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仿蟹机器人交错等相位波形步态研究 被引量:11
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作者 王刚 张立勋 王立权 《机器人》 EI CSCD 北大核心 2011年第2期237-243,共7页
在观察生物螃蟹的基础上,研制了仿蟹机器人实验样机.利用事件序列法对生物螃蟹的行走过程进行了分析,提出了仿蟹机器人交错等相位波形步态.交错等相位波形步态以2n足波形步态为基础,将8个步行足交错分为两组,通过调节组内先后摆动的两... 在观察生物螃蟹的基础上,研制了仿蟹机器人实验样机.利用事件序列法对生物螃蟹的行走过程进行了分析,提出了仿蟹机器人交错等相位波形步态.交错等相位波形步态以2n足波形步态为基础,将8个步行足交错分为两组,通过调节组内先后摆动的两步行足间的相位因子,使同组的各步行足相位平均分配在一个步态周期内,以减小机体能量损耗.仿蟹机器人样机行走步态实验结果表明,交错等相位波形步态符合生物螃蟹的运动特点,与双四足步态相比,机器人具有良好的行走稳定性和较小的驱动功率波动幅度,步行状态平稳. 展开更多
关键词 仿蟹形机器人 交错等相位波形步态 事件序列法 步态规划
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ICPS multi-target constrained comprehensive security control based on DoS attacks energy grading detection and compensation
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作者 HAN Yinlong HAN Xiaowu 《Journal of Measurement Science and Instrumentation》 CAS CSCD 2024年第4期518-531,共14页
Aiming at the industry cyber-physical system(ICPS)where Denial-of-Service(DoS)attacks and actuator failure coexist,the integrated security control problem of ICPS under multi-objective constraints was studied.First,fr... Aiming at the industry cyber-physical system(ICPS)where Denial-of-Service(DoS)attacks and actuator failure coexist,the integrated security control problem of ICPS under multi-objective constraints was studied.First,from the perspective of the defender,according to the differential impact of the system under DoS attacks of different energies,the DoS attacks energy grading detection standard was formulated,and the ICPS comprehensive security control framework was constructed.Secondly,a security transmission strategy based on event triggering was designed.Under the DoS attack energy classification detection mechanism,for large-energy attacks,the method based on time series analysis was considered to predict and compensate for lost data.Therefore,on the basis of passive and elastic response to small energy attacks,the active defense capability against DoS attacks was increased.Then by introducing the conecomplement linearization algorithm,the calculation methods of the state and fault estimation observer and the integrated safety controller were deduced,the goal of DoS attack active and passive hybrid intrusion tolerance and actuator failure active fault tolerance were realized.Finally,a simulation example of a four-capacity water tank system was given to verify the validity of the obtained conclusions. 展开更多
关键词 industry cyber-physical system(ICPS) Denial-of-Service(DoS)attacks energy grading detection security event triggering mechanism time series analysis methods cone complementary linearization
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