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| 1 | Robot learning from demonstration for path planning: A review显示文摘Learning from demonstration(LfD)is an appealing method of helping robots learn new skills.Numerous papers have presented methods of LfD with good performance in robotics.However,complicated robot tasks that need to carefully regulate path planning strategies remain unanswered.Contact or non-contact constraints in specific robot tasks make the path planning problem more difficult,as the interaction between the robot and the environment is time-varying.In this paper,we focus on the path planning of complex robot tasks in the domain of LfD and give a novel perspective for classifying imitation learning and inverse reinforcement learning.This classification is based on constraints and obstacle avoidance.Finally,we summarize these methods and present promising directions for robot application and LfD theory. | XIE ZongWu ZHANG Qi JIANG ZaiNan LIU Hong | 2020 | Science China(Technological Sciences)2020，63，8： | 6 |
| 2 | Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization显示文摘Seven-degree-of-freedom redundant manipulators with link offset have many advantages,including obvious geometric significance and suitability for configuration control.Their configuration is similar to that of the experimental module manipulator(EMM)in the Chinese Space Station Remote Manipulator System.However,finding the analytical solution of an EMM on the basis of arm angle parameterization is difficult.This study proposes a high-precision,semi-analytical inverse method for EMMs.Firstly,the analytical inverse kinematic solution is established based on joint angle parameterization.Secondly,the analytical inverse kinematic solution for a non-offset spherical-roll-spherical(SRS)redundant manipulator is derived based on arm angle parameterization.The approximate solution of the EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS manipulator.Thirdly,the error is corrected using a numerical method through the analytical inverse solution based on joint angle parameterization.After selecting the stride and termination condition,the precise inverse solution is computed for the EMM based on arm angle parameterization.Lastly,case solutions confirm that this method has high precision,and the arm angle parameterization method is superior to the joint angle parameterization method in terms of parameter selection. | Boyu MA Zongwu XIE Zainan JIANG Hong LIU | 2021 | Frontiers of Mechanical Engineering2021，16，3： | 5 |
| 3 | Autonomous planning and control strategy for space manipulators with dynamics uncertainty based on learning from demonstrations显示文摘Autonomous planning is a significant development direction of the space manipulator,and learning from demonstrations(LfD)is a potential strategy for complex tasks in the field.However,separating control from planning may cause large torque fluctuations and energy consumptions,even instability or danger in control of space manipulators,especially for the planning based on the human demonstrations.Therefore,we present an autonomous planning and control strategy for space manipulators based on LfD and focus on the dynamics uncertainty problem,a common problem of actual manipulators.The process can be divided into three stages:firstly,we reproduced the stochastic directed trajectory based on the Gaussian process-based LfD;secondly,we built the model of the stochastic dynamics of the actual manipulator with Gaussian process;thirdly,we designed an optimal controller based on the dynamics model to obtain the improved commanded torques and trajectory,and used the separation theorem to deal with stochastic characteristics during control.We evaluated the strategy with locating pre-screwed bolts experiment by Tiangong-2 manipulator system on the ground.The result showed that,compared with other strategies,the strategy proposed in this paper could significantly reduce torque fluctuations and energy consumptions,and its precision can meet the task requirements. | LI ChongYang LI ZhiQi JIANG ZaiNan CUI ShiPeng LIU Hong CAI HeGao | 2021 | Science China(Technological Sciences)2021，64，12： | 1 |
| 4 | Double layers fuzzy logic- based mobile robot path planning in unknown environment 显示文摘 | Fu Yili Li Han Jiang Zainan | 2009 | Intelligent Automation and Soft Computing2009，15，2： | 1 |
| 5 | Double Layers Fuzzy Logic Based Mobile Robot Path Planning in Unknown En- vironment显示文摘 | Fu Yili Li Han Jiang Zainan | 2009 | Intelligent Automation and Soft Computing2009，15，2： | 1 |
| 6 | Trajectory planning and base attitude restoration of dual-arm free-floating space robot by enhanced bidirectional approach显示文摘When free-floating space robots perform space tasks,the satellite base attitude is disturbed by the dynamic coupling.The disturbance of the base orientation may affect the communication between the space robot and the control center on earth.In this paper,the enhanced bidirectional approach is proposed to plan the manipulator trajectory and eliminate the final base attitude variation.A novel acceleration level state equation for the nonholonomic problem is proposed,and a new intermediate variable-based Lyapunov function is derived and solved for smooth joint trajectory and restorable base trajectories.In the method,the state equation is first proposed for dual-arm robots with and without end constraints,and the system stability is analyzed to obtain the system input.The input modification further increases the system stability and simplifies the calculation complexity.Simulations are carried out in the end,and the proposed method is validated in minimizing final base attitude change and trajectory smoothness.Moreover,the minute internal force during the coordinated operation and the considerable computing efficiency increases the feasibility of the method during space tasks. | Zongwu XIE Xiaoyu ZHAO Zainan JIANG Haitao YANG Chongyang LI | 2022 | Frontiers of Mechanical Engineering2022，17，1： | 0 |
| 7 | System design of a dexterous lightweight robot arm with remote control显示文摘 | Li Tian Sun Kui Jiang Zainan Xie Zongwu Liu Hong | 2012 | High Technology Letters2012，18，3： | 0 |
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