为了保证机器人能够在人类的生活环境中安全地工作,应该选择最稳定的运动轨迹.提出了一种能够评价不同的运动步态之间稳定性好坏的稳定性评价准则.将零力矩点(ZMP,Zero Moment Point)与机器人支撑区域的形心之间的距离定义为不稳定度,...为了保证机器人能够在人类的生活环境中安全地工作,应该选择最稳定的运动轨迹.提出了一种能够评价不同的运动步态之间稳定性好坏的稳定性评价准则.将零力矩点(ZMP,Zero Moment Point)与机器人支撑区域的形心之间的距离定义为不稳定度,分析了仿人型机器人行走过程中几种典型步态的不稳定度,同时提出了基于不稳定度的仿人型机器人步态规划的方法.当采用多种运动步态都能完成同一种任务时,用所提出的不稳定度评价方法可以在不同步长的步态中选择出稳定性最好的运动步态来执行.仿真及实验结果验证了该方法的有效性.展开更多
Seismic signal is generally employed in moving target monitoring due to its robust characteristic.A recognition method for vehicle and personnel with seismic signal sensing system was proposed based on improved neural...Seismic signal is generally employed in moving target monitoring due to its robust characteristic.A recognition method for vehicle and personnel with seismic signal sensing system was proposed based on improved neural network.For analyzing the seismic signal of the moving objects,the seismic signal of person and vehicle was acquisitioned from the seismic sensor,and then feature vectors were extracted with combined methods after filter processing.Finally,these features were put into the improved BP neural network designed for effective signal classification.Compared with previous ways,it is demonstrated that the proposed system presents higher recognition accuracy and validity based on the experimental results.It also shows the effectiveness of the improved BP neural network.展开更多
文摘为了保证机器人能够在人类的生活环境中安全地工作,应该选择最稳定的运动轨迹.提出了一种能够评价不同的运动步态之间稳定性好坏的稳定性评价准则.将零力矩点(ZMP,Zero Moment Point)与机器人支撑区域的形心之间的距离定义为不稳定度,分析了仿人型机器人行走过程中几种典型步态的不稳定度,同时提出了基于不稳定度的仿人型机器人步态规划的方法.当采用多种运动步态都能完成同一种任务时,用所提出的不稳定度评价方法可以在不同步长的步态中选择出稳定性最好的运动步态来执行.仿真及实验结果验证了该方法的有效性.
基金Project(61201028)supported by the National Natural Science Foundation of ChinaProject(YWF-12-JFGF-060)supported by the Fundamental Research Funds for the Central Universities,ChinaProject(2011ZD51048)supported by Aviation Science Foundation of China
文摘Seismic signal is generally employed in moving target monitoring due to its robust characteristic.A recognition method for vehicle and personnel with seismic signal sensing system was proposed based on improved neural network.For analyzing the seismic signal of the moving objects,the seismic signal of person and vehicle was acquisitioned from the seismic sensor,and then feature vectors were extracted with combined methods after filter processing.Finally,these features were put into the improved BP neural network designed for effective signal classification.Compared with previous ways,it is demonstrated that the proposed system presents higher recognition accuracy and validity based on the experimental results.It also shows the effectiveness of the improved BP neural network.
