人机共融空间大时延高稳定精细遥操作关键技术研究

61673239
2016
F0306.自动化检测技术与装置
梁斌
面上项目
教授
清华大学
62万元
遥操作;空间机器人;人机共融
2017-01-01到2020-12-31
  • 中英文摘要
  • 结题摘要
  • 结题报告
  • 项目成果
  • 项目参与人
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序号 标题 类型 作者
1 Task-oriented hierarchical control for a quadruped robot 会议论文 Ye Linqi;Liu Houde;Wang Xueqian;Yuan Bo;Liang Bin
2 基于头部碰撞等效模型的柔性关节机械臂安全构型优化 期刊论文 孟得山;王学谦;梁斌;梁建
3 Force tracking impedance control with moving target 会议论文 Liu Houde;Lu Weifeng;Zhu Xiaojun;Wang Xueqian;Liang Bin
4 Statics of Continuum Space Manipulators With Nonconstant Curvature via Pseudorigid-Body 3R Model 期刊论文 Huang Shaoping;Meng Deshan;She Yu;Wang Xueqian;Liang Bin;Yuan Bo
5 Control of Free-Floating Space Robots to Capture Targets Using Soft Q-Learning 会议论文 Changzhi Yan;Qiyuan Zhang;Zhaoyang Liu;Xueqian Wang;Bin Liang
6 Virtual decomposition control of a 3 DOFs exoskeleton robot for space teleoperation 会议论文 Shuang Yang;Bo Xia;Xueqian Wang;Houde Liu;Bin Liang
7 Chebyshev-neural-network-based adaptive fixed-time control of bilateral teleoperation 会议论文 Ziwei Wang;Bin Liang;Xiang Wang;Zhang Chen;Yiman Zhang
8 Coordinated stabilization for space robot after capturing a noncooperative target with large inertia 期刊论文 Zhang Bo;Liang Bin;Wang Ziwei;Mi Yilin;Zhang Yiman;Chen Zhang
9 A 3D Static Modeling Method and Experimental Verification of Continuum Robots Based on Pseudo-Rigid Body Theory 会议论文 Shaoping Huang;Deshan Meng;Xueqian Wang;Bin Liang;Weining Lu
10 Force-free control for the flexible-joint robot in human-robot interaction 期刊论文 Dong Kangkang;Liu Houde;Zhu Xiaojun;Wang Xueqian;Xu Feng;Liang Bin
11 A Unified Predictive Display Scheme for Teleoperation Systems with Multi-time-delayMulti-rateMeasurements and MissingData 会议论文 Rong-jian Liang;Tao Zhang;Chen-yao Xu;Zhang Chen;Gang Li
12 Tube-based Robust Fault Estimation Integrating Unknown Inputs Decoupling and Set-membership Approach 会议论文 Junbo Tan;Feng Xu;Jun Yang;Yilin Mi;Xueqian Wang;Bin Liang
13 Calibration of UR5 manipulator based on kinematic models 会议论文 Liang Bin;Cheng Yinzhu;Zhu Xiaojun;Liu Houde;Wang Xueqian
14 Fixed-time velocity reconstruction scheme for space teleoperation systems: Exp Barrier Lyapunov Function approach 期刊论文 Wang Ziwei;Chen Zhang;Liang Bin
15 Learning to control space robots with flexible appendages using model-based policy search 会议论文 Zhang Qiyuan;Meng Deshan;Wang Xueqian;Liang Bin;Lu Weining
16 LPV Model-Based Gain-Scheduled Control of a Space Manipulator 会议论文 Yang Sun;Feng Xu;Xueqian Wang;Bin Liang
17 Kinematic Analysis of Novel Soft Robotic Arm Based on Virtual Work Principle 会议论文 Zhiyuan Zhang;Songtao Wang;Xueqian Wang;Houde Liu;Bin Liang
18 An Improved Method Based on CPG to Achieve Trotting Gait of Quadrupedal Robot 会议论文 Liu Houde;Wang Xiaoyong;Liang Bin;Wang XueQian
19 Conservatism comparison of set-based robust fault detection methods: Set-theoretic UIO and interval observer cases 期刊论文 Xu Feng;Tan Junbo;Wang Xueqian;Liang Bin
20 Adaptive finite-time control for bilateral teleoperation systems with jittering time delays 期刊论文 Wang Ziwei;Chen Zhang;Zhang Yiman;Yu Xingyao;Wang Xiang;Liang Bin
21 Control of a piecewise constant curvature continuum manipulator via policy search method 会议论文 Sheng Huang;Qiyuan Zhang;Zhaoyang Liu;Xueqian Wang;Bin Liang
22 Design and implementation of multi-functional digital servos control system 会议论文 Liu Houde;Dong Kangkang;Zhu Xiaojun;Wang Xueqian;Liang Bin
23 Extension of virtual decomposition control to cooperative carrying of dual-arm robots in free motion 会议论文 Wang Xueqian;Xia Bo;Li Gang;Liu Houde;Liang Bin
24 A path optimization algorithm for motion planning with the moving target 会议论文 Liu Sicheng;Liu Houde;Dong Kangkang;Zhu Xiaojun;Liang Bin
25 A practical method to jump over obstacles for quadruped robots 会议论文 Yu Tianning;Liu Houde;Liang Bin;Zhu Xiaojun
26 A Modified Wave Variable Method in Bilateral Teleoperation System with Time Delay 会议论文 Chenyao Xu;Xueqian Wang;Xiaojun Zhu;Bin Liang
27 Shape Detection and Reconstruction of Soft Robotic Arm Based on Fiber Bragg Grating Sensor Array 会议论文 Zhiyuan Zhang;Xueqian Wang;Songtao Wang;Deshan Meng;Bin Liang
28 Rolling bearing fault prognosis using recurrent neural network 会议论文 Qiangqiang Cui;Zhiheng Li;Jun Yang;Bin Liang
29 RGB-D inertial odometry for indoor robot via keyframe-based nonlinear optimization 会议论文 Ling Yong;Liu Houde;Zhu Xiaojun;Jiang Jun;Liang Bin
30 面向多时延多频率测量信息的预测显示算法 期刊论文 梁荣健;张涛;梁斌;陈章;李罡
31 A particle filter and long short term memory fusion algorithm for failure prognostic of proton exchange membrane fuel cells 会议论文 Chunchun Yang;Zhiheng Li;Bin Liang;Weining Lu;Xueqian Wang;Houde Liu
32 Collision Free Path Planning for Multi-Section Continuum Manipulators Based on A Modal Method 会议论文 Xingyao Yu;Xueqian Wang;Deshan Meng;Houde Liu;Bin Liang
33 Locomotion control of quadruped robot based on central pattern generators 会议论文 Liu Houde;Wang Xiang;Wang Xueqian;Liang Bin
34 Modelling and control of dual-arm free-floating space robot using virtual decomposition control for capturing target 会议论文 Wang Xueqian;Xia Bo;Li Gang;Liu Houde;Liang Bin
35 A novel adaptive finite time controller for bilateral teleoperation system 期刊论文 Wang Ziwei;Chen Zhang;Liang Bin;Zhang Bo
36 Generalized set-theoretic unknown input observer for LPV systems with application to state estimation and robust fault detection 期刊论文 Xu Feng;Tan Junbo;Wang Xueqian;Puig Vicenc;Liang Bin;Yuan Bo;Liu Houde
37 Differential kinematics for a tendon-driven snake-like robot 会议论文 Yu Xingyao;Wang Xueqian;Meng Deshan;Liang Bin
38 A fast weighted registration method of 3D point cloud based on curvature feature 会议论文 Liu Bing;Gao Xuehai;Liu Houde;Wang Xueqian;Liang Bin
39 Mixed Active/Passive Robust Fault Detection and Isolation Using Set-Theoretic Unknown Input Observers 期刊论文 Xu Feng;Tan Junbo;Wang Xueqian;Puig Vicenc;Liang Bin;Yuan Bo
40 Research on virtual decomposition control of free-flying space robot with an object under nonholonomic constraints 会议论文 Xia Bo;Li Gang;Yang Shuang;Wang Xueqian;Liang Bin
41 Object grasping under shape uncertainty using linear combination of two kernel functions 会议论文 Ruan Jian;Liu Houde;Dong Kangkang;Zhu Xiaojun;Liang Bin
42 A Cross Domain Feature Extraction Method based on Transfer Component Analysis for Rolling Bearing Fault Diagnosis 会议论文 Chen Chen;Zhiheng Li;Jun Yang;Bin Liang
43 Vibration suppression control of free-floating space robots with flexible appendages for autonomous target capturing 期刊论文 Meng Deshan;Lu Weining;Xu Wenfu;She Yu;Wang Xueqian;Liang Bin;Yuan Bo
44 Robust actuator fault estimation combining unknown input observer and invariant set approach 会议论文 Junbo Tan;Bin Liang;Xueqian Wang
45 Deep Model Based Domain Adaptation for Fault Diagnosis 期刊论文 Lu Weining;Liang Bin;Cheng Yu;Meng Deshan;Yang Jun;Zhang Tao
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