Motion Planning and Control of Dynamic Humanoid Locomotion

Inspired by human, humanoid robots has the potential to become a general-purpose platform that lives along with human. Due to the technological advances in many field, such as actuation, sensing, control and intelligence, it finally enables humanoid robots to possess human comparable capabilities. However, humanoid locomotion is still a challenging research field. The large number of degree of freedom structure makes the system difficult to coordinate online. The presence of various contact constraints and the hybrid nature of locomotion tasks make the planning a harder problem to solve. Template model anchoring approach has been adopted to bridge the gap between simple model behavior and the whole-body motion of humanoid robot. Control policies are first developed for simple template models like Linear Inverted Pendulum Model (LIPM) or Spring Loaded Inverted Pendulum(SLIP), the result controlled behaviors are then been mapped to the whole-body motion of humanoid robot through optimization-based task-space control strategies. Whole-body humanoid control framework has been verified on various contact situations such as unknown uneven terrain, multi-contact scenarios and moving platform and shows its generality and versatility. For walking motion, existing Model Predictive Control approach based on LIPM has been extended to enable the robot to walk without any reference foot placement anchoring. It is kind of discrete version of \u201cwalking without thinking\u201d. As a result, the robot could achieve versatile locomotion modes such as automatic foot placement with single reference velocity command, reactive stepping under large external disturbances, guided walking with small constant external pushing forces, robust walking on unknown uneven terrain, reactive stepping in place when blocked by external barrier. As an extension of this proposed framework, also to increase the push recovery capability of the humanoid robot, two new configurations have been proposed to enable the robot to perform cross-step motions. For more dynamic hopping and running motion, SLIP model has been chosen as the template model. Different from traditional model-based analytical approach, a data-driven approach has been proposed to encode the dynamics of the this model. A deep neural network is trained offline with a large amount of simulation data based on the SLIP model to learn its dynamics. The trained network is applied online to generate reference foot placements for the humanoid robot. Simulations have been performed to evaluate the effectiveness of the proposed approach in generating bio-inspired and robust running motions. The method proposed based on 2D SLIP model can be generalized to 3D SLIP model and the extension has been briefly mentioned at the end

Online Dynamic Motion Planning and Control for Wheeled Biped Robots

Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a planning and control framework to realise dynamic locomotion for wheeled biped robots. We propose the Cart-Linear Inverted Pendulum Model (Cart-LIPM) as a template model for the rolling motion and the under-actuated LIPM for contact changes while walking. The generated motion is then tracked by an inverse dynamic whole-body controller which coordinates all joints, including the wheels. The framework has a hierarchical structure and is implemented in a model predictive control (MPC) fashion. To validate the proposed approach for hybrid motion generation, two scenarios involving different types of obstacles are designed in simulation. To the best of our knowledge, this is the first time that such online dynamic hybrid locomotion has been demonstrated on wheeled biped robots

Modelling and Control of a Hybrid Wheeled Jumping Robot

In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright position after the loss of balance. We propose a template model for the class of such two-wheeled jumping robots. This model can be considered as the simplest wheeled-legged system. We provide an analytical derivation of the system dynamics which we use inside a model predictive controller (MPC). We study the behavior of the model and demonstrate highly dynamic motions such as swing-up and jumping. Furthermore, these motions are discovered through optimization from first principles. We evaluate the controller on a variety of tasks and uneven terrains in a simulator.Comment: 8 pages, 11 figures, IROS 2020, Video URL: https://youtu.be/j2sIWL8m2p

Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion

In this paper, we aim to improve the robustness of dynamic quadrupedal locomotion through two aspects: 1) fast model predictive foothold planning, and 2) applying LQR to projected inverse dynamic control for robust motion tracking. In our proposed planning and control framework, foothold plans are updated at 400 Hz considering the current robot state and an LQR controller generates optimal feedback gains for motion tracking. The LQR optimal gain matrix with non-zero off-diagonal elements leverages the coupling of dynamics to compensate for system underactuation. Meanwhile, the projected inverse dynamic control complements the LQR to satisfy inequality constraints. In addition to these contributions, we show robustness of our control framework to unmodeled adaptive feet. Experiments on the quadruped ANYmal demonstrate the effectiveness of the proposed method for robust dynamic locomotion given external disturbances and environmental uncertainties

The role of miR-143-3p/FNDC1 axis on the progression of non-small cell lung cancer

The study aimed to explore the functional role of fibronectin type III domain containing 1 (FNDC1) in nonsmall cell lung cancer (NSCLC), as well as the mechanism governing its expression. The expression levels of FNDC1 and related genes in tissue and cell samples were detected by qRT-PCR. Kaplan-Meier analysis was employed to analyze the association between FNDC1 level and the overall survival of NSCLC patients. Functional experiments such as CCK-8 proliferation, colony formation, EDU staining, migration and invasion assays were conducted to investigate the functional role of FNDC1 in regulating the malignancy of NSCLC cells. Bioinformatic tools and dual-luciferase reporter assay were used to identify the miRNA regulator of FNDC1 in NSCLC cells. Our data revealed the upregulation of FNDC1 at mRNA and protein levels in NSCLC tumor tissues cancer cell lines, compared with normal counterparts. NSCLC patients with higher FNDC1 expression suffered from a poorer overall survival. FNDC1 knockdown significantly suppressed the proliferation, migration and invasion of NSCLC cells, and had an inhibitory effect on tube formation. We further demonstrated that miR-143-3p was an upstream regulator of FNDC1 and miR-143-3p expression was repressed in NSCLC samples. Similar to FNDC1 knockdown, miR-143-3p overexpression inhibited the growth, migration and invasion of NSCLC cells. FNDC1 overexpression could partially rescue the effect of miR-143-3p overexpression.  FNDC1 silencing also suppressed the tumorigenesis of NSCLC cells in mouse model. In conclusion, FNDC1 promotes the malignant prototypes of NSCLC cells. miR-143-3p is a negative regulator of FNDC1 in NSCLC cells, which may serve as a promising therapeutic target in NSCLC.

Phosphorus footprint in China over the 1961–2050 period: historical perspective and future prospect

The phosphorus footprint (PF) is a novel concept to analyze human burdens on phosphorus resources. However, research on PF approach is still limited, and current several PF studies include incomplete phosphorus sources and have limited quantitative interpretation about the drivers of PF changes, which can help understand future trends of PF. This study develops a more comprehensive PF model by considering crop, livestock and aquatic food, and non-food goods, which covers the mainly phosphorus containing products consumed by human. The model is applied to quantify China's PF from 1961 to 2014, and the results of the model are also used to analyze the factors driving the PF changes and explored China's PF scenarios for 2050 using an econometric analysis model (STIRPAT). The result shows that China's PF increased over 11-fold, from 0.9 to 10.6 Tg between 1961 and 2014. The PF of livestock food dominated China's PF, accounting for 57% of the total in 1961 and 45% in 2014. The key factors driving the increase in China's PF are the increase in population and urbanization rate, with contributions of 38% and 33%, respectively. We showed that in the baseline scenario, China's PF would increase by 70% during 2014–2050 and cause the depletion of China's phosphate reserves in 2045. However, in the best case scenario, China's PF would decrease by 15% in 2050 compared with that in 2014, and it would have 50% of current phosphate reserve remaining by 2050. Several mitigation measures are then proposed by considering China's realities from both production and consumption perspective, which can provide valuable policy insights to other rapid developing countries to mitigate the P footprint

Enhanced nitrogen and phosphorus flows in a mixed land use basin: drivers and consequences

Rapid increase in accumulation of phosphorus (P) relative to nitrogen (N) has been observed in human-impacted regions, but the reasons are largely unknown. We developed an Integrated Nutrient Flow Analysis (INFA) model in order to assess the changes in nutrient flows of the Chaohu Lake basin from 1978 to 2015. Results show that the increase in total N input is slower than that of P (3.5-fold versus 4.2-fold) during 1978–2015, while total N loss increases much faster than that of P (3.1-fold versus 2.3-fold). We found a decline trend in the N:P ratio of nutrient input and accumulation since the mid-1990s. The decline in N:P ratio of nutrient loss to waterbodies in the basin is correlated (p < 0.05) with TN:TP of water concentration in Chaohu Lake, which may be related to the frequent algal blooms in the P-limited lake by supplying more P than N. Using an extended STIRPAT model, we found that nutrient use efficiency, urban rate, diet choice and population are key factors driving the change in nutrient flows, which contribute over 90% to the total change. This study confirms that human activities decrease N:P in regional environment and demonstrates the importance of P management to balance nutrient for improving water quality. The method in this study has a wide application for many other mixed land use regions to address nutrient flows imbalance problems and to explore nutrient management options

The first compound heterozygous mutations in SLC12A3 and PDX1 genes: a unique presentation of Gitelman syndrome with distinct insulin resistance and familial diabetes insights

BackgroundGitelman Syndrome (GS) patients frequently exhibit disrupted glucose metabolism, attributed to hypokalemia, hypomagnesemia and heightened aldosterone. This study delved into the genetic underpinnings linked to insulin resistance and diabetes in a GS patient, contextualized within his family history.MethodsThe hydrochlorothiazide and furosemide loading test were performed to ascertain the presence of GS. Oral glucose tolerance test (OGTT) evaluated glucose metabolism and insulin sensitivity. Whole-exome sequencing, validated by Sanger sequencing, was employed to confirm gene mutations, which were then tracked among the patient’s relatives.ResultsSymptoms and laboratory examination confirmed the clinical diagnosis of GS. Comprehensive whole-exome sequencing, augmented by Sanger sequencing validation, revealed a compound heterozygous mutation within the SLC12A3 gene (c.1108G&gt;C in exon 9, c.676G&gt;A in exon 5 and c.2398G&gt;A in exon 20) in the patient. The OGTT affirmed diabetes and heightened insulin resistance, distinct from previous patients with GS we evaluated. Further genetic analysis identified a missense heterozygous mutation (c.97C&gt;G in exon 1) within the PDX1 gene, inherited from the patient’s diabetic mother without GS. Furthermore, the patient’s brother, with impaired glucose tolerance but regular potassium levels, also bore this mutation, hinting at additional impacts of the PDX1 gene mutation on glucose metabolism regulation beyond the known impacts of GS.ConclusionThis study unveils unprecedented compound heterozygous mutations in the SLC12A3 and PDX1 genes in a GS patient. These findings illuminate the potential complex genetic factors influencing glucose metabolism disruptions in GS.Take-home messageThis research uncovers a novel combination of SLC12A3 and PDX1 gene mutations in a Gitelman Syndrome patient, revealing intricate genetic factors that potentially disrupt glucose metabolism and shedding light on familial diabetes links

A tau fragment links depressive-like behaviors and cognitive declines in Alzheimer’s disease mouse models through attenuating mitochondrial function

IntroductionAlzheimer’s disease (AD) is the most prevalent neurodegenerative disease characterized by extracellular senile plaques including amyloid-β peptides and intracellular neurofibrillary tangles consisting of abnormal Tau. Depression is one of the most common neuropsychiatric symptoms in AD, and clinical evidence demonstrates that depressive symptoms accelerate the cognitive deficit of AD patients. However, the underlying molecular mechanisms of depressive symptoms present in the process of AD remain unclear.MethodsDepressive-like behaviors and cognitive decline in hTau mice were induced by chronic restraint stress (CRS). Computational prediction and molecular experiments supported that an asparagine endopeptidase (AEP)-derived Tau fragment, Tau N368 interacts with peroxisome proliferator-activated receptor delta (PPAR-δ). Further behavioral studies investigated the role of Tau N368-PPAR-δ interaction in depressive-like behaviors and cognitive declines of AD models exposed to CRS.ResultsWe found that mitochondrial dysfunction was positively associated with depressive-like behaviors and cognitive deficits in hTau mice. Chronic stress increased Tau N368 and promoted the interaction of Tau N368 with PPAR-δ, repressing PPAR-δ–mediated transactivation in the hippocampus of mice. Then we predicted and identified the binding sites of PPAR-δ. Finally, inhibition of AEP, clearance of Tau N368 and pharmacological activation of PPAR-δ effectively alleviated CRS-induced depressive-like behaviors and cognitive decline in mice.ConclusionThese results demonstrate that Tau N368 in the hippocampus impairs mitochondrial function by suppressing PPAR-δ, facilitating the occurrence of depressive-like behaviors and cognitive decline. Therefore, our findings may provide new mechanistic insight in the pathophysiology of depression-like phenotype in mouse models of Alzheimer’s disease