A biped walking robot should be able to keep balance even in the presence of disturbing forces. This paper presents a step strategy concept of biped walking robot that is stabilized by using reaction null space method...A biped walking robot should be able to keep balance even in the presence of disturbing forces. This paper presents a step strategy concept of biped walking robot that is stabilized by using reaction null space method. The called ＂step strategy＂ can be modeled by means of the reaction null space method that introduced earlier to tackle dynamic interaction problems of free-floating robots, or moving base robots in general. 6-DOF biped robot model simulations are used to confirm the validity.展开更多
We applied the material balance principle of the denudation volume and sedimentary flux to study the denudation-accumulation system between the Longmen Mountains （Mts.） and the foreland basin. The amount of sediment...We applied the material balance principle of the denudation volume and sedimentary flux to study the denudation-accumulation system between the Longmen Mountains （Mts.） and the foreland basin. The amount of sediment in each sedimentation stage of the basin was estimated to obtain the denudation volume, erosion thickness and deposit thickness since the Late Triassic Epoch, to enable us to recover the paleoelevation of the provenance and the sedimentary area. The results show the following： （1） Since the Late Triassic Epoch, the elevation of the surface of the Longmen Mts. has uplifted from 0 m to 2751 m, and the crust of the Longmen Mts. has uplifted by 9.8 km. Approximately 72% of the materials introduced have been denuded from the mountains. （2） It is difficult to recover the paleoelevation of each stage of the Longmen Mts. foreland basin quantitatively by the present-day techniques and data. （3） The formation of the Longmen Mts. foreland basin consisted of three stages of thrust belt tectonic load and three stages of thrust belt erosional unload. During tectonic loading stages （Late Triassic Epoch, Late Jurassic-Early Cretaceous, Late Cretaceous-Miocene）, the average elevation of Longmen Mts. was lower （approximately 700-1700 m）. During erosional unloading stages （Early and Middle Jurassic, Middle Cretaceous and Jiaguan, Late Cenozoic）, the average elevation of Longmen Mts. was high at approximately 2000-2800m.展开更多
基金supported by the National Natural Science Foundation of China (No.50675016)the Science and Technology Innovation Fund for the Doctor (No.48030)
文摘A biped walking robot should be able to keep balance even in the presence of disturbing forces. This paper presents a step strategy concept of biped walking robot that is stabilized by using reaction null space method. The called ＂step strategy＂ can be modeled by means of the reaction null space method that introduced earlier to tackle dynamic interaction problems of free-floating robots, or moving base robots in general. 6-DOF biped robot model simulations are used to confirm the validity.
基金the Project of the National Natural Science Foudation of China (Grant No.41372114,41340005,41172162,40972083)
文摘We applied the material balance principle of the denudation volume and sedimentary flux to study the denudation-accumulation system between the Longmen Mountains （Mts.） and the foreland basin. The amount of sediment in each sedimentation stage of the basin was estimated to obtain the denudation volume, erosion thickness and deposit thickness since the Late Triassic Epoch, to enable us to recover the paleoelevation of the provenance and the sedimentary area. The results show the following： （1） Since the Late Triassic Epoch, the elevation of the surface of the Longmen Mts. has uplifted from 0 m to 2751 m, and the crust of the Longmen Mts. has uplifted by 9.8 km. Approximately 72% of the materials introduced have been denuded from the mountains. （2） It is difficult to recover the paleoelevation of each stage of the Longmen Mts. foreland basin quantitatively by the present-day techniques and data. （3） The formation of the Longmen Mts. foreland basin consisted of three stages of thrust belt tectonic load and three stages of thrust belt erosional unload. During tectonic loading stages （Late Triassic Epoch, Late Jurassic-Early Cretaceous, Late Cretaceous-Miocene）, the average elevation of Longmen Mts. was lower （approximately 700-1700 m）. During erosional unloading stages （Early and Middle Jurassic, Middle Cretaceous and Jiaguan, Late Cenozoic）, the average elevation of Longmen Mts. was high at approximately 2000-2800m.
