Compliance motion and footstep adjustment are active balance control strategies from learning human subconscious behaviors.The force estimation without direct end-actuator force measurement and the optimal footsteps b...Compliance motion and footstep adjustment are active balance control strategies from learning human subconscious behaviors.The force estimation without direct end-actuator force measurement and the optimal footsteps based on complex analytical calculation are still challenging tasks for elementary and kid-size position-controlled robots.In this paper,an online compliant controller with Gravity Projection Observer(GPO),which can express the external force condition of perturbations by the estimated Projection of Gravity(PoG)with estimation covariance,is proposed for the realization of disturbance absorption,with which the robustness of the humanoid contact with environments can be maintained.The fuzzy footstep planner based on capturability analysis is proposed,and the Model Predictive Control(MPC)is applied to generate the desired steps.The fuzzification rules are well-designed and give the corresponding control output responding to complex and changeable external disturbances.To validate the presented methods,a series of experiments on a real humanoid robot are conducted.The results verify the effectiveness of the proposed balance control framework.展开更多
Ireland has become the latest European country to add its name to the list of recipients of financial aid from the EU and IMF and face protests concerning its austerity program. The country was given an 85-billion-eur...Ireland has become the latest European country to add its name to the list of recipients of financial aid from the EU and IMF and face protests concerning its austerity program. The country was given an 85-billion-euro ($113-billion)展开更多
Chinese paleontologists’ remarkable fossil findings buttress and expand Darwin’s theory Fossil discoveries across China are contributing, as well as offering new insights, to the ever-evolving theories presented by ...Chinese paleontologists’ remarkable fossil findings buttress and expand Darwin’s theory Fossil discoveries across China are contributing, as well as offering new insights, to the ever-evolving theories presented by English naturalist Charles Darwin a century and a half ago.展开更多
In the West Coast National Park in South Africa, about 100km north of CapeTown, are three footprints. At a glance, they look quite ordinary in size and shape,like those made by any modern woman walking through soft sa...In the West Coast National Park in South Africa, about 100km north of CapeTown, are three footprints. At a glance, they look quite ordinary in size and shape,like those made by any modern woman walking through soft sand. The difference展开更多
基金supported by the National Natural Science Foundation of China under Grants 62173248,62073245.
文摘Compliance motion and footstep adjustment are active balance control strategies from learning human subconscious behaviors.The force estimation without direct end-actuator force measurement and the optimal footsteps based on complex analytical calculation are still challenging tasks for elementary and kid-size position-controlled robots.In this paper,an online compliant controller with Gravity Projection Observer(GPO),which can express the external force condition of perturbations by the estimated Projection of Gravity(PoG)with estimation covariance,is proposed for the realization of disturbance absorption,with which the robustness of the humanoid contact with environments can be maintained.The fuzzy footstep planner based on capturability analysis is proposed,and the Model Predictive Control(MPC)is applied to generate the desired steps.The fuzzification rules are well-designed and give the corresponding control output responding to complex and changeable external disturbances.To validate the presented methods,a series of experiments on a real humanoid robot are conducted.The results verify the effectiveness of the proposed balance control framework.
文摘Ireland has become the latest European country to add its name to the list of recipients of financial aid from the EU and IMF and face protests concerning its austerity program. The country was given an 85-billion-euro ($113-billion)
文摘Chinese paleontologists’ remarkable fossil findings buttress and expand Darwin’s theory Fossil discoveries across China are contributing, as well as offering new insights, to the ever-evolving theories presented by English naturalist Charles Darwin a century and a half ago.
文摘In the West Coast National Park in South Africa, about 100km north of CapeTown, are three footprints. At a glance, they look quite ordinary in size and shape,like those made by any modern woman walking through soft sand. The difference
