Qingqing Li

Qingqing Li
Beijing Institute of Technology | BIT · Research Institute of Humanoid Robots

About

20
Publications
1,194
Reads
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88
Citations
Citations since 2016
20 Research Items
88 Citations
2016201720182019202020212022051015202530
2016201720182019202020212022051015202530
2016201720182019202020212022051015202530
2016201720182019202020212022051015202530

Publications

Publications (20)
Article
Compliance control is important for the realization of disturbance absorption in biped robots. However, under a sustained disturbance, compliance control causes the robot’s balance to deteriorate because of its floating base nature. Humans address this problem by resisting external disturbance. When pushed, a human will reconcile their posture with...
Article
Full-text available
Knee-stretched walking is considered to be a human-like and energy-efficient gait. The strategy of extending legs to obtain vertical center of mass trajectory is commonly used to avoid the problem of singularities in knee-stretched gait generation. However, knee-stretched gait generation utilizing this strategy with toe-off and heel-strike has kine...
Article
The humanoid robot, one of the ideal unmanned systems, has the potential to perform tasks currently carried out by human workers in industry, manufacturing, service, and disaster response. In such complicated environments with unknown disturbances, compliance is important for a humanoid robot, especially a position-controlled one, to maintain balan...
Conference Paper
Compliance is important for humanoid robots, especially a position-controlled one, to perform tasks in complicated environments where unexpected or sudden contacts will result in large impacts which may cause instability or destroy the hardware of robots. This paper presents a compliance control method based on viscoelastic model for humanoid robot...
Conference Paper
A humanoid robot operated with position control has the characteristic of high trajectory tracking accuracy. However, its ability to adapt to complex environments is insufficient during walking due to the rigidity of the joint. More complex methods of control are needed when walking on uneven ground. A humanoid robot operated using torque control h...
Chapter
Humanoid robots should prevent damage during falling forwards, which will improve the ability of serving people on various occasions. In this paper, we analyze different landing positions, and propose a falling forwards protection strategy for humanoid robots. Falling forwards is divided into two phases: the knee landing phase and the chest landing...
Article
Full-text available
In order to better adapt to human living environment for improving the ability of serving people on various occasions, humanoid robots need to prevent themselves from being severely damaged during falling backward. In this article, we have study the law of human falling motion with a motion capture system and propose a minimized falling damage meth...

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