]. | 仿生工程学报（英文版） , 2025 , 22 (2) : 626-641 . |
| MLA | Yi Xiong et al. "Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot" . | 仿生工程学报（英文版） 22 . 2 (2025) : 626-641 . |
| APA | Yi Xiong , Haojie Liu , Bingxing Chen , Yanjie Chen , Ligang Yao , Zongxing Lu . Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot . | 仿生工程学报（英文版） , 2025 , 22 (2) , 626-641 . |
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This article addresses the problem of formation control of networked UAVs under deception attacks. A lightweight resilient formation control framework based on watermarks is proposed to achieve the desired formation configuration without extra monitoring attack status. Since deception attacks are covert, the shared information is watermarked before transmission to establish the protocol among networked UAVs. To facilitate the resilient formation controller design, a decoder is first developed to decipher the inverse transformation of deception attacks, where the watermark is the criterion for approximating the inverse transformation. The Gauss error function is introduced to eliminate some unrealistic input commands under deception attacks, obtaining the predefined input performance. Then, a resilient formation controller is developed to guarantee the global boundedness of all signals within the inner-loop and outerloop system, while the formation error converges to a small neighborhood of zero by solving the linear matrix inequality. Two challenging deception attack examples in simulations and experiments are conducted to verify the effectiveness and performance of the proposed resilient formation control framework. © 1967-2012 IEEE.
Keyword ：
Deception attacks Deception attacks linear matrix inquality linear matrix inquality networked UAVs networked UAVs resilient control resilient control watermark watermark
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| GB/T 7714 | Zhan, W. , Miao, Z. , Zeng, J. et al. Resilient Formation Control Based on Watermarks for Networked Quadrotors under Deception Attacks [J]. | IEEE Transactions on Vehicular Technology , 2025 . |
| MLA | Zhan, W. et al. "Resilient Formation Control Based on Watermarks for Networked Quadrotors under Deception Attacks" . | IEEE Transactions on Vehicular Technology (2025) . |
| APA | Zhan, W. , Miao, Z. , Zeng, J. , Chen, Y. , Wu, Z.-G. , He, W. et al. Resilient Formation Control Based on Watermarks for Networked Quadrotors under Deception Attacks . | IEEE Transactions on Vehicular Technology , 2025 . |
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In this article, we propose sampling-focused marching tree (SMT) to guarantee optimal solutions in complex environments efficiently. By synergistically integrating heuristic path planning, homotopy space computation, and adaptive sampling exploration, SMT swiftly identifies homotopic solutions to the optimal solution and focuses sampling efforts in their vicinity, continually refining the solution to efficiently attain the global optimum. In the heuristic path planning phase, the generalized Voronoi graph feature nodes are extracted by a filter to facilitate subsequent computations. Next, the feature visibility graph is constructed based on the feature nodes to plan a heuristic path. In the homotopy space computation phase, feature cell decomposition is executed using the feature nodes as well to refine the obstacle-free space. Then, the homotopy space is computed by examining the topological connections between cells and the heuristic path to narrow down the sampling space. In the adaptive sampling exploration phase, the sampling factor is adjusted based on the area of the sampling space to enhance the quality of samples. After adaptive sampling based on the factor, the fast marching tree is leveraged to rapidly explore the samples and find the optimal solution. A thorough analysis of SMT is provided, including completeness, asymptotic optimality, and computational complexity. Comprehensive simulation comparisons with current-leading planning approaches in complex scenarios, along with a series of convincing real-world studies have been conducted to provide evidence for verifying optimality and high-efficiency computation of the proposed SMT.
Keyword ：
Convergence Convergence Costs Costs Feature extraction Feature extraction Homotopy-heuristic exploration Homotopy-heuristic exploration Measurement Measurement Mechanical engineering Mechanical engineering Mechatronics Mechatronics mobile robot mobile robot Mobile robots Mobile robots optimality optimality Path planning Path planning Planning Planning Research and development Research and development sampling-based planning sampling-based planning topological refinement topological refinement
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| GB/T 7714 | Chen, Yanjie , Jiang, Wensheng , Zhang, Zhixing et al. Sampling-Focused Marching Tree: Optimal Planning Based on Minimized Topological Refinement and Homotopy-Heuristic Exploration [J]. | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2024 . |
| MLA | Chen, Yanjie et al. "Sampling-Focused Marching Tree: Optimal Planning Based on Minimized Topological Refinement and Homotopy-Heuristic Exploration" . | IEEE-ASME TRANSACTIONS ON MECHATRONICS (2024) . |
| APA | Chen, Yanjie , Jiang, Wensheng , Zhang, Zhixing , Zhang, Liping , Zhu, Guangyu , Zhang, Hui et al. Sampling-Focused Marching Tree: Optimal Planning Based on Minimized Topological Refinement and Homotopy-Heuristic Exploration . | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2024 . |
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The motion planning of robots faces formidable challenges in restricted environments, particularly in the aspects of rapidly searching feasible solutions and converging toward optimal solutions. This article proposes workspace-guided informed tree (WGIT*) to improve planning efficiency and ensure high-quality solutions in restricted environments. Specifically, WGIT* preprocesses the workspace by constructing a hierarchical structure to obtain critical restricted regions and connectivity information sequentially. The refined workspace information guides the sampling and exploration of WGIT*, increasing the sample density in restricted areas and prioritizing the search tree exploration in promising directions, respectively. Furthermore, WGIT* utilizes gradually enriched configuration space information as feedback to rectify the guidance from the workspace and balance the information of the two spaces, which leads to efficient convergence toward the optimal solution. The theoretical analysis highlights the valuable properties of the proposed WGIT*. Finally, a series of simulations and experiments verify the ability of WGIT* to quickly find initial solutions and converge toward optimal solutions.
Keyword ：
Motion planning Motion planning restricted environments restricted environments workspace-guided exploration workspace-guided exploration workspace-guided sampling workspace-guided sampling
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| GB/T 7714 | Zhang, Zhixing , Chen, Yanjie , Han, Feng et al. WGIT*: Workspace-Guided Informed Tree for Motion Planning in Restricted Environments [J]. | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2024 , 29 (5) : 3821-3832 . |
| MLA | Zhang, Zhixing et al. "WGIT*: Workspace-Guided Informed Tree for Motion Planning in Restricted Environments" . | IEEE-ASME TRANSACTIONS ON MECHATRONICS 29 . 5 (2024) : 3821-3832 . |
| APA | Zhang, Zhixing , Chen, Yanjie , Han, Feng , Fan, Junwei , Yu, Hongshan , Zhang, Hui et al. WGIT*: Workspace-Guided Informed Tree for Motion Planning in Restricted Environments . | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2024 , 29 (5) , 3821-3832 . |
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In this article, an robust adaptive stiffness visual servoing control method is proposed to guarantee a compliant physical interaction with a prescribed performance of the unmanned aerial manipulator (UAM) in the presence of disturbances and modeling uncertainties. First, to address the slow response speed of visual servoing control when image features change, a visual servo position controller with prescribed performance is adopted to enhance the convergence speed through the gradually convergent error boundary. Second, considering the influence of disturbances and modeling uncertainties caused by the flight platform on the admittance accuracy during physical interaction, an robust adaptive stiffness physical interaction controller is introduced, generating stable admittance command image features to ensure a reliable interaction force. Finally, physical comparative and real-world experimental studies are conducted to validate the feasibility and performance of the proposed method. The results demonstrate that the UAM under control is capable of exhibiting specified performance during contact operations, allowing smooth adaptation to changes in contact forces.
Keyword ：
Adaptive stiffness Adaptive stiffness admittance control admittance control Cameras Cameras Force Force Manipulators Manipulators prescribed performance prescribed performance Target tracking Target tracking Uncertainty Uncertainty unmanned aerial manipulator (UAM) unmanned aerial manipulator (UAM) Visualization Visualization visual servo visual servo Visual servoing Visual servoing
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| GB/T 7714 | Chen, Yanjie , Lan, Limin , Liu, Xincheng et al. Adaptive Stiffness Visual Servoing for Unmanned Aerial Manipulators With Prescribed Performance [J]. | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2024 , 71 (9) : 11028-11038 . |
| MLA | Chen, Yanjie et al. "Adaptive Stiffness Visual Servoing for Unmanned Aerial Manipulators With Prescribed Performance" . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 71 . 9 (2024) : 11028-11038 . |
| APA | Chen, Yanjie , Lan, Limin , Liu, Xincheng , Zeng, Guohang , Shang, Changjing , Miao, Zhiqiang et al. Adaptive Stiffness Visual Servoing for Unmanned Aerial Manipulators With Prescribed Performance . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2024 , 71 (9) , 11028-11038 . |
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As one of the most fundamental operations in mechanical production, hole-making plays a crucial role. However, existing hole-making sequence optimization models are not suitable for workshops with variable production parameters. To address this issue, a new model, named multi-objective multi-tool hole-making sequence optimization with precedence constraints (MO-MTpcHSO), is proposed in this paper. The model has two objectives: spindle travel distance and tool switching time. To solve MO-MTpcHSO, a customized Q-learning based genetic algorithm (QLGA) is proposed. The adaptive encoding method allows chromosomes to express feasible solutions, the population is considered as the agent, and the states are intervals of the diversity coefficient. Different insertion methods in the crossover operator are set as actions, and the reward is related to the diversity and values of objective functions of the population. The effectiveness of QLGA is validated by comparing it with other algorithms in practical workpieces. Moreover, the reasonability of actions and the necessity of the Q-learning framework in QLGA are validated.
Keyword ：
genetic algorithm genetic algorithm hole-making sequence optimization hole-making sequence optimization multi-objective problem multi-objective problem Q-learning Q-learning
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| GB/T 7714 | Zhang, Desong , Chen, Yanjie , Zhu, Guangyu . Multi-Objective Hole-Making Sequence Optimization by Genetic Algorithm Based on Q-Learning [J]. | IEEE TRANSACTIONS ON EMERGING TOPICS IN COMPUTATIONAL INTELLIGENCE , 2024 , 8 (6) : 3793-3806 . |
| MLA | Zhang, Desong et al. "Multi-Objective Hole-Making Sequence Optimization by Genetic Algorithm Based on Q-Learning" . | IEEE TRANSACTIONS ON EMERGING TOPICS IN COMPUTATIONAL INTELLIGENCE 8 . 6 (2024) : 3793-3806 . |
| APA | Zhang, Desong , Chen, Yanjie , Zhu, Guangyu . Multi-Objective Hole-Making Sequence Optimization by Genetic Algorithm Based on Q-Learning . | IEEE TRANSACTIONS ON EMERGING TOPICS IN COMPUTATIONAL INTELLIGENCE , 2024 , 8 (6) , 3793-3806 . |
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This study proposes an image-based visual servoing(IBVS)method based on a velocity observer for an unmanned aerial vehicle(UAV)for tracking a dynamic target in Global Positioning System(GPS)-denied environments.The proposed method derives the simplified and decoupled image dynamics of underactuated UAVs using a constructed virtual camera and then considers the uncertainties caused by the unpredictable rotations and velocities of the dynamic target.A novel image depth model that extends the IBVS method to track a rotating target with arbitrary orientations is proposed.The depth model ensures image feature accuracy and image trajectory smoothness in rotating target tracking.The relative velocities of the UAV and the dynamic target are estimated using the proposed velocity observer.Thanks to the velocity observer,translational velocity measurements are not required,and the control chatter caused by noise-containing measurements is mitigated.An integral-based filter is pro-posed to compensate for unpredictable environmental disturbances in order to improve the anti-disturbance ability.The stability of the velocity observer and IBVS controller is analyzed using the Lyapunov method.Comparative simulations and multistage experiments are conducted to illustrate the tracking stability,anti-disturbance ability,and tracking robustness of the proposed method with a dynamic rotating target.
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| GB/T 7714 | Yanjie Chen , Yangning Wu , Limin Lan et al. Dynamic Target Tracking of Unmanned Aerial Vehicles Under Unpredictable Disturbances [J]. | 工程（英文） , 2024 , 35 (4) : 74-85 . |
| MLA | Yanjie Chen et al. "Dynamic Target Tracking of Unmanned Aerial Vehicles Under Unpredictable Disturbances" . | 工程（英文） 35 . 4 (2024) : 74-85 . |
| APA | Yanjie Chen , Yangning Wu , Limin Lan , Hang Zhong , Zhiqiang Miao , Hui Zhang et al. Dynamic Target Tracking of Unmanned Aerial Vehicles Under Unpredictable Disturbances . | 工程（英文） , 2024 , 35 (4) , 74-85 . |
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Sliding inspections at heights and in harsh environments generally pose significant challenges for the autonomous operation of unmanned aerial manipulator (UAM). This article investigates the issue of reliable physical interaction by UAM for sliding inspections under uncertain disturbances. First, a second-order image dynamics model is derived using the virtual camera image moment to provide a foundation for autonomous positioning. Next, a sliding-mode disturbance observer is designed to estimate the uncertain disturbances from environments. Then, a hybrid image-based compliant control strategy is proposed to meet the physical interaction requirements of UAM. Particularly, a visual positioning controller is adopted to maintain precise positions of UAM, while a visual impedance control method is introduced to achieve reliable force tracking performance in the contact direction. The stability of the proposed strategy is analysed through Lyapunov theory. Finally, physical in-loop implementation and real-world experimental studies are conducted to validate the feasibility and performance of the developed method, demonstrating accurate tracking performances in both position and force and thereby, exhibiting the potential of proposed approach to work for sliding inspection effectively.
Keyword ：
Disturbance observer Disturbance observer image-based impedance control image-based impedance control unmanned aerial manipulator (UAM) unmanned aerial manipulator (UAM) visual servoing visual servoing
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| GB/T 7714 | Wu, Yangning , Chen, Yanjie , Zeng, Guohang et al. Dynamic Image-Based Impedance Control of Aerial Manipulator for Sliding Inspection [J]. | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2024 . |
| MLA | Wu, Yangning et al. "Dynamic Image-Based Impedance Control of Aerial Manipulator for Sliding Inspection" . | IEEE-ASME TRANSACTIONS ON MECHATRONICS (2024) . |
| APA | Wu, Yangning , Chen, Yanjie , Zeng, Guohang , Shang, Changjing , Miao, Zhiqiang , Wang, Hesheng et al. Dynamic Image-Based Impedance Control of Aerial Manipulator for Sliding Inspection . | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2024 . |
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