孙雷｜南开大学｜学者主页

2026

RaCo-SLAM: A Physics-Informed 4D Radar SLAM with Co-visibility Consistency Factor

Zishun Deng, Wanbiao Lin, Can Li, Teng Wang, Chao Guo, Jiawei Shen, Lei Sun

Proceedings - IEEE International Conference on Robotics and Automation/Proceedings

DOI

2026

GMM-LIO: Adaptive and Robust LiDAR-Inertial Odometry with Gaussian Mixture Model Voxel Map

Zishun Deng, Can Li, Wanbiao Lin, Lei Sun

Proceedings - IEEE International Conference on Robotics and Automation/Proceedings

DOI

2025

EA2D-LSLAM: Environment Analysis-Based Adaptive Downsampling for Point Clouds in LiDAR SLAM

Yan Sun, Wanbiao Lin, Bohan Shi, Jiawei Shen, Liangbo Hu, Lei Sun

IEEE International Conference on Real-time Computing and Robotics (RCAR)

DOI

2025

TGRM: Truncated Least Squares Registration and Ground-Constrained Optimization for 4D Radar SLAM

Zishun Deng, Jiayu Hu, Wanbiao Lin, Bohan Shi, Jiawei Shen, Li Can, Lei Sun

IEEE International Conference on Real-time Computing and Robotics (RCAR)

DOI

2025

VoxEKF-RIO: A 4D Radar Inertial Odometry Based on Incremental Voxel Map and Iterated Kalman Filter

Jiawei Shen, Chenyu Shen, Zishun Deng, Wanbiao Lin, Bohan Shi, Lei Sun

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

DOI

2025

Learning-based Keypoints Detection with Topological Order on Deformable Linear Objects from Incomplete Point Clouds

Li Can, Jingyang Liu, Lei Sun

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

DOI

2025

Fast Autonomous Exploration Algorithm Based on Viewpoint Hierarchy

Liangbo Hu, Lu Zhou, Yan Sun, Lei Sun, Wanbiao Lin

IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

DOI

2025

VoxLIO-BA: A LiDAR-Inertial Odometry with the Adjustment of Voxel Map and Historical Scan via Bundle Adjustment

Jiawei Shen, Lu Zhou, Wanbiao Lin, Bohan Shi, Chenyu Shen, Zishun Deng, Lei Sun

IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

DOI

2025

DV-LIO: LiDAR-inertial Odometry based on dynamic merging and smoothing voxel

Chenyu Shen, Wanbiao Lin, Siyang Sun, Wenlan Ouyang, Bohan Shi, Lei Sun

Robotica

DOI

2025

A dynamic and static combined camera-IMU extrinsic calibration method based on continuous-time trajectory estimation

Wenlan Ouyang, Wanbiao Lin, Lei Sun

Robotics and Autonomous Systems

DOI

2024

BAG-SLAM: A Bundle Adjustment Based Ground LiDAR SLAM System for Outdoor Mobile Robots

Bohan Shi, Wanbiao Lin, Wenlan Ouyang, Yan Sun, Lei Sun

IEEE International Conference on Robotics and Biomimetics (ROBIO)

DOI

2024

LIVRe: A Filter-Based LiDAR-Inertial-Visual 3D Reconstruction

Siyang Sun, Wanbiao Lin, Chenyu Shen, Wenlan Ouyang, Lei Sun

IEEE International Conference on Robotics and Biomimetics (ROBIO)

DOI

2024

Removing Feasibility Conditions on Force Control for a Compliant Grinding Device With Asymmetric Full-State Constraints and Hysteresis Nonlinearity

Jidong Liu, Lu Zhou, Ben Niu, Lei Sun

IEEE/ASME Transactions on Mechatronics

DOI

2024

BA-CLM: A Globally Consistent 3D LiDAR Mapping Based on Bundle Adjustment Cost Factors

Bohan Shi, Wanbiao Lin, Wenlan Ouyang, Chenyu Shen, Siyang Sun, Yan Sun, Lei Sun

Sensors

DOI

2024

Robust Force Control Based on Fuzzy ESO and Hysteresis Compensation for a Pneumatic Actuator-Driven Compliant Mechanism with Full-State Constraints

Jidong Liu, Lei Sun, Zhiyuan Li, Peiwen Li, Lu Zhou, Wanbiao Lin

Actuators

DOI

2024

Dyna VIO: Real-Time Visual-Inertial Odometry with Instance Segmentation in Dynamic Environments

Feixiang Zheng, Wanbiao Lin, Lei Sun

International Conference on Computer, Control and Robotics (ICCCR)

DOI

2024

Proxy-Based Sliding Mode Force Control for Compliant Grinding via Diagonal Recurrent Neural Network and Prandtl-Ishlinskii Hysteresis Compensation Model

Zhiyuan Li, Lei Sun, Jidong Liu, Yanding Qin, Ning Sun, Lu Zhou

Actuators

DOI

2024

LRPL-VIO: A Lightweight and Robust Visual–Inertial Odometry with Point and Line Features

Feixiang Zheng, Lu Zhou, Wanbiao Lin, Jingyang Liu, Lei Sun

Sensors

DOI

2023

基于Mecanum轮的物流机器人控制系统设计

孙雷

《电子技术》

2023

PCRMLP: A Two-Stage Network for Point Cloud Registration in Urban Scenes

Jingyang Liu, Yucheng Xu, Lu Zhou, Lei Sun

Sensors

DOI

2023

Reinforcement-Learning-Based Robust Force Control for Compliant Grinding via Inverse Hysteresis Compensation

Haoqi Tang, Zhuoqing Liu, Tong Yang, Lei Sun, Yongchun Fang, Xingjian Jing, Ning Sun

IEEE/ASME Transactions on Mechatronics

DOI

2022

Design and Analysis of a Compliant End-Effector for Robotic Polishing Using Flexible Beams

Yanding Qin, Haitao Wu, Zhiyuan Li, Ning Sun, Lei Sun

Actuators

DOI

2022

X-Shaped Structure-Based Modeling and Control for a Stable Platform with a Series Elastic Actuator

Teng Ai, Qingxiang Wu, Tong Yang, Lei Sun, Ning Sun

Machines

DOI

2021

Efficient Loop Closure Detection Method for Lidar SLAM in Challenging Environment

Yang Li, Wanbiao Lin, Tianjun Zha, Zhenghong Jiang, Peiwen Li, Lei Sun

International Conference on Control, Robotics and Cybernetics (CRC)

DOI

2021

A Local Planning Method Based on Minimum Snap Trajectory Generation and Traversable Region for Inspection of Airport Roads

Tianjun Zha, Yang Li, Lei Sun

International Conference on Automation, Control and Robots (ICACR)

DOI

2021

Multi-robot Task Allocation for Airfield Pavement Detection Tasks

Andong Shi, Shilei Cheng, Lei Sun, Jingtai Liu

International Conference on Control, Robotics and Cybernetics (CRC)

DOI

2021

Partition Coverage Planning Method Based on Adjustable Rectangular Decomposition for Airport Pavement

Shilei Cheng, Andong Shi, Zhengxi Hu, Lei Sun, Jingtai Liu

International Conference on Control, Robotics and Cybernetics (CRC)

DOI

2021

A Local Planning Method Based on Graph Optimization Framework

Tianjun Zha, Jian Guo Wen, Yang Li, Lei Sun

International Conference on Control, Robotics and Cybernetics (CRC)

DOI

2020

On Perpendicular Curve-Based Model-Less Control Considering Incomplete Orientation Constraint

Gaofeng Li, Dezhen Song, Shan Xu, Lei Sun, Jingtai Liu

IEEE/ASME Transactions on Mechatronics

DOI

2019

Proxy Based Sliding Mode Control for Series Elastic Actuator Based on Algebraic Identification and Motion Planning

Xinru Gong, Lei Sun, Jingtai Liu

Chinese Control and Decision Conference (CCDC)

DOI

2019

Robust Control Approach for Novel Stabilized Platform with Series Elastic Actuator

Mingyang Li, Lei Sun, Zhao Wen, Jingtai Liu

IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)

DOI

2019

Proxy based position control for flexible joint robot with link side energy feedback

Lei Sun, Zhao Wen, Wei Yin, Ning Sun, Jingtai Liu

Robotics and Autonomous Systems

DOI

2019

Robust Position Control of Series Elastic Actuator with Backstepping Based on Disturbance Observer

Zhao Wen, Lei Sun, Wei Yin, Mingyang Li, Jingtai Liu

IEEE/ASME International Conference on Advanced Intelligent Mechatronics

DOI

2019

Static Force-Based Modeling and Parameter Estimation for a Deformable Link Composed of Passive Spherical Joints With Preload Forces

Gaofeng Li, Dezhen Song, Lei Sun, Shan Xu, Hongpeng Wang, Jingtai Liu

IEEE/CAA Journal of Automatica Sinica

DOI

2019

Position control of a series elastic actuator based on global sliding mode controller design

Wei Yin, Lei Sun, Meng Wang, Jingtai Liu

IEEE/CAA Journal of Automatica Sinica

DOI

2019

A Hybrid Model and Model-Free Position Control for a Reconfigurable Manipulator

Gaofeng Li, Dezhen Song, Shan Xu, Lei Sun, Jingtai Liu

IEEE/ASME Transactions on Mechatronics

DOI

2019

Continuous finite-time output torque control approach for series elastic actuator

Lei Sun, Mingyang Li, Meng Wang, Wei Yin, Ning Sun, Jingtai Liu

Mechanical Systems and Signal Processing

DOI

2018

一种基于Bezier曲线的移动机器人轨迹规划新方法

孙雷，张丽爽，周璐，张雪波

《系统仿真学报》

DOI

2018

基于视觉标志间相对位姿的可变形臂标定方法

郝洁，李高峰，孙雷，卢翔，张森，刘景泰

《自动化学报》

DOI

2018

针对串联弹性驱动器抖动抑制的轨迹规划和跟踪控制

尹伟，孙雷，王萌，刘景泰

《自动化学报》

DOI

2018

基于RISE反馈的串联弹性驱动器最优控制方法

孙雷，孙伟超，王萌，刘景泰

《自动化学报》

DOI

2018

面向非完全姿态约束问题的旋转矩阵群中的垂线理论

李高峰，许杉，孙雷，刘景泰

《机器人》

2018

基于末端圆周运动的可变形臂旋量参数快速标定算法

许杉，李高峰，孙雷，刘景泰

《机器人》

2018

Real-time Shape Recognition of a Deformable Link by Using Self-Organizing Map

Shan Xu, Gaofeng Li, Dezhen Song, Lei Sun, Jingtai Liu

2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)

DOI

2018

Performance Evaluation of Human Comfortable Following Model for Service Robots

Yue Sun, Lei Sun, Jingtai Liu

IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

DOI

2018

Robust Position Control of Series Elastic Actuator with Sliding Mode Like and Disturbance Observer

Wei Yin, Lei Sun, Meng Wang, Jingtai Liu

Proceedings of the ... American Control Conference/Proceedings of the American Control Conference

DOI

2018

Kinematic-Free Orientation Control for a Deformable Manipulator Based on the Geodesic in Rotation Group SO(3)

Gaofeng Li, Dezhen Song, Shan Xu, Lei Sun, Jingtai Liu

IEEE Robotics and Automation Letters

DOI

2018

Map Optimization with Distance-Based Covariance in Industrial Field

Wanbiao Lin, Lei Sun, Jianchao Song, Xinwei Chen, Jingtai Liu

IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

DOI

2017

面向交互应用的串联弹性驱动器力矩控制方法

王萌，孙雷，尹伟，董帅，刘景泰

《自动化学报》

DOI

2017

用于柔性关节机器人位置控制的幅值饱和非线性状态反馈控制器

尹伟，孙雷，王萌，刘景泰

《机器人》

2017

Position Control for Flexible Joint Robot Based on Online Gravity Compensation With Vibration Suppression

Lei Sun, Wei Yin, Meng Wang, Jingtai Liu

IEEE Transactions on Industrial Electronics

DOI

2017

Nonlinear state feedback position control for flexible joint robot with energy shaping

Wei Yin, Lei Sun, Meng Wang, Jingtai Liu

Robotics and Autonomous Systems

DOI

2017

Design and parameters identification of flexible joint robot

Wei Yin, Lei Sun, Meng Wang, Jingtai Liu, Xinwei Chen

IEEE International Conference on Mechatronics and Automation (ICMA)

DOI

2017

Accurate Estimation of the Spring Stiffness in Series Elastic Actuators

Xinru Gong, Xinwei Chen, Wei Yin, Weichao Sun, Lei Sun

IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

DOI

2017

Continuous robust control for series elastic actuator with unknown payload parameters and external disturbances

Meng Wang, Lei Sun, Wei Yin, Shuai Dong, Jingtai Liu

IEEE/CAA Journal of Automatica Sinica

DOI

2016

Human comfort following behavior for service robots

Yue Sun, Lei Sun, Jingtai Liu

IEEE International Conference on Robotics and Biomimetics (ROBIO)

DOI

2016

Continuous finite-time control approach for series elastic actuator

Meng Wang, Lei Sun, Wei Yin, Shuai Dong, Jingtai Liu

Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes

DOI

2016

A practical, fast, and low-cost kinematic calibration scheme for a deformable manipulator by using Leap Motion

Gaofeng Li, Lei Sun, Xiang Lu, Jie Hao, Jingtai Liu

IEEE International Conference on Robotics and Biomimetics (ROBIO)

DOI

2016

Path planning for the mobile robots in the environment with unknown obstacles

Lishuang Zhang, Lei Sun, Lu Zhou, Xuebo Zhang, Jingtai Liu

IEEE International Conference on Robotics and Biomimetics (ROBIO)

DOI

2016

An integral sliding-mode control approach for series elastic actuator torque control

Weichao Sun, Lei Sun, Meng Wang, Lei Songqi, Jingtai Liu

IEEE International Conference on Robotics and Biomimetics (ROBIO)

DOI

2016

Nonlinear disturbance observer based torque control for series elastic actuator

Meng Wang, Lei Sun, Wei Yin, Shuai Dong, Jingtai Liu

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

DOI

2016

A hybrid model and kinematic-free control framework for a low-cost deformable manipulator using in home service

Gaofeng Li, Lei Sun, Shan Xu, Dezhen Song, Jingtai Liu

2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)

DOI

2016

Kinematic-free position control for a deformable manipulator

Gaofeng Li, Shan Xu, Lei Sun, Jingtai Liu

Chinese Control Conference (CCC)

DOI

2016

Variable stiffness estimation of a Series Elastic Actuator

Shuai Dong, Lu Zhou, Meng Wang, Wei Yin, Jingtai Liu, Lei Sun

Chinese Control Conference (CCC)

DOI

2016

A redundant manipulator design for active space debris removal

Wenbin Yan, Ningning Qi, Jialin Ai, Lei Sun

Chinese Control Conference (CCC)

DOI

2016

An improved registration algorithm based on geometric feature for the calibration of workpiece coordinate

Liang Lv, Lei Sun

Chinese Control Conference (CCC)

DOI

2016

A new method to generate shortest collision-free paths for mobile robots

Lishuang Zhang, Lu Zhou, Xuebo Zhang, Lei Sun

Chinese Control Conference (CCC)

DOI

2016

Residual vibration suppression for series elastic actuator based on phase plane analysis and trajectory tracking

Wei Yin, Lei Sun, Meng Wang, Shuai Dong, Jingtai Liu

Chinese Control Conference (CCC)

DOI

2016

The improvement method of Three-dimensional Robot engraving

Tongtong Yao, Lu Zhou, Jingtai Liu, Lei Sun

Chinese Control Conference (CCC)

DOI

2016

Real-time and fast RGB-D based people detection and tracking for service robots

Yue Sun, Lei Sun, Jingtai Liu

World Congress on Intelligent Control and Automation

DOI

2015

移动服务机器人共享控制研究

孙雷，王孙安，张进华，李小虎

《陕西科技大学学报》

2015

RGB-D Sensors Calibration for Service Robots SLAM

Yue Sun, Jingtai Liu, Lei Sun

Lecture notes in computer science

DOI

2015

A novel sliding mode control for series elastic actuator torque tracking with an extended disturbance observer

Meng Wang, Lei Sun, Wei Yin, Shuai Dong, Jingtai Liu

IEEE International Conference on Robotics and Biomimetics (ROBIO)

DOI

2015

Trajectory planning for an indoor mobile robot using quintic Bezier curves

Lishuang Zhang, Lei Sun, Sen Zhang, Jingtai Liu

IEEE International Conference on Robotics and Biomimetics (ROBIO)

DOI

2014

在线考虑运动学限制的最小加速度的轨迹规划(英文)

王英石，孙雷，周璐，刘景泰

《自动化学报》

2014

基于空间几何方法的乒乓球机器人最优姿态求取

王英石，孙雷，刘景泰

《机器人》

2014

Self-calibration of deformable arm with a monocular camera

Xiang Lu, Jingtai Liu, Jie Hao, Sen Zhang, Lei Sun

IEEE International Conference on Robotics and Biomimetics (ROBIO)

DOI

2014

Varying velocity hopping gait planning of a one-legged robot

Haili Qian, Lei Sun, Ruitao Qiu, Jingtai Liu

IEEE International Conference on Robotics and Biomimetics (ROBIO)

DOI

2014

Smooth path planning for a home service robot using η3-splines

Sen Zhang, Lei Sun, Zhongliang Chen, Xiang Lu, Jingtai Liu

IEEE International Conference on Robotics and Biomimetics (ROBIO)

DOI

2014

Online Minimum-acceleration Trajectory Planning with the Kinematic Constraints

Yingshi Wang, Lei Sun, Lu Zhou, Jingtai Liu

Acta Automatica Sinica

DOI

2014

Initial location calibration of home service robot based on 2-dimensional codes landmarks

Sen Zhang, Lei Sun, Liang Feng Dong, Baopeng Yuan, Zhongliang Chen, Jingtai Liu

Chinese Control Conference (CCC)

DOI

2013

竞争型网络机器人体系结构研究

李岩，曹琳，孙雷，刘景泰

《机器人》

2013

基于人工势场法的竞争型网络机器人攻防规划

卢翔，刘景泰，李海丰，李岩，孙雷

《机器人》

2013

Dynamic modeling and drift control of high-speed wheel mobile robot

Lei Zhao, Hongpeng Wang, Yun Yang, Lei Sun, Jingtai Liu

2011

竞争型机器人仿真系统设计与实现

于凯妍，刘景泰，卢翔，李海丰，李岩，孙雷

《机器人》

2011

面向竞争型网络机器人的运动目标快速检测

卢翔，刘景泰，于凯妍，李海丰，李岩，孙雷

《机器人》

2011

A novel human-robot interaction system based on HMM

Zongwei Li, Lei Sun

World Congress on Intelligent Control and Automation

DOI

2011

Rapid Detection of Moving Target in the Competitive Networked Robots

Lei Sun

Robot

2011

Human-machine interaction network robot system based on smart phone

Lei Sun

Computer Engineering and Applications Journal

2011

Design and Implementation of Simulation System for the Competitive Robot System

Lei Sun

Robot

2010

A novel trajectory prediction approach for table-tennis robot based on nonlinear output feedback observer

Yingshi Wang, Lei Sun, Jingtai Liu, Qi Yang, Lu Zhou, Shan He

IEEE International Conference on Robotics and Biomimetics (ROBIO)

DOI

2010

Trajectory planning for visual servoing with some constraints

Haifeng Li, Jingtai Liu, Yan Li, Xiang Lu, Kaiyan Yu, Lei Sun

2010

Visual servoing with an uncalibrated eye-in-hand camera

Haifeng Li, Jingtai Liu, Yan Li, Xiang Lu, Lei Sun

2010

Visual servo of uncalibrated eye-in-hand system with time-delay compensation

Haifeng Li, Jingtai Liu, Yan Li, Xiang Lu, Lei Sun

World Congress on Intelligent Control and Automation

DOI

2009

Tele-LightSaber——一种高对抗度竞争型网络机器人系统

刘景泰，李海丰，孙雷，黄际劲，张星星，李岩

《机器人》

2009

Ball's flight trajectory prediction for table-tennis game by humanoid robot

Lei Sun, Jingtai Liu, Yingshi Wang, Lu Zhou, Qi Yang, Shan He

IEEE International Conference on Robotics and Biomimetics (ROBIO)

DOI

2008

Indoor intrusion detection using an intelligent sensor network

Hongpeng Wang, Jingtai Liu, Lei Sun, Jiangchuan Wu

World Congress on Intelligent Control and Automation

DOI

2008

Research on Competitive Networked Robots

Lei Sun

Automation and Instrumentation

2006

A Criterion for Evaluating Competitive Teleoperation System

Xingbo Huang, Jingtai Liu, Lei Sun, Weiwei Sun, Tao Chen

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

DOI

2006

Competitive Multi-robot Teleoperation

Jingtai Liu, Lei Sun, Tao Chen, Xingbo Huang, Chunying Zhao

Proceedings - IEEE International Conference on Robotics and Automation/Proceedings

DOI

2006

A Human-Assisted Based Visual Servo Approach for Tele-Assembly

Lei Sun, Weiwei Sun, Jingtai Liu, Xingbo Huang, Jiang Du

World Congress on Intelligent Control and Automation

DOI

2005

基于视觉的遥操作机器人精密装配系统

刘景泰，吴水华，孙雷，陈涛

《机器人》

2005

竞争型遥操作机器人系统的研究

刘景泰，孙雷，陈涛，黄兴博，赵春颖

《机器人》

2005

Virtual Repulsive Force in Competitive Multi-Robot Teleoperation

Chunying Zhao, Jingtai Liu, Yujuan Li, Tao Chen, Lei Sun

DOI

精选作品

期刊论文

RaCo-SLAM: A Physics-Informed 4D Radar SLAM with Co-visibility Consistency Factor

GMM-LIO: Adaptive and Robust LiDAR-Inertial Odometry with Gaussian Mixture Model Voxel Map

EA2D-LSLAM: Environment Analysis-Based Adaptive Downsampling for Point Clouds in LiDAR SLAM

TGRM: Truncated Least Squares Registration and Ground-Constrained Optimization for 4D Radar SLAM

VoxEKF-RIO: A 4D Radar Inertial Odometry Based on Incremental Voxel Map and Iterated Kalman Filter

Learning-based Keypoints Detection with Topological Order on Deformable Linear Objects from Incomplete Point Clouds

Fast Autonomous Exploration Algorithm Based on Viewpoint Hierarchy

VoxLIO-BA: A LiDAR-Inertial Odometry with the Adjustment of Voxel Map and Historical Scan via Bundle Adjustment

DV-LIO: LiDAR-inertial Odometry based on dynamic merging and smoothing voxel

A dynamic and static combined camera-IMU extrinsic calibration method based on continuous-time trajectory estimation

BAG-SLAM: A Bundle Adjustment Based Ground LiDAR SLAM System for Outdoor Mobile Robots

LIVRe: A Filter-Based LiDAR-Inertial-Visual 3D Reconstruction

Removing Feasibility Conditions on Force Control for a Compliant Grinding Device With Asymmetric Full-State Constraints and Hysteresis Nonlinearity

BA-CLM: A Globally Consistent 3D LiDAR Mapping Based on Bundle Adjustment Cost Factors

Robust Force Control Based on Fuzzy ESO and Hysteresis Compensation for a Pneumatic Actuator-Driven Compliant Mechanism with Full-State Constraints

Dyna VIO: Real-Time Visual-Inertial Odometry with Instance Segmentation in Dynamic Environments

Proxy-Based Sliding Mode Force Control for Compliant Grinding via Diagonal Recurrent Neural Network and Prandtl-Ishlinskii Hysteresis Compensation Model

LRPL-VIO: A Lightweight and Robust Visual–Inertial Odometry with Point and Line Features

基于Mecanum轮的物流机器人控制系统设计

PCRMLP: A Two-Stage Network for Point Cloud Registration in Urban Scenes

Reinforcement-Learning-Based Robust Force Control for Compliant Grinding via Inverse Hysteresis Compensation

Design and Analysis of a Compliant End-Effector for Robotic Polishing Using Flexible Beams

X-Shaped Structure-Based Modeling and Control for a Stable Platform with a Series Elastic Actuator

Efficient Loop Closure Detection Method for Lidar SLAM in Challenging Environment

A Local Planning Method Based on Minimum Snap Trajectory Generation and Traversable Region for Inspection of Airport Roads

Multi-robot Task Allocation for Airfield Pavement Detection Tasks

Partition Coverage Planning Method Based on Adjustable Rectangular Decomposition for Airport Pavement

A Local Planning Method Based on Graph Optimization Framework

On Perpendicular Curve-Based Model-Less Control Considering Incomplete Orientation Constraint

Proxy Based Sliding Mode Control for Series Elastic Actuator Based on Algebraic Identification and Motion Planning

Robust Control Approach for Novel Stabilized Platform with Series Elastic Actuator

Proxy based position control for flexible joint robot with link side energy feedback

Robust Position Control of Series Elastic Actuator with Backstepping Based on Disturbance Observer

Static Force-Based Modeling and Parameter Estimation for a Deformable Link Composed of Passive Spherical Joints With Preload Forces

Position control of a series elastic actuator based on global sliding mode controller design

A Hybrid Model and Model-Free Position Control for a Reconfigurable Manipulator

Continuous finite-time output torque control approach for series elastic actuator

一种基于Bezier曲线的移动机器人轨迹规划新方法

基于视觉标志间相对位姿的可变形臂标定方法

针对串联弹性驱动器抖动抑制的轨迹规划和跟踪控制

基于RISE反馈的串联弹性驱动器最优控制方法

面向非完全姿态约束问题的旋转矩阵群中的垂线理论

基于末端圆周运动的可变形臂旋量参数快速标定算法

Real-time Shape Recognition of a Deformable Link by Using Self-Organizing Map

Performance Evaluation of Human Comfortable Following Model for Service Robots

Robust Position Control of Series Elastic Actuator with Sliding Mode Like and Disturbance Observer

Kinematic-Free Orientation Control for a Deformable Manipulator Based on the Geodesic in Rotation Group SO(3)

Map Optimization with Distance-Based Covariance in Industrial Field

面向交互应用的串联弹性驱动器力矩控制方法

用于柔性关节机器人位置控制的幅值饱和非线性状态反馈控制器

Position Control for Flexible Joint Robot Based on Online Gravity Compensation With Vibration Suppression

Nonlinear state feedback position control for flexible joint robot with energy shaping

Design and parameters identification of flexible joint robot

Accurate Estimation of the Spring Stiffness in Series Elastic Actuators

Continuous robust control for series elastic actuator with unknown payload parameters and external disturbances

Human comfort following behavior for service robots

Continuous finite-time control approach for series elastic actuator

A practical, fast, and low-cost kinematic calibration scheme for a deformable manipulator by using Leap Motion

Path planning for the mobile robots in the environment with unknown obstacles

An integral sliding-mode control approach for series elastic actuator torque control

Nonlinear disturbance observer based torque control for series elastic actuator

A hybrid model and kinematic-free control framework for a low-cost deformable manipulator using in home service

Kinematic-free position control for a deformable manipulator

Variable stiffness estimation of a Series Elastic Actuator

A redundant manipulator design for active space debris removal

An improved registration algorithm based on geometric feature for the calibration of workpiece coordinate

A new method to generate shortest collision-free paths for mobile robots

Residual vibration suppression for series elastic actuator based on phase plane analysis and trajectory tracking

The improvement method of Three-dimensional Robot engraving

Real-time and fast RGB-D based people detection and tracking for service robots

移动服务机器人共享控制研究

RGB-D Sensors Calibration for Service Robots SLAM

A novel sliding mode control for series elastic actuator torque tracking with an extended disturbance observer

Trajectory planning for an indoor mobile robot using quintic Bezier curves

在线考虑运动学限制的最小加速度的轨迹规划(英文)

基于空间几何方法的乒乓球机器人最优姿态求取

Self-calibration of deformable arm with a monocular camera

Varying velocity hopping gait planning of a one-legged robot