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Dr. Xiuli Zhang
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Academic Career Length
21Years (2006-Present)
(Calculated once Scilit publication data is synced: current year − year of first publication + 1)
Representative Publications
View All Publications14 March 2016 in Robotica
Journal Article
SUMMARY: We designed a quadruped robot with a one-degree-of-freedom (1-DOF)-pitch head, a 1-DOF-roll tail, and 14 active DOFs in total, which are controlled via a central pattern generator (CPG) based on a Hopf oscillator. Head and tail movements are coupled to the leg movements with fixed phase differences. Experiments show that tail swinging in roll can equilibrate feet–ground reaction forces (GRF), reducing yaw errors and enabling the robot to maintain its direction when trotting. Head swing in pitch has the potential to increase flight time and stride length of the swinging legs and increase the robot's forward velocity when running in bounds.
1 January 2006 in Advanced Robotics
Journal Article
The pattern-generator-based approach for legged robot control is inspired by biological neural mechanisms of locomotion, in which a special challenge is gait transition. In this paper we build a holosymmetric central pattern generator model and propose parameter-setting principles for a gait matrix capable of producing typical quadrupedal gaits, and based on them present an approach of directly replacing the gait matrix for gait transition, with a focus on three problems emerging during transition: breakpoint, phase-lock and oscillation-stop. Breakpoints are smoothed by remaining the current outputs during transition, similar to a zero-order holder. Breaking the phase-lock is accomplished by adding a perturbation to the state matrix at the transiting point. An oscillation-stop of less than one period can be ignored. With such treatments, it is proved that gait transitions between any two gaits on a quadrupedal robot can be achieved at arbitrary phase locations in a walk cycle, theoretically and experimentally in part.
22 December 2007 in Autonomous Robots
Journal Article
XZXiuli Zhang
Xiuli ZhangHZHaojun Zheng
Haojun ZhengJournal Article
At present, most quadruped robots can move quickly and steadily on both flat and undulating ground; however, natural environments are complex and changeable, so it is important for a quadruped robot to be able to jump over obstacles immediately. Inspired by the jumping movement of quadruped animals, we present aerial body posture adjustment laws and generate animal-like jumping trajectories for a quadruped robot. Then, the bionic reference trajectories are optimized to build a trajectory library of a variety of jumping motions based on the kinematic and dynamic constraints of the quadruped robot. The model predictive control (MPC) method is employed by the quadruped robot to track the optimized trajectory to achieve jumping behavior. The simulations show that the quadruped robot can jump over an obstacle of 40 cm in height. The effectiveness of the animal-like jump control method is verified.
18 July 2012 in Chinese Journal of Mechanical Engineering
Journal Article
XZXiuli Zhang
Xiuli ZhangEME. Mingcheng
E. Mingcheng
XZXiangyu Zeng
Xiangyu Zeng
HZHaojun Zheng
Haojun Zheng
A multiple-legged robot is traditionally controlled by using its dynamic model. But the dynamic-model-based approach fails to acquire satisfactory performances when the robot faces rough terrains and...
About Me
Xiuli Zhang, Doctor of Engineering, has been working on bionic and intelligent robots, robot mechanisms, and control. She is currently an associate professor at the School of Mechanical and Electronic Control Engineering, Beijing Jiaotong University, and a member of IEEE, IEEE RAS (Robotics and Automation Society), and the Chinese Society of Mechanical Engineering. The Bionic Intelligent Robotics Team at Beijing Jiaotong University has been focusing on animal locomotion mechanisms and legged robots for over 20 years, since 2000. She has presided over or participated in the National 863 Project 'Research on Bionic Robot Motion Control System Based on Bio-Neural Networks', the National Natural Science Youth Fund Project 'Adaptive Motion Control of Robots Based on Biosensing-Motion Fusion Mechanism', and the National 863 Theme Project 'High Performance Quadrupedal Bionic Robot', as well as several projects funded by the JW Science and Technology Commission and the Ministry of Education's Central Universities and Colleges. She is also the author of several JW Science and Technology Commission and Ministry of Education Central Universities Fund projects. She has published more than 30 high-profile SCI/EI papers and has been involved in the invention of over 20 patents in related fields.