Peng Sun

RL-Force: Reinforcement Learning with Force Estimation for Humanoid Locomotion Subject to Continuous External Disturbances

Letian Qian, Shuhan Wang, Junjie Qiang, Peng Sun et autres

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Proprioceptive slip detection and state estimation of multi-legged robots in slippery scenarios

Peng Sun, Qi Li, Hao Hu, Junjie Qiang et autres

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Rosettes in Acute Myeloid Leukemia: a Rare Misleading Cytology

Shengjun Li, Haiqing Zhang, Peng Sun

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Analysis of the Impact of Different Intensities of Cardiac Exercise Rehabilitation on the Prognosis of Patients with Chronic Heart Failure

Peng Sun, Yuanyuan Wang, Hongjuan Wang, Ping Li et autres

Objective: This study mainly focuses on the impact of different intensities of cardiac exercise rehabilitation on the prognosis of patients with chronic heart failure. Method: This study selected 108 patients with chronic heart failure admitted to the hospital between April 2022 and …

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A Wheeled Bipedal Robot Capable of Standing Jumps

Zhanhao Xu, Junjie Chen, Buxu Chen, Peng Sun et autres

The jumping ability significantly improves the robot's movement range and obstacle crossing ability. The advantage of a standing jump is that it is unaffected by terrain conditions and does not require a run-up or runway to gain initial speed. However, compared to …

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Learning Slip Detection for Agile Locomotion of Quadruped Robots

Peng Sun, Junjie Qiang, Letian Qian, Xin Luo

The very often occurrence of foot slippage imposes a significant challenge on the locomotion of multi-legged robots, and slip detection is the prerequisite to prevent robots from slippage. Slip detection methods based on additive sensors are susceptible to noise and the sensors …

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Towards Generation and Transition of Diverse Gaits for Quadrupedal Robots Based on Trajectory Optimization and Whole-Body Impedance Control

Qi Li, Letian Qian, Shuhan Wang, Peng Sun et autres

Trajectory optimization (TO) combined with whole-body control (WBC) have been a widely accepted approach for dynamic gait control of quadruped robots. However, there are still open issues in this framework, one is the lack of a unified description of intrinsic inter-limb coordination …

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Adaptive Strategies for Quadruped Robot to Climb High-slope Terrain without Priori Information

Qi Li, Peng Sun, Chuanlin Zhao, Xin Luo

Dynamically traversing high-slope terrain is a challenging task for quadrupedal locomotion, especially in situations without priori information about the terrain it transverses. Different from locomotion on flat ground, a robot on high-slope terrain has to perceive the inclination of the terrain with …

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Energy-Efficient Dynamic Motion Planning of Quadruped Robots via Whole-body Nonlinear Trajectory Optimization

Qi Li, Letian Qian, Peng Sun, Xin Luo

Energy-efficient locomotion is an important capability for quadruped robots. Most of existing physically-embodied robots do not have satisfactory energy-efficiency in spite of abilities of diverse gaits and negotiation of complex environments. In this paper, we present a whole-body nonlinear trajectory optimization framework …

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Clinical Effect of Post-rewarming Fever after Targeted Temperature Management in Cardiac Arrest Patients: A Systematic Review and Meta-Analysis

Guangqi Guo, Yannan Ma, Shuang Bing Xu, Hongrong Zhang et autres

Abstract Aim: To characterize and summarize the studies regarding the influence of post-rewarming fever on neurological outcome and mortality in cardiac arrest patients. Methods: Two investigators separately screened relevant articles in EMBASE, PubMed, and Cochrane Central databases. Randomized clinical trials (RCTs) and …

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Sludge dewaterability: The variation of extracellular polymeric substances during sludge conditioning with two natural organic conditioners

Marie Christine Amie Sene Faye, Kai Kai Zhang, Peng Sun, Yanrong Zhang

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Sludge dewaterability by dual conditioning using Fenton’s reagent with Moringa oleifera

Marie Christine Amie Sene Faye, Kai Kai Zhang, Peng Sun, Yanrong Zhang

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