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Hualong Xie,Xiaofei Zhao,Qiancheng Sun,Kun Yang,Fei Li 대한기계학회 2020 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.34 No.1
Our research team combined humanoid robots with intelligent lower limb prostheses to study the dynamic characteristics of intelligent lower extremity prostheses for disabled people in the walking process, and proposed a biped robot with heterogeneous legs (BRHL). This paper proposes a new virtual-real inverted pendulum system model to unify the models for both single support phase and double support phase in walking process and builds a special simulation platform which can acquire the real-time center of mass (COM) trajectory. Initially, a gravity-compensated inverted pendulum model was built and improved the stability of gait, a natural ZMP trajectory improved the anthropomorphism of the gait. Furthermore, in double support phase, a virtual inverted pendulum model was established and a virtual-real inverted pendulum model was proposed and used to plan the gait of both single support phase and double support phase in the walking process. Additionally, the joint angles were obtained by inverse kinematics; the stability of the system was analyzed to be feasible and effective by phase trajectories. A special ADAMS simulation platform was built to simulate the walking process and acquire real-time COM trajectory. The feasibility of the gait planning was also verified. Finally, the trajectory of COM was optimized based on the minimum energy criterion according to the geodesic equation.
Guanchao Li,Hualong Xie,Xiangxiang Wang,Zhen Chen 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.3
This work proposes an optimized human-machine interaction control strategy for exoskeleton based on traditional impedance control. The traditional impedance control has poor robustness due to the lack of accurate understanding of the environment, so it cannot accurately track the desired interactive force. Firstly, an adaptive controller is designed based on a model reference adaptive control algorithm to convert the force error into a position correction, which reduces the interaction force error. Then a PID-like algorithm is introduced into the system to improve the impedance relationship. Finally, the whole control system is verified by simulation experiments. It could be found that the interactive force error is reduced with the addition of an adaptive controller, but the system response is slowed down. At last, the PID algorithm is introduced into the control system. As a result, the system response speed and interaction force error are both further improved.
SOMEDGRA: A case retrieval method for machine tool product configuration design
Pengjia Wang,Yadong Gong,Hualong Xie,Yongxian Liu 대한기계학회 2016 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.30 No.7
Case based design is an intelligent method which involves retrieving the most similar previous case to provide a solution of a new decision problem. However, conventional case based design approaches are too reliant on experts’ experiences. A new case retrieval method SOMEDGRA that combines Self-organizing map (SOM) and Euclidean distance (ED) method as well as Grey relational analysis (GRA) method is proposed in case based design. SOM is used to reduce the retrieval range and increase the retrieval efficiency, and ED is used to evaluate the similarity of cases comprehensively. To ensure that the final case has the best overall performance, an evaluation method of similar cases based on GRA is proposed to evaluate similar cases to select the most suitable case. The case study and result on an HTC series machine tool product show that the proposed method is effective, accurate and rapid in the process of product configuration.