Rukun Li ☕️
Rukun Li

Master’s student

Qilu University of Technology

About Me

I am Rukun Li (李如锟), a master’s student majoring in Control Science and Engineering at Qilu University of Technology. My research focuses on stable locomotion control of quadruped mobile manipulators.

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Interests
  • Robotics
  • Artificial Intelligence
  • Embedded Technology
Education

  • MEng Control Science and Engineering

    Qilu University of Technology

  • BEng Measurement and Control Technology and Instruments

    Qilu University of Technology

📚 My Research

I am a member of the Intelligent Human-Computer Interaction Team at Qilu University of Technology, mainly responsible for research on quadruped mobile manipulators. By delving into the motion planning, perception, and control techniques of quadruped mobile manipulat-ors, I am exploring solutions to enable robots to move and perform tasks flexibly and adeptly in various complex environments.

Please reach out to collaborate 😃

Featured Publications
Stable Locomotion Control for Quadruped Mobile Manipulator Based on Adaptive Estimation of Load Mass
Quadruped Robot

Stable Locomotion Control for Quadruped Mobile Manipulator Based on Adaptive Estimation of Load Mass

The motion and operation of quadruped robots integrated with a manipulator are significant challenges in the field of legged robotics. In this paper, a stable locomotion control method for the quadruped mobile manipulator based on adaptive estimation of load mass is proposed. Firstly, the motion in the joint space is mapped to the end of the manipulator to obtain the motion state of the load, and the load mass is estimated based on the torso dynamics properties. Then, the force required to maintain the motion of the load and manipulator is obtained based on the manipulator dynamics model. Finally, by extending the torso dynamics model, this generalized force is used as a feed-forward compensation term in the upper controller planning to obtain the leg joint torques that satisfy both the torso motion demand and the force required by the manipulator. The feasibility and validity of the proposed method are verified based on the simulation software of Webots. Simulation results show that the robot can estimate the quality of the load and overcome the effects caused by the load to keep itself stable, which can improve the operating performance of the quadruped mobile manipulator.

四足单臂机器人研究综述及系统集成与实现
四足机器人

四足单臂机器人研究综述及系统集成与实现

随着经济社会的发展，科学技术不断进步，人类的生产生活方式发生了翻天覆地的变化，很多工作已经被各式各样的机器人代替或由机器人协助人类来完成。而大多数操作型机器人是基于固定基座、轮式移动平台或履带式移动平台的，无法进入复杂地形环境中执行操作任务，四足单臂机器人很好地解决了这一问题。基于四足单臂机器人展开调研，首先介绍了目前国内外几款具有代表性的四足单臂机器人平台。然后分别介绍了基于仿真平台和物理实验平台的四足单臂机器人研究现状，并分析了当前主流的研究思路。接着，列举了一些常用的仿真平台，并对四足单臂机器人系统集成与实现进行了介绍。最后，进行总结并介绍了未来研究工作的思路。

Recent Publications
Yiming Xu, Bin Li, Shuhui Yang, Yumin Zhi, Rukun Li, Teng Chen (2024). MSOT-Q: Multi-Sensor Fusion SLAM with Object Detection Tracking for Quadruped Robots. In CCDC.
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Xiaoyu Liu, Yu Cao, Rukun Li, Lixia Liu, Bin Li (2024). Leader-follower Formation Control for Multiple Uncertain Euler–Lagrange Systems Based on Average Dwell Time. In CISC.
Yiming Xu, Bin Li, Shuhui Yang, Yumin Zhi, Rukun Li (2024). SLI-SLAM: Autonomous Navigation and Accurate Mapping for Quadruped Robot in Complex Environments Using LiDAR, Stereo Camera, and IMU Fusion. In CCC.
Rukun Li, Baoshuo Feng, Zixin Hao, Lixia Liu, Yaxian Xin, Bin Li (2024). Stable Locomotion Control for Quadruped Mobile Manipulator Based on Adaptive Estimation of Load Mass. In CISC.
李如锟, 徐一明, 郝子鑫, 冯保硕, 杨姝慧, 李彬 (2024). 四足单臂机器人研究综述及系统集成与实现. 齐工大学报.
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CISC 2024