王斐
智能控制,模式识别,智能机器人及助残康复机器人和汽车电子。
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- 姓名:王斐
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学科领域:
模式识别
- 研究兴趣:智能控制,模式识别,智能机器人及助残康复机器人和汽车电子。
王斐,男,1974年3月生,博士,现任人工智能与机器人研究所副教授,“中国自动化学会机器人专业技术委员会”委员。分别于1997年、1999年获哈尔滨工业大学学士及硕士学位,2000年获日本文部省奖学金(国费)资助赴日本留学,2004年2月获日本德岛大学(The University of Tokushima, JAPAN)智能系统工程专业工学博士学位。2004年4月进入日本日产自动车株式会社技术中心(NISSAN Technical Center, NISSAN Motor Co., Ltd, JAPAN)从事汽车电子及LIN/CAN总线通信方面的研究工作,2005年底回国。作为主要成员参与完成国家级、省部级和日本文部省科研基金项目及航天部和企业攻关项目共8项。作为项目负责人,目前主持国家自然科学基金、高等学校博士学科点专项科研基金新教师基金、中国博士后科学基金各1项,校内基金3项,指导“国家大学生创新计划”项目1项,在国内外重要学术刊物和会议上发表论文二十余篇。主要研究方向包括:智能控制、模式识别、智能机器人及助残康复机器人和汽车电子。
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483
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成果数
10
【期刊论文】A Genetic Based Navigation System for Autonomous Mobile Robot
王斐, F. Wang, T. Kamano, T. Yasuno, T. Suzuki, H. Harada
,-0001,():
-1年11月30日
This paper describes a novel application of genetic algorithm for navigation of an autonomous mobile robot (AMR) under unknown environments. In the navigation system, the AMR is controlled by the decision-making block, which consists of neural network. To achieve both successful navigation to the goal and the suitable obstacle avoidance, the connection weights of the neural network and speed gains for predefined actions are encoded as genotypes and are tuned simultaneously by genetic algorithm so that the static and dynamic danger-degrees the energy consumption and the distance and direction errors decrease during the navigation. Experimental results demonstrate the validity of the proposed navigation system.
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22浏览
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117下载
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【期刊论文】An Application of Principal Component Analysis for Intelligent Bionic Leg Motion Estimation
王斐, S. Wen, F. Wang, J. Wang, C. Wu
,-0001,():
-1年11月30日
Intelligent bionic leg (IBL) can restitute walking function for above-knee amputtees. To realize symmetrical stable walking, IBL must be able to perceive the movement intention of amputee to actuate the IBL accordingly on different terrains. A kinematics information based motion estimation scheme using principal component analysis (PCA) method for IBL is then proposed. Simulation results show a promising potential.
Motion estimation, intelligent bionic leg, principal component analysis
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29浏览
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319下载
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【期刊论文】An Evolutionary Approach to Navigation Learning in Autonomous Mobile Robot
王斐, Fei Wang, Takuya Kamano, Takashi Yasuno, Hironobu Harada
,-0001,():
-1年11月30日
This paper describes a method to solve navigation learning problem in autonomous mobile robot (AMR) by evolutionary approach. To achieve both successful navigation to the goal and the suitable obstacle avoidance, the AMR controller parameters are coded as genotype and tuned by genetic algorithm (GA). The danger-degrees which represent the instinctive human knowledge for environment recognition and are calculated by using the fixed fuzzy rules are incorporated into fitness function to evaluate the controller’s performance. Experimental results demonstrate the validity of proposed navigation system.
AMR, Navigation, GA, Fuzzy rules
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40浏览
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98下载
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引用
王斐, Fei Wang, Chengdong Wu, Yunzhou Zhang, Xinhe Xu
Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation August 5 - 8, 2007, Harbin, China,-0001,():
-1年11月30日
To meet the complicated control requirement of Biped robot with heterogeneous legs (BRHL), the master-slave dual-leg coordinated control strategy was adopted to simplify its planning scheme, of which the key of coordination is gait tracking control. Bionic knee joint enables the robot to walk more like human, but its modeling is complex and the control of bionic leg to track artificial leg is difficult. The P-type open/closed-loop iterative learning control (ILC) is therefore put forward to combine together the merits of open-loop and closed- loop ILC without a model to rely on so as to fit the control of gait tracking for complicated biped robot system. Experimental results demonstrate the correctness and effectiveness of the proposed coordinated control scheme.
Biped robot with heterogeneous legs, coordinated control, master-slave, gait tracking, iterative learning control
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122浏览
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152下载
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【期刊论文】Generation of Obstacle Avoidance Scheme for Autonomous Mobile Robot under Danger Degrees
王斐, Wang Fei, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki, Hironobu Harada
,-0001,():
-1年11月30日
In this paper, an obstacle avoidance problem for an autonomous mobile robot (AMR) is considered. The proposed control system mainly consists of a decision-making block, a tuning block and a danger- degree evaluation block. In the decision-making block, an artificial neural network is used to select the suitable avoidance action under the measured situation. The neural network is adjusted by genetic algorithm so that both the dynamic and the static danger-degrees are minimized during the transfer period of avoiding obstacles on the way to the goal. Both danger-degrees are obtained by the fixed fuzzy rules in the danger degree evaluation block based on the measured situation. Experimental results demonstrate that the proposed system is effective to generate the suitable avoidance action of the autonomous mobile robot for the obstacles.
AMR, Neural Networks, Fuzzy rules, Genetic Algorithm
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48浏览
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66下载
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【期刊论文】Intelligent Control of BRHL Based on MR Damper
王斐, H.L. Xie, F. Li , F. Wang, Y.X. Liu
Applied Mechanics and Materials Vols. 10-12 (2008) pp. 466-470,-0001,():
-1年11月30日
Biped robot with heterogeneous legs (BRHL) is a new pattern humanoid robot. This paper first introduces the conception, research purpose and configuration of HRHL. Then coordinated dynamics model and magneto-rheological (MR) damper model are given. In the end, this paper discusses the control model of BRHL and gives combined control simulation. The result indicates that intelligent bionic leg controlled by MR damper can track artificial leg’s gait well.
Biped robot with heterogeneous legs, Intelligent bionic leg, Magneto-rheological damper, Gait tracking
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38浏览
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177下载
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引用
王斐, Fei Wang, Takuya Kamano, Takashi Yasuno, Takayuki Suzuki, Hironobu Harada
电学论D,122卷xx号,平成14年/T. IEE Japan, Vol. 122-D, No.xx, 2002,-0001,():
-1年11月30日
This paper describes a novel application of genetic algorithm for navigation of an autonomous mobile robot (AMR) under unknown environments. In the navigation system, the AMR is controlled by the decision- making block, which consists of neural network. To achieve both successful navigation to the goal and the suitable obstacle avoidance, the connection weights of the neural network and speed gains for predefined actions are encoded as genotypes and are tuned simultaneously by genetic algorithm so that the static and dynamic danger-degrees, the energy consumption and the distance and direction errors decrease during the navigation. Experimental results demonstrate the validity of the proposed navigation system.
AMR, Navigation, Obstacle avoidance, Decision-making, Genetic algorithm, Danger-degree
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34浏览
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57下载
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【期刊论文】Terrain Identification of Intelligent Bionic Leg Based on Ground Reaction Force
王斐, Fei Wang, Jie Su, Hualong Xie, Xinhe Xu
Proceedings of the 2007 IEEE International Conference on Integration Technology March 20 - 24, 2007, Shenzhen, China ,-0001,():
-1年11月30日
Biomedical research indicates that human gait is considerable different when walking on different terrain. In this paper, terrain identification scheme for an intelligent bionic leg (IBL) is presented. Terrain identification system is modeled by the procedure neural networks (PNNs) and is used to identify the current terrain type based on the ground reaction force (GRF) information. According to identification result, damping moment of magneto-rheological (MR) damper mounted on knee joint of IBL is adjusted to accommodate changing conditions. This paper presents the PNNs model and calculates the related arithmetics. Terrain identification results prove the rationality and feasibility of the proposed scheme.
Intelligent bionic leg, terrain identification, ground reaction force, procedure neural networks.,
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71浏览
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150下载
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【期刊论文】Virtual Prototyping Based Collaborative Simulation of Biped Robot with Heterogeneous Legs
王斐, Fei Wang, Hualong Xie, Xinhe Xu, Yunzhou Zhang
,-0001,():
-1年11月30日
The conception and research purpose of Biped robot with heterogeneous legs (BRHL), which is a new type of humanoid robot, is detailed. To meet the requirement of BRHL development, Pro/E, ADAMS and MATLAB Simulink are integrated to construct a virtual prototype, and the virtual prototyping (VP) based collaborative simulation (CS) method is proposed. To achieve higher simulation precision, flexibility model of prosthetic foot is constructed. Kinematic, dynamics and iterative learning control (ILC) collaborative simulation are conducted to validate the effectiveness of proposed scheme. Simulation results demonstrate that virtual prototyping can avoid heavy work of manual modeling and can provide an effective way to study the complicated biped robot system.
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36浏览
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509下载
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王斐, 张云洲, 吴成东, 薛定宇
东北大学学报(自然科学版) 2008年1月第29卷 第l期/Journal of Northeastern University (Natural Science) Vol.29, No.1, Jan.2008,-0001,():
-1年11月30日
为提高轮式自主移动机器人控制系统的性能,采用高性能微处理器设计了一种嵌入式控制系统。基于分层递阶控制的思想将双处理器应用于不同层次,分别实现高速复杂运算和运动实时控制。系统引入了多种环境感知器件,采用模糊逻辑实现准确的运动路线控制,通过视觉对目标位置的状态提供准确的判断,具有模块化、控制灵活、可靠性高等优点。实际应用表明该控制系统具有良好的实时性和鲁棒性。
自主机器人, 嵌入式系统, 分层递阶控制, 环境感知, 行为决策
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43浏览
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292下载
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