In recent years,Henan sticks to the points of General Secretary Xi Jinping,makes full use of its rich resources and relations,makes efforts to deepen friendship with people around the world,promotes relations with for...In recent years,Henan sticks to the points of General Secretary Xi Jinping,makes full use of its rich resources and relations,makes efforts to deepen friendship with people around the world,promotes relations with foreign countries,pushes展开更多
In this paper, a biped water running robot is developed by mimicking the water-running pattern of basilisk lizards. The dynamic mechanism of the robot was studied based on Watt-I planar linkages, and the movement traj...In this paper, a biped water running robot is developed by mimicking the water-running pattern of basilisk lizards. The dynamic mechanism of the robot was studied based on Watt-I planar linkages, and the movement trajectory of the double bar Assur Group was deduced to simulate the water-running foot trajectories of the basilisk lizard. A Central Pattern Generator （CPG）-based fuzzy control method was proposed to control the robot for realizing balance control and gait adjustment. The effectiveness of the proposed control method was verified on the prototype of a water running robot （weight： 320 g）. When the biped robot is running on water, the average force generated by the propulsion mechanism is 1.3 N, and the robot body tilt angle is 5~. The experiment results show that the propulsion mechanism is effective in realizing the basilisk lizards-like water running patterns, and the CPG-based fuzzy control method is effective in keeping the balance of the robot.展开更多
A new species of Torrenticola(Acari:Hydrachnidia)is reported from China,namely T.(T.)gladiusirostrum Jia,Gu&Guo,sp.nov.And T.(Megapalpis)distans K.O.Viets,1981 is recorded in China for the first time.Both descript...A new species of Torrenticola(Acari:Hydrachnidia)is reported from China,namely T.(T.)gladiusirostrum Jia,Gu&Guo,sp.nov.And T.(Megapalpis)distans K.O.Viets,1981 is recorded in China for the first time.Both descriptions and illustrations of these species are provided.The new species is characteristic by:dorsal plate arrangement 2+1;infracapitular bay U-shaped,deep and wide,V2 almost at same level of Ap;gnathosoma ventral apodeme short and blunt,rostrum flat and sword-shaped;P-2 and P-3 ventral processes smooth and pointed,and P-2 ventral process curved upwards,P-4 with two ventral extensions.展开更多
文摘In recent years,Henan sticks to the points of General Secretary Xi Jinping,makes full use of its rich resources and relations,makes efforts to deepen friendship with people around the world,promotes relations with foreign countries,pushes
基金This work is supported by the National Natural Science Foundation of China （No. 50905175）, and the National Program on Key Basic Research Project of China （No. 2011CB302106）.
文摘In this paper, a biped water running robot is developed by mimicking the water-running pattern of basilisk lizards. The dynamic mechanism of the robot was studied based on Watt-I planar linkages, and the movement trajectory of the double bar Assur Group was deduced to simulate the water-running foot trajectories of the basilisk lizard. A Central Pattern Generator （CPG）-based fuzzy control method was proposed to control the robot for realizing balance control and gait adjustment. The effectiveness of the proposed control method was verified on the prototype of a water running robot （weight： 320 g）. When the biped robot is running on water, the average force generated by the propulsion mechanism is 1.3 N, and the robot body tilt angle is 5~. The experiment results show that the propulsion mechanism is effective in realizing the basilisk lizards-like water running patterns, and the CPG-based fuzzy control method is effective in keeping the balance of the robot.
基金supported by SRT program of Guizhou University((2019)337)National Natural Science Foundation of China(31772421)Guizhou Provincial Science and Technology Projects(Qiankehe Pingtai Rencai-GCC[2022]029-1)。
文摘A new species of Torrenticola(Acari:Hydrachnidia)is reported from China,namely T.(T.)gladiusirostrum Jia,Gu&Guo,sp.nov.And T.(Megapalpis)distans K.O.Viets,1981 is recorded in China for the first time.Both descriptions and illustrations of these species are provided.The new species is characteristic by:dorsal plate arrangement 2+1;infracapitular bay U-shaped,deep and wide,V2 almost at same level of Ap;gnathosoma ventral apodeme short and blunt,rostrum flat and sword-shaped;P-2 and P-3 ventral processes smooth and pointed,and P-2 ventral process curved upwards,P-4 with two ventral extensions.
