Author

Hong-Liu Yu

3 papers indexed here

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Conference Oct 2026

Singularity-free high-precision docking control for 2-SD nursing robots based on multimodal perception

To address maneuverability constraints during contactless bed-chair transfers for disabled patients, this paper utilizesa2-SD (steer-drive) composite chassis for nursing robots. A multi-modal autonomous docking control system is proposed to resolve kinematic singularities during orthogonal steering and near-field optic...

Fang-Yuan Zhong, Zhe-Wen Zhang, Zhi-Jie Zhuang et al. · International Conference on... · 0 citations

Conference Oct 2026

Design of a multifunctional integrated rehabilitation robot for elderly needs

In domestic care settings, the lack of professional nursing labor severely restricts the ability of disabled elderly individuals to perform independent posture modulation and toileting. Existing assistive equipment has a strong functional fragmentation, usually requiring separate devices or manual handling for bed-to-c...

Zhi-Jie Zhuang, Zhe-Wen Zhang, Fang-Yuan Zhong et al. · International Conference on... · 0 citations

Open access Sep 2026

Smoothly Weighted Hybrid NMPC–LQR Control for Slope-Dependent Uphill Motion of a Two-Wheeled Self-Balancing Wheelchair

Sustained uphill motion of two-wheeled self-balancing wheelchairs is challenging. Slope-induced gravity changes the equilibrium condition, driving-torque demand, and velocity response. This paper proposes a smoothly weighted hybrid control method. The method combines nonlinear model predictive control and a linear quad...

Yao-Zhi Gu, Hao-Min Sun, Jiang-Di Xu et al. · Electronics · 0 citations