On the June 5,the 2018 Annual Conference of China Copper Processing Industry was convened in Huangshi,joined by representatives of 232 copper processing companies and more than 20 universities and research institutes ...On the June 5,the 2018 Annual Conference of China Copper Processing Industry was convened in Huangshi,joined by representatives of 232 copper processing companies and more than 20 universities and research institutes from across the country to discuss the high quality development plan of the copper industry.The conference。展开更多
Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait gener...Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait generation after ssuming that obstacles have been detected and the walking path has been given. In this paper we propose and validate a novel obstacle avoidance framework for a six-legged walking robot Hexapod-III in unknown environment. Throughout the paper we highlight three themes: (1) The terrain map modeling and the obstacle detection; (2) the obstacle avoidance path planning method; (3) motion planning for the legged robot. Concretely, a novel geometric feature grid map (GFGM) is proposed to describe the terrain. Based on the GFGM, the obstacle detection algorithm is presented. Then the concepts of virtual obstacles and safe conversion pose are introduced. Virtual obstacles restrict the robot to walk on the detection terrain. A safe path based on Bezier curves, passing through safe conversion poses, is obtained by minimizing a penalty function taking into account the path length subjected to obstacle avoidance. Thirdly, motion planning for the legged robot to walk along the generated path is discussed in detail. At last, we apply the proposed framework to the Hexapod-III robot. The experimental result shows that our methodology allows the robot to walk safely without encountering with any obstacles in unknown environment.展开更多
The revision work of the overall plan from 1991 to1992 under the auspices of the Beijing Institute of Planning and Design(BIPD) has been completed in an all-round way.This article sums upthose background conditions,gu...The revision work of the overall plan from 1991 to1992 under the auspices of the Beijing Institute of Planning and Design(BIPD) has been completed in an all-round way.This article sums upthose background conditions,guiding ideology and basic objectives con-cerned,and the four focal points of the revision.展开更多
文摘On the June 5,the 2018 Annual Conference of China Copper Processing Industry was convened in Huangshi,joined by representatives of 232 copper processing companies and more than 20 universities and research institutes from across the country to discuss the high quality development plan of the copper industry.The conference。
基金supported by the National Basic Research Program of China (Grant No. 2013CB035501)
文摘Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait generation after ssuming that obstacles have been detected and the walking path has been given. In this paper we propose and validate a novel obstacle avoidance framework for a six-legged walking robot Hexapod-III in unknown environment. Throughout the paper we highlight three themes: (1) The terrain map modeling and the obstacle detection; (2) the obstacle avoidance path planning method; (3) motion planning for the legged robot. Concretely, a novel geometric feature grid map (GFGM) is proposed to describe the terrain. Based on the GFGM, the obstacle detection algorithm is presented. Then the concepts of virtual obstacles and safe conversion pose are introduced. Virtual obstacles restrict the robot to walk on the detection terrain. A safe path based on Bezier curves, passing through safe conversion poses, is obtained by minimizing a penalty function taking into account the path length subjected to obstacle avoidance. Thirdly, motion planning for the legged robot to walk along the generated path is discussed in detail. At last, we apply the proposed framework to the Hexapod-III robot. The experimental result shows that our methodology allows the robot to walk safely without encountering with any obstacles in unknown environment.
文摘The revision work of the overall plan from 1991 to1992 under the auspices of the Beijing Institute of Planning and Design(BIPD) has been completed in an all-round way.This article sums upthose background conditions,guiding ideology and basic objectives con-cerned,and the four focal points of the revision.
