To realize the coordinated and stable rhythmic motion of quadruped robots （QRs）, the locomotion control method of QRs based on central pattern generator （CPG） was explored. In tradi- tional control strategies base...To realize the coordinated and stable rhythmic motion of quadruped robots （QRs）, the locomotion control method of QRs based on central pattern generator （CPG） was explored. In tradi- tional control strategies based on CPG, few CPG models care about the intra-limb coordination of QRs, and the durations of stance phase and swing phase are always equal. In view of these deficien- cies, a new and simpler multi-joint coordinated control method for both inter-limb and intra-limb was proposed in this paper. A layered CPG control network to realize the locomotion control of QRs was constructed by using modified Hopf oscillators. The coupled relationships among hip joints of all limbs and between hip joint and knee joint within a limb were established. Using the co-simulation method of ADAMS and MATLAB/Simulink, various gait simulation experiments were carried out and the effectiveness of the designed control network was tested. Simulation results show that the pro- posed control method is effective for QRs and can meet the control requirements of QRs＇ gaits with different duty factors.展开更多
承接产业转移对促进区域协调发展具有重要意义。基于2013—2021年湘南湘西示范区数据,通过构建承接产业转移能力评价指标体系,使用熵权逼近理想解排序法(technique for order preference by similarity to an ideal solution,TOPSIS法)...承接产业转移对促进区域协调发展具有重要意义。基于2013—2021年湘南湘西示范区数据,通过构建承接产业转移能力评价指标体系,使用熵权逼近理想解排序法(technique for order preference by similarity to an ideal solution,TOPSIS法)测度承接能力;再利用障碍度模型识别影响承接能力的关键因素。研究结果表明,2013—2021年,示范区内六个地区承接产业转移能力均呈现逐年提升态势,但存在明显差距;邮电业务量、实际利用外资、普通高等学校在校学生数等是阻碍承接能力提升的关键因素。最后根据研究结论提出相应的建议。展开更多
基金Supported by the Ministerial Level Advanced Research Foundation(40401060305)
文摘To realize the coordinated and stable rhythmic motion of quadruped robots （QRs）, the locomotion control method of QRs based on central pattern generator （CPG） was explored. In tradi- tional control strategies based on CPG, few CPG models care about the intra-limb coordination of QRs, and the durations of stance phase and swing phase are always equal. In view of these deficien- cies, a new and simpler multi-joint coordinated control method for both inter-limb and intra-limb was proposed in this paper. A layered CPG control network to realize the locomotion control of QRs was constructed by using modified Hopf oscillators. The coupled relationships among hip joints of all limbs and between hip joint and knee joint within a limb were established. Using the co-simulation method of ADAMS and MATLAB/Simulink, various gait simulation experiments were carried out and the effectiveness of the designed control network was tested. Simulation results show that the pro- posed control method is effective for QRs and can meet the control requirements of QRs＇ gaits with different duty factors.
文摘承接产业转移对促进区域协调发展具有重要意义。基于2013—2021年湘南湘西示范区数据,通过构建承接产业转移能力评价指标体系,使用熵权逼近理想解排序法(technique for order preference by similarity to an ideal solution,TOPSIS法)测度承接能力;再利用障碍度模型识别影响承接能力的关键因素。研究结果表明,2013—2021年,示范区内六个地区承接产业转移能力均呈现逐年提升态势,但存在明显差距;邮电业务量、实际利用外资、普通高等学校在校学生数等是阻碍承接能力提升的关键因素。最后根据研究结论提出相应的建议。
