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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 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 investigates the problem of aerial active interaction for unmanned aerial manipulator under unknown contact force and lumped disturbances composed of modeling uncertainties and environmental interferences. A dynamic tracking interaction control architecture with arbitrary convergence time is proposed to implement both compliant aerial interaction and stable tracking flight. Particularly, an arbitrary convergence time nonlinear disturbance observer is designed to estimate interaction force in the absence of force sensors. A Takagi-Sugeno-Kang fuzzy estimator with k-closest fuzzy rule interpolation is constructed to derive an approximation in representing lumped disturbances. Also, an arbitrary convergence time control strategy is introduced for the quadrotor to implement the rapid response and precise trajectory tracking control, and an admittance controller within arbitrary convergence time for the onboard manipulator is presented to guarantee stable compliant interaction. The stability of the proposed control architecture is analyzed through Lyapunov theory. The feasibility and performance of this novel control architecture are demonstrated through simulations and real-world investigation on tracking and touching mobile robot dynamically.
Keyword ：
Aerial active interaction Aerial active interaction arbitrary convergence time control arbitrary convergence time control Convergence Convergence Dynamics Dynamics Estimation Estimation Force Force fuzzy estimator fuzzy estimator fuzzy rule interpolation (FRI) fuzzy rule interpolation (FRI) Manipulator dynamics Manipulator dynamics Manipulators Manipulators Quadrotors Quadrotors Robots Robots Symmetric matrices Symmetric matrices Uncertainty Uncertainty unmanned aerial manipulator (UAM) unmanned aerial manipulator (UAM)
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| GB/T 7714 | Chen, Yanjie , Liu, Xincheng , Cai, Hongyuan et al. Arbitrary Convergence Time Control of Unmanned Aerial Manipulator for Active Interaction and Dynamic Tracking [J]. | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2025 . |
| MLA | Chen, Yanjie et al. "Arbitrary Convergence Time Control of Unmanned Aerial Manipulator for Active Interaction and Dynamic Tracking" . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2025) . |
| APA | Chen, Yanjie , Liu, Xincheng , Cai, Hongyuan , Shang, Changjing , Chang, Xiang , Chao, Fei et al. Arbitrary Convergence Time Control of Unmanned Aerial Manipulator for Active Interaction and Dynamic Tracking . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2025 . |
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Path planning of mobile robots plays an important role in improving work efficiency in the manufacturing industry. On one hand, the sampling-based path planning methods commonly used in mobile robots require extensive and time-consuming iterative searches to find a relatively optimal path due to their stochastic nature. On the other hand, the map information obtained during planning is solely utilized for collision detection without being effectively leveraged. This article proposes a map-informed rapidly random-exploring tree (MIRRT) algorithm that combines uniform sampling, rapidly crossing obstacles (RCO) and progressive optimization. It can utilize map information to quickly guide the search tree. MIRRT involves a preprocessing step that requires segmenting concave obstacles into convex obstacles to prevent path loss. During the growth of the search tree, the RCO method guided by map information can rapidly discover high-quality ground path nodes and efficiently navigate obstacles when they block the path. Finally, simulations and physical experiments were performed to prove that MIRRT significantly outperforms existing state-of-the-art sampling-based planners designed specifically for mobile robots.
Keyword ：
Classification algorithms Classification algorithms Convergence Convergence Deep learning Deep learning Dynamic planning Dynamic planning Fans Fans Hands Hands Heuristic algorithms Heuristic algorithms map information map information mobile robots mobile robots Mobile robots Mobile robots path planning path planning Path planning Path planning Planning Planning rapidly exploring random tree rapidly exploring random tree Robot sensing systems Robot sensing systems
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| GB/T 7714 | Fan, Wenpei , Wang, Yaonan , Liu, Licheng et al. Efficient and High-Quality Path Planning Guided by Map Information for Mobile Robots [J]. | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2025 . |
| MLA | Fan, Wenpei et al. "Efficient and High-Quality Path Planning Guided by Map Information for Mobile Robots" . | IEEE-ASME TRANSACTIONS ON MECHATRONICS (2025) . |
| APA | Fan, Wenpei , Wang, Yaonan , Liu, Licheng , Chen, Yanjie , Tan, Haoran , Miao, Zhiqiang . Efficient and High-Quality Path Planning Guided by Map Information for Mobile Robots . | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2025 . |
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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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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 , 74 (6) : 8839-8850 . |
| MLA | Zhan, W. et al. "Resilient Formation Control Based on Watermarks for Networked Quadrotors under Deception Attacks" . | IEEE Transactions on Vehicular Technology 74 . 6 (2025) : 8839-8850 . |
| 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 , 74 (6) , 8839-8850 . |
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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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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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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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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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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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