Jinguo Liu

Jinguo Liu
Shenyang Institute of Automation,CAS · State Key Laboratory of Robotics,

Prof. Dr

About

200
Publications
62,668
Reads
How we measure 'reads'
A 'read' is counted each time someone views a publication summary (such as the title, abstract, and list of authors), clicks on a figure, or views or downloads the full-text. Learn more
1,735
Citations
Additional affiliations
February 2014 - January 2015
University of Surrey
Position
  • Academic Visitor
March 2008 - January 2016
Shenyang Institute of Automation,CAS
Position
  • Managing Director
January 2008 - January 2015
Shenyang Institute of Automation,Chinese Academy of Sciences
Position
  • Research Assistant

Publications

Publications (200)
Article
This paper deals with centroid alignment for the spaceflight vehicles that work on orbit under microgravity environment, due to the unavailability of centroid measurement on ground, which is based on the principle of mass–radius products in different configurations of static equilibrium. A physical prototype of articulated mechanism for centroid al...
Article
Full-text available
By introducing the modular and reconfigurable design, the limbs of hexapod robot can be assembled into different configurations to meet various task requirements. Contrary to the fixed configuration system, the task capabilities of the modular reconfigurable robot vary with the configurations. This paper addresses the problem of the configuration e...
Article
Full-text available
Eclosion is a rapid process of morphological changes in insects, especially for the wings of butterflies. The orange oakleaf butterfly (Kallima inachus) transits from pupae to adults with a 9.3 fold instant increase in the surface area of their wings. To explore the mechanism for the rapid morphological changes in butterfly wings, we analyzed chang...
Article
Full-text available
Gaze tracking is widely used in driver safety driving, visual impairment detection, virtual reality, human robot interaction , and reading process tracking. However, varying illumination , various head poses, different distances between human and cameras, occlusion of hair or glasses, and low-quality images pose huge challenges to accurate gaze tra...
Article
Full-text available
This paper investigates the static and dynamic performances of sandwich plates with magnetorheological elastomer (MRE) core, in which the MRE core includes two copper wire layers, two inner metal layers, and one MRE layer. First, based on the complex modulus method, the Jolly theory and the pre-defined magnetic coefficients, the dynamic moduli, and...
Article
Full-text available
The distributed resilient tracking problem for multiagent systems (MASs) is investigated in the presence of actuator/sensor faults over directed topology. Both actuator fault and sensor fault are taken into account. Meanwhile, using the local information, the fault compensators are introduced. Then, based on the fuzzy-logic systems (FLSs) and modif...
Article
Full-text available
Soft manipulator is a kind of special manipulator that uses soft material or flexible structure to perform manipulation task under the specific drive mode inspired by the soft tissue. It is developing gradually as an important component of the soft robot. In this paper, the typical design cases of the soft manipulators as well as the related resear...
Article
Full-text available
Solar sails, characterized by passive propulsion, have attracted an increasing attention of researchers, which has important value in the field of deep space exploration. SIASAIL-I is an on-orbit verification mission for solar sails based on a 6U cubesat, designed and produced by Shenyang Institute of Automation, Chinese Academy of Sciences (SIA, C...
Article
Full-text available
How do humans recognize an action or an interaction in the real world? Due to the diversity of viewing perspectives, it is a challenge for humans to identify a regular activity when they observe it from an uncommon perspective. We argue that discriminative spatiotemporal information remains an essential cue for human action recognition. Most existi...
Article
Climbing robots have broad application prospects in aerospace equipment inspection, forest farm monitoring, and pipeline maintenance. Different types of climbing robots in existing research have different advantages. However, the self-adaptability and stability have not been achieved at the same time. In order to realize the self-adaptability of ho...
Article
Full-text available
Based on the design of a post-buckling silicone gel column (SGC), a novel type of low-frequency vibration isolator is presented, and the vibration isolation performance of this isolator is studied by combining theoretical analysis and experimental verification. The stiffness characteristics of the post-buckling SGC are derived, and its recovery for...
Article
Hand detection is a crucial technology for space human-robot interaction (SHRI), and the awareness of hand identities is particularly critical. However, most advanced works have three limitations: 1) the low detection accuracy of small-size objects; 2) insufficient temporal feature modeling between frames in videos; and 3) the inability of real-tim...
Article
In this study, a segmented degradation model was established for the first time to predict and evaluate the dynamic degradation characteristics of carbon fibre-reinforced epoxy composite (CFRC) shells accurately by considering temperature variations during heating, maintenance, and cooling. The model is based on the Reddy's high-order shear deforma...
Article
Noise and physical constraints of redundant manipulators are the two major challenges in the repetitive motion planning (RMP) problems. Therefore, this paper proposed a power-exponent-type modified recurrent neural network (PET-MRNN) to simultaneously address both noise and physical constraints. Moreover, PET-MRNN model is activated by a new Sbp-si...
Article
The dynamic response of the model, which is the series connection of a planar four-bar mechanism and a spatial RSSR mechanism, is analyzed considering revolute joint clearance and friction. A non-holonomic constraint equation is proposed to solve the Euler angles. The dynamic equations are established by combining the Lagrange equation with the mod...
Article
Full-text available
This paper proposes a kinematic obstacle avoidance algorithm for Space hyper-redundant manipulators, and its basic idea is to use a static and a dynamic curve to constrain the macroshape of the manipulators simultaneously. The static curve is constructed based on a traditional rapidly exploring random tree algorithm, and a backbone curve is utilize...
Article
Full-text available
Hand gesture recognition plays an important role in human–robot interaction. The accuracy and reliability of hand gesture recognition are the keys to gesture‐based human–robot interaction tasks. To solve this problem, a method based on multimodal data fusion and multiscale parallel convolutional neural network (CNN) is proposed in this paper to imp...
Article
Full-text available
A spring-damping contact force model considering the normal friction force is proposed and discussed in this paper. This model is an extension and development of Hertz theoretical model. The physical model of contact force in the contact process is established. The friction force during the elastic compression and restitution phases is represented...
Article
Stratospheric airships are lighter-than-air vehicles that work at an altitude of 20km in the lower calm portion of the stratosphere. They can be used as real-time surveillance platforms for environment monitoring and civil communication. Solar energy is the ideal power choice for long-endurance stratospheric airships. Attitude control is important...
Article
This work is devoted to the investigation of vibration suppression effects of the viscoelastic foundation, viscoelastic damping boundary condition and porous graphene platelet coating (PGPC) on the fiber reinforced polymer (FRP) composite plate. A dynamic model is built by combining the first-order shear deformation theory, the multi-segment partit...
Article
By adding dimethyl sulfoxide (DMSO), nano titanium dioxide (TiO2) and sodium carbonate (Na2CO3) to polyvinyl alcohol (PVA), the PVA-TiO2 composite hydrogel membrane with high mechanical properties and photocatalytic ability was prepared using the freeze-thaw cycle method. The addition of DMSO and TiO2 can effectively improve the mechanical strength...
Article
Full-text available
To improve vibration reduction effect in low-frequency band of dynamic vibration absorber (DVA), a novel type of articulated silicone gel column (SGC) is introduced in the design of the tuned dynamic vibration absorber. The nonlinear variation of frequency of SGC with varying geometry is obtained by both finite element simulation and experiments. T...
Article
Full-text available
Space capture actuators face problems such as insufficient flexibility and electrical components that are vulnerable to extreme space environments. To address these problems, a centralized-driven flexible continuous robot based on a multiple scissor mechanism units is proposed in this study. The continuous robot body is composed of two scissor mech...
Article
Snake robots have advantages of terrain adaptability over wheeled mobile robots and traditional articulated robot arms because of their limbless thin body structure and high flexibility. They have extensive applications in tasks such as rescue, disaster recovery, inspection and minimally invasive surgery. Current research on snake robots is mainly...
Article
Full-text available
This paper presents the analysis and experimental evaluation of robot dynamics and control for a four-limb parallel Schönflies-motion generator dedicating to fast pick-and-place operations, with a different topological architecture from its counterparts for efficient use of shop-floor space. The concise equation of motion is built with principle of...
Article
Full-text available
Supernumerary robotic limbs (SRLs) are a new type of wearable human auxiliary equipment, which is currently a hot research topic in the world. SRLs have broad applications in many fields, and will provide a reference and technical support for the realization of human-robot collaboration and integration, while playing an important role in improving...
Article
Full-text available
Abstract Normal alkane is an unbranched alkane whose structural formula is H-CH2-CH2-…-CH2-…-CH2-H, which can be regarded as a reconfigurable chain-type structure composed of -CH2- modules. Inspired by normal alkane, a normal-alkane-like reconfigurable modular robot (NAR) is proposed. The module consists of two differential gear trains mounted orth...
Article
Full-text available
This paper presents a planetary elliptic displaced orbit (PEDO) for a solar sail with reflectivity control devices (RCDs). The problem of multiple solar sail formation flying in which the leader follows the PEDO is investigated. The trajectory of the leader is not affected by that of the followers, whereas each follower needs to know the state info...
Article
Full-text available
Active shape control for an antenna reflector is a significant procedure used to compensate for the impacts of a complicated space environment. In this article, a physics-guided distributed model predictive control (DMPC) framework for reflector shape control with input saturation is proposed. First, guided by the actual physical characteristics, a...
Article
Full-text available
Gaze tracking is widely used in fatigue driving detection, eye disease diagnosis, mental illness diagnosis, website or advertising design, virtual reality, gaze-control devices and human-computer interaction. However, the influence of light, specular reflection and occlusion, the change of head pose, especially the ever-changing human pose in natur...
Article
In this paper, an analytical model for fiber reinforced polymer composite cylindrical shells (FRPCCSs) accounting for material and geometric nonlinearities and thermal effect is proposed , which is capable of predicting natural frequencies, damping ratios, and resonant responses under different excitation amplitudes and temperatures. Firstly, the n...
Article
In this paper, nonlinear vibrations of fiber-reinforced composite cylindrical shells (FRCCSs) with bolted joint boundary conditions are studied both theoretically and experimentally, where the nonlinear amplitude-dependent material property of fiber-reinforce composites (FRCs) and partial bolt loosening boundary conditions are taken into account. B...
Chapter
Full-text available
This paper deals with the dynamic precision analysis of a linear-type rail redundant sliding manipulator. Based on the analysis of the mechanism structure, kinematics, stiffness performance and dynamic characteristics of the redundant sliding manipulator, the dynamic error caused by elastic deformation of links is analyzed. A mathematical model of...
Article
Full-text available
Passive variable stiffness joints have unique advantages over active variable stiffness joints and are currently eliciting increased attention. Existing passive variable stiffness joints rely mainly on sensors and special control algorithms, resulting in a bandwidth-limited response speed of the joint. We propose a new passive power-source-free sti...
Article
Full-text available
This research proposes a novel analytical model capable of accurately predicting the strain-dependent characteristics of fiber reinforced composite shells (FRCSs) with partial constrained layer damping (CLD) treatment by considering the nonlinearities of fiber reinforced composite and viscoelastic materials simultaneously. The nonlinear material pr...
Preprint
Full-text available
The Telescopic Tubular Mast (TTM) has excellent performance and is widely used in aerospace. Reasonable parameter design and optimization can shorten development cycle and improve performance for TTM. This paper designed a TTM driven by the bistable carbon reeled composite boom. The equivalent model of the TTM is established and simulated, which ca...
Article
Full-text available
Reconfigurable robots have the characteristics that structures can be changed or reorganized. They can adapt to different environments and tasks through changing configurations or structures, which is a hot research direction in recent years. Existing researches has not yet formed a complete theoretical method system of recon-figurable robots. Ther...
Article
Full-text available
A super redundant serpentine manipulator has slender structure and multiple degrees of freedom. It can travel through narrow spaces and move in complex spaces. This manipulator is composed of many modules that can form different lengths of robot arms for different application sites. The increase in degrees of freedom causes the inverse kinematics o...
Article
Full-text available
Active disturbance rejection control (ADRC) is an efficient control technique to accommodate both internal uncertainties and external disturbances. In the typical ADRC framework, however, the design philosophy is to "force" the system dynamics into a double-integral form by an extended state observer (ESO) and then the controller is designed. Espec...
Article
Full-text available
Space-deployable mechanisms can be used as supporting structures for large-diameter antennas in space engineering. This study proposes a novel method for constructing the surface design of space reflector antennas based on polar scissor units. The concurrency and deployability equations of the space scissor unit with definite surface constraints ar...
Article
To better exert the vibration suppression effect of magnetorheological elastomer (MRE) embedded into a composite structure with structural and functional integration advantage, this study proposes a nonlinear analytical model of such composite plate with an MRE function (MREF) layer, accounting for internal magnetic and temperature fields for the f...
Article
In this paper, the finite-time leader-following output consensus problem is investigated for a multi-agent system subjected to directed topology and disturbance. Firstly, a distributed finite-time extended state observer (DFTESO) is designed to provide estimate for unmeasured consensus errors and disturbances. The sufficient condition is provided i...
Article
Full-text available
With the rapid development of space technology and the increasing demand for space missions, the traditional spacecraft manufacturing, deployment and launch methods have been unable to meet existing needs. In-space assembly (ISA) technologies can effectively adapt to the assembly of large space structures, improve spacecraft performance, and reduce...
Article
The shape and movement irregularities of rail-type redundant sliding manipulators lead to structural uncertainty, which results in inverse kinematics computations that are considerably more complicated than those of the traditional redundant manipulator currently studied. In this paper, an analytical inverse kinematic parameterized method is propos...
Article
Full-text available
Research on lunar soil has great value, and soil hardness is one of the essential parameters to be measured. Currently, the existing method involves contact measurement using special instruments. To reduce the self-weight and increase the scientific payloads of lunar rovers, reanalysis of the data obtained from existing sensors provides a great sol...
Article
Full-text available
The problem of designing a controller for a multi-vectored propeller airship with independent amplitude and rate saturations is addressed. First, a linear Proportional-Integral-Derivative (PID) controller is introduced for position control without considering the input saturations. Then, two design methods are applied to the traditional PID control...
Article
Full-text available
Space debris is growing dramatically with the rapid pace of human exploration of space, which seriously threaten the safety of artificial spacecraft in orbit. Therefore, the active debris removal (ADR) is important. This review aims to review the ADR methods and to advance related research in the future. The current research and development status...
Article
Full-text available
In this work we propose a novel cascaded feature pyramid network with non-backward propagation (CFPN-NBP) for facial expression recognition (FER) that addresses the problems inherent in traditional backward propagation (BP) algorithms in the training process by using the Hilbert-Schmidt independence criterion (HSIC) bottleneck. The proposed algorit...
Article
Full-text available
The most distinctive difference between a space robot and a base-fixed robot is its free-flying/floating base, which results in the dynamic coupling effect. The mounted manipulator motion will disturb the position and attitude of the base, thereby deteriorating the operational accuracy of the end effector. This paper focuses on decoupling or counte...
Article
Full-text available
In this paper, a weighted additional deviation velocity on the basis of the gradient projection (GP-WADV) method is proposed to solve obstacle avoidance problems of the redundant manipulator under the condition of known end-effector trajectory. The GP-WADV method aims to find the point closest to the obstacle on the link of the manipulator and atta...
Article
Full-text available
Continuum robots exhibit promising adaptability and dexterity for soft manipulation due to their intrinsic compliance. However, this compliance may lead to challenges in modeling as well as positioning and loading. In this paper, a virtual work-based static model is established to describe the deformation and mechanics of continuum robots with a ge...
Preprint
Full-text available
A super redundant serpentine manipulator has slender structure and multiple degrees of freedom and can travel through narrow space and move in complex space. This manipulator is composed of many modules that can form different lengths of robot arms for different application sites. The increase in degrees of freedom causes the inverse kinematics of...
Preprint
Full-text available
A super redundant serpentine manipulator has slender structure and multiple degrees of freedom. It can travel through narrow spaces and move in complex spaces. This manipulator is composed of many modules that can form different lengths of robot arms for different application sites. The increase in degrees of freedom causes the inverse kinematics o...
Article
Full-text available
In chest and abdomen robotic radiosurgery, due to the motion delay of the robotic manipulator, the tumor position tracking process has a period of delay. This delay ultimately affects the accuracy of radiosurgery treatment. To address the influence of the delay in robotic radiosurgery, a Long-and-Short-Term Memory (LSTM) network as a deep Recurrent...
Article
Full-text available
Iris center localization is the basis of iris biometrics, face recognition and gaze tracking. However, individual differences, changes in facial expression, varying light conditions, occlusion, and so on, all bring great challenges to accurately localize the iris center. In order to improve localization accuracy in low-quality images and meet the n...
Article
Full-text available
At present, the space station on-orbit service is still rapidly developing, and on-orbit refueling operation has not been fully realized. During the process of an on-orbit robotic refueling mission, the pipe disconnectors are artificially docked, and the problems of low efficiency and a long operation period are common. From the perspective of bion...
Chapter
Full-text available
At present, vision-based hand gesture recognition is very important in human-robot interaction (HRI). This non-contact method enables natural and friendly interaction between people and robots. Aiming at this technology, a two-stream CNN framework (2S-CNN) is proposed to recognize the American sign language (ASL) hand gestures based on multimodal (...