Fangyuan Ren

Design and control of the bionic ankle joint with multiple pneumatic artificial muscles

Delei Fang, Fangyuan Ren, Hao Wen, Zhenyu Yan et autres

To address the time-varying output force and compliance issues in pneumatic artificial muscle-driven robots, this paper proposes a bionic ankle joint inspired by human muscle structure. By recruiting multiple pneumatic artificial muscles and implementing compliance control, the overall output performance is enhanced. …

cn, gb (code pays fourni par la source)

Using Knowledge Replay Strategy to Help Improve the VLM Performance in Embodied Robots

Fangyuan Ren, Jiayi Xu, Z. Zheng, Qiubo Zhong et autres

Vision-Language Models (VLMs) have emerged as a cornerstone in the development of intelligent embodied robots, enabling robots to understand and interact with the world through both visual and linguistic modalities. While pre-trained VLMs possess rich general knowledge, fine-tuning them on task-specific robotic …

cn, hk (code pays fourni par la source)

Two-Layered Reward Reinforcement Learning in Humanoid Robot Motion Tracking

Jiahong Xu, Zhiwei Zheng, Fangyuan Ren

In reinforcement learning (RL), reward function design is critical to the learning efficiency and final performance of agents. However, in complex tasks such as humanoid motion tracking, traditional static weighted reward functions struggle to adapt to shifting learning priorities across training stages, …

cn (code pays fourni par la source)

Perceived loss of control: Grounded theory analysis of illness perceptions among patients with interstitial lung disease

Jiashuo Xu, Jun Li, Fangyuan Ren, Zhiling Sun et autres

cn (code pays fourni par la source)

Design and Control of the Bionic Ankle Joint with Multiple Pneumatic Artificial Muscles

Delei Fang, Fangyuan Ren, Hao Wen, Zhenyu Yan et autres

A bionic robotic ankle driven by the multiple pneumatic muscle actuators

Delei Fang, Fangyuan Ren, Jianwei Wang, Pan Li et autres

The traditional pneumatic muscle robot joint has weak load capacity and low control precision. This paper proposes a bionic robotic ankle driven by multiple pneumatic muscle actuators. The structural design of the bionic robotic ankle and the drive mechanism that imitates human …

cn (code pays fourni par la source)