High Dynamic Bounding and Jumping Motion of Quadruped Robot Based on Stable Optimization Control

Aiming at the environment such as ravines and obstacles that may be encountered in the actual movement,this paper proposes a method for optimizing the bounding and jumping motion based on the ground touching force trajectory and the air motion trajectory of the quadruped robot.The method of optimizing the ground reaction force according to the speed of the demand and the height of the jump,and adjusting the stance and swing time according to the relationship of dynamics and momentum conservation.At the same time,under the constraints of dynamics and energy consumption of the robot system,considering the jumping distance and height,a method for optimizing the air trajectory of bounding and jumping is proposed.State switching and landing stability control are also added.Finally,the experimental results show that the quadruped robot has strong bounding and jumping ability,and has achieved stable bounding movement and forward jump movement of 0.8 m.

Recent advances in controlled modification of the size and morphology of metal-organic frameworks

Advances in metal-organic frameworks （lVIOFs） resulted in significant contributions to diverse applications such as carbon capture, gas storage, heat transformation and separation along with emerging applications toward catalysis, medical imaging, drug deliver~ and sensing. The unique in situ and ex situ structural features of MOFs can be tailored by conceptual selection of the organic （e.g., ligand） and inorganic （e.g., metal） components. Here, we provide a comprehensive review on the synthesis and characterization of MOFs, particularly with respect to controlling their size and morphology. A better understanding of the specific size and morphological parameters of MOFs will help initiate a new era for their real-world applications. Most importantly, this assessment will help develop novel synthesis methods for MOFs and their hybrid/porous materials counterparts with considerably improved properties in targeted applications.

Design and Dynamic Locomotion Control of Quadruped Robot with Perception-Less Terrain Adaptation

In this paper,a parallel quadrupedal robot was designed that is capable of versatile dynamic locomotion and perception-less terrain adaptation.Firstly,a quadrupedal robot with a symmetric legs and a powerful actuator was implemented for highly dynamic movement.Then,a fast and reliable method based on generalized least square was proposed for estimating the terrain parameters by fusing the body,leg,and contact information.On the basis of virtual model control(VMC)with the quadratic program(QP)method,the optimal foot force for terrain adaptation was achieved.Finally,the results obtained by simulation and indoor and outdoor experiments demonstrate that the robot can achieve a robust and versa tile dynamic locomotion on uneven terrain,and the rejection of disturbances is reliable,which proves the effectiveness and robustness of this proposed method.

Implementation of PRINCE with resource-efficient structures based on FPGAs

In this era of pervasive computing, low-resource devices have been deployed in various fields. PRINCE is a lightweight block cipher designed for low latency, and is suitable for pervasive computing applications. In this paper, we propose new circuit structures for PRINCE components by sharing and simplifying logic circuits, to achieve the goal of using a smaller number of logic gates to obtain the same result. Based on the new circuit structures of components and the best sharing among components,we propose three new hardware architectures for PRINCE. The architectures are simulated and synthesized on different programmable gate array devices. The results on Virtex-6 show that compared with existing architectures, the resource consumption of the unrolled, low-cost, and two-cycle architectures is reduced by 73, 119, and 380 slices, respectively. The low-cost architecture costs only 137 slices. The unrolled architecture costs 409 slices and has a throughput of 5.34 Gb/s. To our knowledge, for the hardware implementation of PRINCE, the new low-cost architecture sets new area records, and the new unrolled architecture sets new throughput records. Therefore, the newly proposed architectures are more resource-efficient and suitable for lightweight,latency-critical applications.