Falling motion control of a humanoid robot
A humanoid robot encounters a high risk of falling when walking or operating in an uncertain environment. Falling is treated as an extremely unstable state; as such, it may cause severe damage to both the robot and the surroundings. The higher the location of the mass center, the more likely a humanoid robot will fall to be damaged. Thus, it is essential to study the safety landing issue of a humanoid robot.
1. This research focuses on the effect of the “Torso Protective Strategy” for the safe backward fall of a biped humanoid robot. In this research, torso translation backward strategy and torso flexion forward strategy are introduced and implemented.
 Gan Ma, Qiang Huang, Zhangguo Yu, et al., “Effect of the “Torso Protective Strategy” for Safe Falling of a Biped Humanoid Robot,” IEEE International Conference on Robotics and Biomimetics, pp. 1284-1289, Bali, Indonesia, 2014. [link]
2. This research focuses on the implementation of a backward fall of a biped humanoid robot. Based on the human protective falling motion, four strategies are mixed during the backward fall. These strategies are: “knee flexion”, “torso flexion forward”, “torso translation backward” and “knee stretched”.
 Gan Ma, Qiang Huang, Zhangguo Yu, et al., “Bio-inspired Falling Motion Control for a Biped Humanoid Robot,” IEEE International Conference on Humanoid Robots, pp. 850-855, Madrid, Spain, 2014. [link]
Human-robot friendly interaction of a humanoid robot
For a long time, humans have been communicating with others through voice, facial expressions, and body motions. If a humanoid robot has a human-habitual, natural, and human-like interactive form, it tends to be accepted by humankind. To date, the majority of the existing humanoid robots has had difficulty in interacting with human beings in a human-like manner. Thus, it is essential to enhance the natural communication ability of a humanoid robot.
1. This research develops a robot face with a human-like appearance for making facial expressions similar to a particular subject. Based on the active and passive relationships of human facial motion points, an active drive points (ADPs) model is proposed for facial expression with less active degree of freedom; this method overcomes the challenge of excessive DOFs caused by complex head model.
 Zhangguo Yu, Gan Ma, Qiang Huang, “Modeling and Design of a Humanoid Robotic Face Based on an Active Drive Points Model,” Advanced Robotics, vol. 28, no. 6, pp. 379-388, 2014. [link]
2. This research develops a socially interactive system for enhancing the natural communication ability of a humanoid robot. The system, which is implemented in an android robot, BHR-4, features hearing, voice conversation, and facial and body emotional expression capabilities. The results indicate the socially interactive system can enhance the natural communication ability of an android robot.
 Gan Ma, Junyao Gao, Zhangguo Yu, et al., “Development of a Socially Interactive System with Whole-body Movements for BHR-4,” International Journal of Social Robotics, vol. 8, no. 2, pp. 183-192, 2016. [link]
 Gan Ma, Qiang Huang, Zhangguo Yu, et al., “Experiments of a Human-robot Social Interactive System with Whole-body Movements,” CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, pp. 501-508, Moscow, Russia, 2014. [link]
Compliance control of a 6-DOF manipulator
One key technology for a humanoid robot is to sense the environment accurately and to control the interaction with the environment safely. This research addresses this problem and focuses on the visual servo control and flexible control of a 6-DOF manipulator.
1. The research presents a design of a humanoid manipulator and the implementation of admittance control.
 Gan Ma, Qiang Huang, Zhangguo Yu, et al., “Design and Admittance Control for a Humanoid Manipulator to Adapt to Environment,” 3rd IFToMM International Symposium on Robotics and Mechatronics, pp. 678-687, Singapore, 2013. [link]
2. This research concentrates on visual servo control and impedance control of a humanoid manipulator. The manipulator is controlled to capture a target and physically interact with a target.
 Gan Ma, Qiang Huang, Zhangguo Yu, et al., “Hand-eye Servo and Flexible Control of an Anthropomorphic Arm,” IEEE International Conference on Robotics and Biomimetics, pp. 1432-1437, Shenzhen, China, 2013. [link]
 Gan Ma, Qiang Huang, Zhangguo Yu, et al., “A New Flexible Controller for a Humanoid Robot That Considers Visual and Force Information Interaction,” IEEE International Conference on Robotics and Automation, pp. 1036-1041, Hong Kong, 2014. [link]
 Gan Ma, Zhihong Jiang, Hui Li, et al., “Hand-eye Servo and Impedance Control for Manipulator Arm to Capture Target Satellite Safely,” Robotica, vol. 33, no. 4, pp. 848-864, 2015. [link]
Humanoid robot playing pingpang
This research focuses on the design of a humanoid robot, and the implementation of ping pong task. The robot detects the 3D position of the ball with stereo vision, and then uses an aerodynamic model and a dynamic rebound model to predict the trajectory and rebound position of the ball. Meanwhile, the robot controls the motion of its arm to arrive at the position of the ball with specified velocity at the exact time, and hits the ball.
 Zhangguo Yu, Qiang Huang, Gan Ma, et al., “Design and Development of the Humanoid Robot BHR-5,” Advances in Mechanical Engineering, 2014. [link]