To improve the smoothness of motion control in a quadruped robot, a continuous and smooth gait transition method based on central pattern generator （CPG） was presented to solve the unsmooth or failed problem which m...To improve the smoothness of motion control in a quadruped robot, a continuous and smooth gait transition method based on central pattern generator （CPG） was presented to solve the unsmooth or failed problem which may result in phase-locked or sharp point with direct replacement of the gait matrix. Through improving conventional weight matrix, a CPG network and a MATLAB/ Simulink model were constructed based on the Hopf oscillator for gait generation and transition in the quadruped robot. A co-simulation was performed using ADAMS/MATLAB for the gait transition between walk and trot to verify the correctness and effectiveness of the proposed CPG gait generation and transition algorithms. Related methods and conclusions can technically support the motion control technology of the quadruped robot.展开更多
The progressive and mixing algorithm(PAMA) is a method for surface modeling and editing,which is developed for effective and flexible applications in many environments,such as computer-aided design(CAD) and computer-a...The progressive and mixing algorithm(PAMA) is a method for surface modeling and editing,which is developed for effective and flexible applications in many environments,such as computer-aided design(CAD) and computer-aided geometric design(CAGD).In this paper,the construction scheme and continuities of PAMA are discussed,which provide a mathematics analysis of PAMA.The analysis and results show that the PAMA provides a new method of surface modeling and editing with four more degrees of freedom for designers to manipulate a 3D object.展开更多
The contact stiffness of the joint surface directly affects the static and dynamic mechanical behavior,and accuracy of the machine tool.A new elastoplastic contact stiffness model is proposed by considering continuous...The contact stiffness of the joint surface directly affects the static and dynamic mechanical behavior,and accuracy of the machine tool.A new elastoplastic contact stiffness model is proposed by considering continuous and smooth contact characteristics and substrate deformation.First,the interpolation interval of cubic Hermite polynomials is improved to meet the continuous and smooth change of contact parameters during asperity deformation.Then,the micro-contact mechanism considering substrate deformation is explored by establishing an asperity-substrate system model.Furthermore,combined with statistical principles,a new contact stiffness model of the joint surface is established.Finally,the correctness of the built model is verified by comparing with experimental data and different contact models.The simulation results show that the model changes continuously and smoothly in the three deformation regions.The substrate deformation mainly affects the asperities in the elastic contact stage.The smoother is the surface,the more significant is the influence of substrate deformation.展开更多
基金Supported by the Ministerial Level Advanced Research Foundation(65822576)
文摘To improve the smoothness of motion control in a quadruped robot, a continuous and smooth gait transition method based on central pattern generator （CPG） was presented to solve the unsmooth or failed problem which may result in phase-locked or sharp point with direct replacement of the gait matrix. Through improving conventional weight matrix, a CPG network and a MATLAB/ Simulink model were constructed based on the Hopf oscillator for gait generation and transition in the quadruped robot. A co-simulation was performed using ADAMS/MATLAB for the gait transition between walk and trot to verify the correctness and effectiveness of the proposed CPG gait generation and transition algorithms. Related methods and conclusions can technically support the motion control technology of the quadruped robot.
基金the 2009 Excellent Going Abroad Experts Training Program in Hebei Province,China(No.[2010]76)
文摘The progressive and mixing algorithm(PAMA) is a method for surface modeling and editing,which is developed for effective and flexible applications in many environments,such as computer-aided design(CAD) and computer-aided geometric design(CAGD).In this paper,the construction scheme and continuities of PAMA are discussed,which provide a mathematics analysis of PAMA.The analysis and results show that the PAMA provides a new method of surface modeling and editing with four more degrees of freedom for designers to manipulate a 3D object.
基金This work was supported by the National Natural Science Foundation of China(Grant Number 51975449)the Key Research and Development Program of Shaanxi(Number 2021GY-309)。
文摘The contact stiffness of the joint surface directly affects the static and dynamic mechanical behavior,and accuracy of the machine tool.A new elastoplastic contact stiffness model is proposed by considering continuous and smooth contact characteristics and substrate deformation.First,the interpolation interval of cubic Hermite polynomials is improved to meet the continuous and smooth change of contact parameters during asperity deformation.Then,the micro-contact mechanism considering substrate deformation is explored by establishing an asperity-substrate system model.Furthermore,combined with statistical principles,a new contact stiffness model of the joint surface is established.Finally,the correctness of the built model is verified by comparing with experimental data and different contact models.The simulation results show that the model changes continuously and smoothly in the three deformation regions.The substrate deformation mainly affects the asperities in the elastic contact stage.The smoother is the surface,the more significant is the influence of substrate deformation.
