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Journal Articles

Gaussian Process-Based Learning Control of Underactuated Balance Robots With an External and Internal Convertible Modeling Structure

Feng Han, Jingang Yi
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2024, 146(6): 061106.
Paper No: DS-23-1343
https://doi.org/10.1115/1.4065937
Published Online: August 17, 2024
View Article titled, Gaussian Process-Based Learning Control of Underactuated Balance Robots With an External and Internal Convertible Modeling Structure
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Topics: Design, Dynamics (Mechanics), Errors, Pendulums, Robot dynamics, Robots, Trajectories (Physics), Boundary element methods, Control equipment, Modeling
Journal Articles

Gyroscopic Balancer-Enhanced Motion Control of an Autonomous Bikebot

Pengcheng Wang, Feng Han, Jingang Yi
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. October 2023, 145(10): 101002.
Paper No: DS-22-1268
https://doi.org/10.1115/1.4063014
Published Online: August 21, 2023
View Article titled, Gyroscopic Balancer-Enhanced Motion Control of an Autonomous Bikebot
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Topics: Control equipment, Design, Dynamics (Mechanics), Equilibrium (Physics), Errors, Trajectories (Physics), Motion control, Torque, Boundary element methods, Stability
Journal Articles

Balance Recoverability and Control of Bipedal Walkers With Foot Slip

Marko Mihalec, Mitja Trkov, Jingang Yi
Journal: Journal of Biomechanical Engineering
Publisher: ASME
Article Type: Research-Article
J Biomech Eng. May 2022, 144(5): 051012.
Paper No: BIO-21-1265
https://doi.org/10.1115/1.4053098
Published Online: January 21, 2022
View Article titled, Balance Recoverability and Control of Bipedal Walkers With Foot Slip
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Topics: Control equipment, Design, Dynamics (Mechanics), Manifolds, Simulation results, Friction, Stability
Proceedings Papers

A New 3D Dynamic Tire/Road Friction Model for Vehicle Control and Simulation

Xavier Claeys, Jingang Yi, Luis Alvarez, Roberto Horowitz, Carlos Canudas de Wit
Proc. ASME. IMECE2001, Dynamic Systems and Control, 221-227, November 11–16, 2001
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2001/DSC-24528
https://doi.org/10.1115/IMECE2001/DSC-24528
View Paper titled, A New 3D Dynamic Tire/Road Friction Model for Vehicle Control and Simulation
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Topics: Friction, Roads, Simulation, Tires, Vehicles
Journal Articles

How to Carry Loads Economically: Analysis Based on a Predictive Biped Model

Tong Li, Qingguo Li, Tao Liu, Jingang Yi
Journal: Journal of Biomechanical Engineering
Publisher: ASME
Article Type: Research-Article
J Biomech Eng. April 2020, 142(4): 041005.
Paper No: BIO-19-1177
https://doi.org/10.1115/1.4044505
Published Online: December 12, 2019
View Article titled, How to Carry Loads Economically: Analysis Based on a Predictive Biped Model
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Topics: Stress
Journal Articles

Bipedal Model and Hybrid Zero Dynamics of Human Walking With Foot Slip

Mitja Trkov, Kuo Chen, Jingang Yi
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. October 2019, 14(10): 101002.
Paper No: CND-18-1356
https://doi.org/10.1115/1.4043360
Published Online: September 9, 2019
View Article titled, Bipedal Model and Hybrid Zero Dynamics of Human Walking With Foot Slip
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Topics: Dynamics (Mechanics), Control equipment
Journal Articles

A Stick-Slip Interactions Model of Soft-Solid Frictional Contacts

Hongbiao Xiang, Mitja Trkov, Kaiyan Yu, Jingang Yi
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. April 2019, 141(4): 041015.
Paper No: DS-17-1556
https://doi.org/10.1115/1.4042247
Published Online: January 14, 2019
View Article titled, A Stick-Slip Interactions Model of Soft-Solid Frictional Contacts
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Topics: Deformation, Friction, Stick-slip, Stress, Springs, Oscillations, Network models, Rubber
Proceedings Papers

Capturability of Inverted Pendulum Gait Model Under Slip Conditions

Marko Mihalec, Jingang Yi
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T12A003, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9203
https://doi.org/10.1115/DSCC2018-9203
View Paper titled, Capturability of Inverted Pendulum Gait Model Under Slip Conditions
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Topics: Pendulums, Friction, Center of mass, Stability
Proceedings Papers

Disturbance Observer-Based Motion Control of Small Autonomous Underwater Vehicles

Bingheng Wang, Marko Mihalec, Yongbin Gong, Dario Pompili, Jingang Yi
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T35A004, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9200
https://doi.org/10.1115/DSCC2018-9200
View Paper titled, Disturbance Observer-Based Motion Control of Small Autonomous Underwater Vehicles
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Topics: Motion control, Underwater vehicles, Design, Algorithms, Control equipment, Feedback, Hydrodynamics, Ocean currents, Predictive control, Simulation results
Journal Articles

Shoe–Floor Interactions in Human Walking With Slips: Modeling and Experiments

Mitja Trkov, Jingang Yi, Tao Liu, Kang Li
Journal: Journal of Biomechanical Engineering
Publisher: ASME
Article Type: Research-Article
J Biomech Eng. March 2018, 140(3): 031005.
Paper No: BIO-17-1164
https://doi.org/10.1115/1.4038251
Published Online: January 17, 2018
View Article titled, Shoe–Floor Interactions in Human Walking With Slips: Modeling and Experiments
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Topics: Deformation, Friction, Sensors, Stress, Biomechanics, Modeling, Pressure
Journal Articles

Whole-Body Pose Estimation in Physical Rider–Bicycle Interactions With a Monocular Camera and Wearable Gyroscopes

Xiang Lu, Kaiyan Yu, Yizhai Zhang, Jingang Yi, Jingtai Liu, Qijie Zhao
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2017, 139(7): 071005.
Paper No: DS-16-1199
https://doi.org/10.1115/1.4035760
Published Online: May 9, 2017
View Article titled, Whole-Body Pose Estimation in Physical Rider–Bicycle Interactions With a Monocular Camera and Wearable Gyroscopes
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Topics: Bicycles, Design, Errors
Proceedings Papers

Stick-Slip Interactions of the Soft-Solid Contact: An Integrated LuGre/Beam Network Model Approach

Mitja Trkov, Haijun Han, Jingang Yi, Yanjie Liu
Proc. ASME. DSCC2015, Volume 2: Diagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications, V002T34A001, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-10002
https://doi.org/10.1115/DSCC2015-10002
View Paper titled, Stick-Slip Interactions of the Soft-Solid Contact: An Integrated LuGre/Beam Network Model Approach
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Topics: Network models, Stick-slip, Sliding friction, Deformation, Design, Dynamics (Mechanics), Friction, Modeling, Robotics
Proceedings Papers

Shoe-Floor Interactions During Human Slip and Fall: Modeling and Experiments

Mitja Trkov, Jingang Yi, Tao Liu, Kang Li
Proc. ASME. DSCC2014, Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems, V001T04A004, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6184
https://doi.org/10.1115/DSCC2014-6184
View Paper titled, Shoe-Floor Interactions During Human Slip and Fall: Modeling and Experiments
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Topics: Modeling, Friction, Deformation, Force sensors, Algorithms, Degrees of freedom, Generators, Image processing, Lasers, Modeling analysis
Proceedings Papers

An Integrated Physical-Learning Model of Physical Human-Robot Interactions: A Bikebot Riding Example

Kuo Chen, Yizhai Zhang, Jingang Yi
Proc. ASME. DSCC2014, Volume 3: Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy, V003T42A002, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6007
https://doi.org/10.1115/DSCC2014-6007
View Paper titled, An Integrated Physical-Learning Model of Physical Human-Robot Interactions: A Bikebot Riding Example
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Topics: Human-robot interaction, Modeling, Machinery, Algorithms, Design, Dynamic models, Dynamics (Mechanics), Kalman filters, Robots, Sensors
Proceedings Papers

Robust Control of a Low-Cost Mobile Robot Using a Neural Network Uncertainty Compensator

Aliasghar Arab, Jingang Yi, Mohammad Mahdi Fateh, Soroush Arabshahi
Proc. ASME. DSCC2014, Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems, V001T17A005, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6190
https://doi.org/10.1115/DSCC2014-6190
View Paper titled, Robust Control of a Low-Cost Mobile Robot Using a Neural Network Uncertainty Compensator
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Topics: Artificial neural networks, Mobile robots, Robust control, Uncertainty, Design, Computation, Feedback, Modeling, Motors, Permanent magnets
Proceedings Papers

Body-Segment Orientation Estimation in Rider-Bicycle Interactions With an Un-Calibrated Monocular Camera and Wearable Gyroscopes

Xiang Lu, Yizhai Zhang, Kaiyan Yu, Jingang Yi, Jingtai Liu
Proc. ASME. DSCC2013, Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems, V002T27A001, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3839
https://doi.org/10.1115/DSCC2013-3839
View Paper titled, Body-Segment Orientation Estimation in Rider-Bicycle Interactions With an Un-Calibrated Monocular Camera and Wearable Gyroscopes
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Topics: Bicycles, Design, Machinery, Body systems and structures, Errors, Kalman filters
Proceedings Papers

Tire/Road Stick-Slip Interactions: Analysis and Experiments

Yizhai Zhang, Jingang Yi
Proc. ASME. DSCC2012-MOVIC2012, Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control, 503-512, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8619
https://doi.org/10.1115/DSCC2012-MOVIC2012-8619
View Paper titled, Tire/Road Stick-Slip Interactions: Analysis and Experiments
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Topics: Roads, Stick-slip, Tires, Modeling, Rubber, Sensors, Springs, Deformation, Design, Mechanical admittance
Proceedings Papers

Why Some Parkinson’s Disease Patients Cannot Stand or Walk But Can Ride a Bicycle: A Control System-Based Analysis

Jingang Yi, Damoon Soudbakhsh, Yizhai Zhang, Yang Zhang
Proc. ASME. DSCC2012-MOVIC2012, Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control, 225-232, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8735
https://doi.org/10.1115/DSCC2012-MOVIC2012-8735
View Paper titled, Why Some Parkinson’s Disease Patients Cannot Stand or Walk But Can Ride a Bicycle: A Control System-Based Analysis
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Topics: Bicycles, Diseases, Stability, Control equipment, Control systems, Freezing, Nervous system, Stiffness
Journal Articles

A Hybrid Physical-Dynamic Tire/Road Friction Model

Jingliang Li, Yizhai Zhang, Jingang Yi
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2013, 135(1): 011007.
Paper No: DS-11-1173
https://doi.org/10.1115/1.4006887
Published Online: October 30, 2012
View Article titled, A Hybrid Physical-Dynamic Tire/Road Friction Model
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Topics: Deformation, Friction, Roads, Tires, Steady state, Stress
Proceedings Papers

Spherical Modeling and Nonlinear Model Predictive Control of Electroporation

Jingang Yi, Jianbo Li, Hao Lin
Proc. ASME. DSCC2011, ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2, 545-552, October 31–November 2, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2011-5984
https://doi.org/10.1115/DSCC2011-5984
View Paper titled, Spherical Modeling and Nonlinear Model Predictive Control of Electroporation
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Topics: Electroporation, Modeling, Predictive control, Design, Bifurcation, Cell membranes, Control equipment, Drug delivery systems, Dynamic models, Dynamics (Mechanics)