Jianwen Luo

Jianwen Luo
The Chinese University of Hong Kong Shenzhen · Shenzhen Institute of Artificial Intelligence and Robotics for Society

PhD in Robotics

About

29
Publications
11,841
Reads
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236
Citations
Citations since 2016
28 Research Items
236 Citations
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Introduction
I am currently interested in legged locomotion, pHRI, whole-body control, wearable robotics and learning-based control. My personal page is : https://sites.google.com/view/jianwen-luo/home
Additional affiliations
October 2020 - December 2020
University of Science and Technology of China
Position
  • Professor (Associate)
Description
  • Associate Professor (Associate Researcher)
February 2017 - May 2017
University of Texas at Austin
Position
  • Short visit
Description
  • I worked on biped locomotion control as a visitor.
March 2016 - April 2018
Stanford University
Position
  • Researcher
Education
September 2014 - December 2018
Harbin Institute of Technology
Field of study
  • Robotics

Publications

Publications (29)
Article
Recent advancement in quadrupedal robustness and agility has shown the exciting progress towards the early adoption, yet there remains a challenge to enhance the payload capacity for the dynamic locomotion with electrically actuated legged robots. This study presents Kirin, a quadruped robot with prismatic leg driven by quasi-direct drives (QDDs) f...
Article
Full-text available
Quadruped robots manifest great potential to traverse rough terrains with payload. Current model-based controllers, which are extensively adopted in quadruped robot locomotion control, rely on accurate estimation of parameters and will significantly deteriorate in severe disturbance, e.g., adding heavy payload. This article introduces an online ide...
Article
Full-text available
Estimation of center of mass (CoM) and center of pressure (CoP) is critical for lower limb exoskeletons, prostheses, and legged robots. To meet the demand in these fields, this study presents a novel CoM and CoP estimation method for human walking through a wearable visual odometry (VO) device. This method is named VO-based estimation of CoM and Co...
Conference Paper
Full-text available
Quadruped locomotion is currently a vibrant research area, which has reached a level of maturity and performance that enables some of the most advanced real-world applications with autonomous quadruped robots both in academia and industry. Blind robust quadruped locomotion has been pushed forward in control and technology aspects within recent deca...
Conference Paper
Quadruped locomotion is currently a vibrant research area, which has reached a level of maturity and performance that enables some of the most advanced real-world applications with autonomous quadruped robots both in academia and industry. Blind robust quadruped locomotion has been pushed forward in control and technology aspects within recent deca...
Article
Full-text available
Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along the sagittal direction, such as slopes and stairs. To accomplish autonomous locomotion navigation in complex environments, spinning is a fundam...
Preprint
Full-text available
Quadruped locomotion is currently a vibrant research area, which has reached a level of maturity and performance that enables some of the most advanced real-world applications with autonomous quadruped robots both in academia and industry. Blind robust quadruped locomotion has been pushed forward in control and technology aspects within recent deca...
Preprint
Full-text available
Supernumerary Robotics Device (SRD) is an ideal solution to provide robotic assistance in overhead manual manipulation. Since two arms are occupied for the overhead task, it is desired to have additional arms to assist us in achieving other subtasks such as supporting the far end of a long plate and pushing it upward to fit in the ceiling. In this...
Preprint
Full-text available
A hopping leg, no matter in legged animals or humans, usually behaves like a spring during the periodic hopping. Hopping like a spring is efficient and without the requirement of complicated control algorithms. Position and force control are two main methods to realize such a spring-like behaviour. The position control usually consumes the torque r...
Preprint
Full-text available
Quadruped robots manifest great potential to traverse rough terrains with payload. Numerous traditional control methods for legged dynamic locomotion are model-based and exhibit high sensitivity to model uncertainties and payload variations. Therefore, high-performance model parameter estimation becomes indispensable. However, the inertia parameter...
Preprint
Full-text available
Dynamic quadrupedal locomotion over rough terrains, although revealing remarkable progress over the last few decades, remains a challenging task. Small-scale quadruped robots are adequately flexible and adaptable to traverse numerous uneven terrains, such as slopes and stairs, while moving along its Sagittal direction. However, spinning behaviors o...
Conference Paper
Full-text available
With the gradual maturity of the software and hardware of quadruped robots, the application scenarios of quadruped robots are increasing, such as security, rescue, exploration and other tasks. Quadruped robots are flexible and adaptive to challenging or complex environment. This study presents a large-scale quadruped robot, Pegasus II, which is a n...
Article
Full-text available
This paper presents CCRobot-IV, the fourth version of a climbing robot designed for bridge cable-inspection tasks. CCRobot-IV inherits design features from the previous CCRobot series, and has improved capability for crossing cables with obstacles such as helical ribs, small metal accessories, and various other obstacles. CCRobot-IV consists of a q...
Article
Visual information is indispensable to human locomotion in complex environments. Although amputees can perceive the environmental information by eyes, they cannot transmit the neural signals to prostheses directly. To augment human-prosthesis interaction, this article introduces a subvision system that can perceive environments actively, assist to...
Article
Full-text available
Overhead manipulation often needs collaboration of two operators, which is challenging in confined space such as in a compartment or on a ladder. Supernumerary Robotic Limb (SuperLimb), as a promising wearable robotics solution for overhead tasks, can provide optimal assistance in terms of broader workspace, diverse manipulation functionalities, an...
Article
Full-text available
Wrist disability caused by a series of diseases or injuries hinders the patient’s capability to perform activities of daily living (ADL). Rehabilitation devices for the wrist motor function have gained popularity among clinics and researchers due to the convenience of self-rehabilitation. The inherent compliance of soft robots enabled safe human-ro...
Conference Paper
Full-text available
Supernumerary Robotics Device (SRD) or Supernumerary Robotic Limbs (SRL) is an ideal solution to provide robotic assistance in overhead manual manipulation, especially the tasks including supporting a panel and fitting it in the ceiling in limited space such as compartment. Since two arms are occupied for the overhead task, it is desired to have ad...
Article
Full-text available
Whole-body control (WBC) is a generic task-oriented control method for feedback control of loco-manipulation behaviors in humanoid robots. The combination of WBC and model-based walking controllers has been widely utilized in various humanoid robots. However, to date, the WBC method has not been employed for unsupported passive-ankle dynamic locomo...
Article
Robust Bipedal Locomotion Based on a Hierarchical Control Structure – CORRIGENDUM - Jianwen Luo, Yao Su, Lecheng Ruan, Ye Zhao, Donghyun Kim, Luis Sentis, Chenglong Fu
Article
Full-text available
To improve biped locomotion's robustness to internal and external disturbances, this study proposes a hierarchical structure with three control levels. At the high level, a foothold sequence is generated so that the Center of Mass (CoM) trajectory tracks a planned path. The planning procedure is simplified by selecting the midpoint between two cons...
Preprint
Full-text available
Whole-body control (WBC) is a generic task-oriented control method for feedback control of loco-manipulation behaviors in humanoid robots. The combination of WBC and model-based walking controllers has been widely utilized in various humanoid robots. However, to date, the WBC method has not been employed for unsupported passive-ankle dynamic locomo...
Article
Full-text available
This study investigates the problem of dynamic walking impact on a biped robot. Two online variable stiffness control algorithms, i.e., torque balance algorithm (TBA) and surface fitting algorithm (SFA), are proposed based on virtual spring leg to achieve compliant performance. These two algorithms target on solving the high nonlinearity commonly e...
Conference Paper
Full-text available
In this paper, whole body operational space (WBOS) framework for three dimensional passive-foot biped robot is presented. The stability of WBOS controller is analyzed and a foot placement planner is proposed. In many cases, WBOS controller generates torque commands to execute the trajectories planned by high-level planners every control loop. The p...
Conference Paper
Full-text available
The dynamics of walking can be achieved by using the compliant legs. Understanding the compliant mechanisms during walking would improve the design of assistive devices for humans. We studied how and the extent to which the compliant legs would affect the passive stability of walking. From the biomechanics of human walking, we built three 2D models...
Article
Full-text available
Hydraulic actuated legged robots have greater joint torque than electric actuated ones, which could improve the performance of legged robots in heavy duty tasks. Given the limited knowledge of technology and engineering experience in developing hydraulic humanoid biped robots and inspired by the excellent performance of recent emerging hydraulic le...
Article
Full-text available
A combination of walking control methods was proposed and implemented on a biped robot. The LIPM-based model predictive control (MPC) was adopted to generate a basic stable walking pattern. The stability of pitch and yaw rotation was improved through pitch and yaw momentum control as a supplementation of MPC. It is found that biped robot walking te...
Conference Paper
Full-text available
This paper designs a hydraulic-actuated biped robot including the aspects of mechanical structure and gait planning. Referring to skeleton structure of human, we designed a 3D biped robot model. The robot has 12 degrees of freedom. Each freedom covers the range of motion in human walking. Based on the loaded inverted pendulum model, stable walking...

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Projects

Projects (4)
Project
The goal of this project is to develop a biped robot system and explore the control for agile and robust bipedal locomotion
Project
A powered prosthesis aimed for rough terrain