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基于似人特性的机器人拟人臂自主抓取动作规划
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作者 陆志远 罗灿威 《工业控制计算机》 2014年第3期10-11,13,共3页
针对拟型服务机器人在家庭环境中的自主抓取任务,提出了一种强调运动姿态似人特性的机器人手臂动作的运动规划方法。该方法基于人体工程学中的快速上肢评估准则评价机器人运动姿态的似人特性,并在此基础上以机器人传速速率最优为目标规... 针对拟型服务机器人在家庭环境中的自主抓取任务,提出了一种强调运动姿态似人特性的机器人手臂动作的运动规划方法。该方法基于人体工程学中的快速上肢评估准则评价机器人运动姿态的似人特性,并在此基础上以机器人传速速率最优为目标规划机器人持物动作的姿态构型。最后以Motoman SDA10D拟人双臂机器人为例,具体介绍了该方法的应用和规划的结果,规划结果证明了该方法的可行性和有效性。 展开更多
关键词 拟人机器人 似人特性 快速上肢评估 传速速率
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基于似人特性的拟人臂机器人自主抓取动作规划 被引量:3
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作者 陆志远 甘亚辉 +1 位作者 戴先中 段晋军 《机器人》 EI CSCD 北大核心 2014年第6期719-729,共11页
针对拟人臂机器人在家庭环境中的自主抓取任务,提出了一种强调运动姿态似人特性的拟人臂动作的规划方法.该方法分为两个部分,构型规划和运动规划,构型规划基于人体工程学中广泛使用的快速上肢评估准则评价机器人运动姿态的似人特性,并... 针对拟人臂机器人在家庭环境中的自主抓取任务,提出了一种强调运动姿态似人特性的拟人臂动作的规划方法.该方法分为两个部分,构型规划和运动规划,构型规划基于人体工程学中广泛使用的快速上肢评估准则评价机器人运动姿态的似人特性,并在此基础上以机器人末端传速速率最优为目标规划机器人运动过程中的关键构型.运动规划结合了Fitts定律和似人运动模型规划了机器人末端的空间轨迹.本文最后以Motoman SDA10D拟人双臂机器人和Mitsubishi PA10机器人为例,具体介绍了该方法的应用和规划的结果,规划结果证明了本方法的可行性和有效性. 展开更多
关键词 拟人臂机器人 似人特性 自主抓取 构型规划 运动规划
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Analysis of Electrogastrograms of Elderly Gastrectomized Subjects by Using Maximum Lyapunov Exponent
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作者 Hiroki Takada Yasuyuki Matsuura Masaru Miyao 《Computer Technology and Application》 2011年第12期985-990,共6页
Not much data are available regarding the electrical activity in the stomachs and intestines of elderly gastrectomized patients The purpose of this study was to determine the feasibility of using a complex dynamic met... Not much data are available regarding the electrical activity in the stomachs and intestines of elderly gastrectomized patients The purpose of this study was to determine the feasibility of using a complex dynamic method to analyze the electrogastrograms (EGGs) of healthy young, healthy elderly, and gastrectomized elderly male individuals. The authors analyzed the EGGs by using the maximum Lyapunov exponent (MLE), which is one of the indices of the chaotic characteristics of time series. Significant differences were observed between the MLEs estimated from the, EGGs of the young and elderly individuals for most of the temporal intervals. The authors' data indicate that the EGGs of elderly gastrectomized subjects might be distinguished from the EGGs of healthy elderly individuals on the basis of the MLE distribution. 展开更多
关键词 Electrogastrogram (EGG) gastrectomized ATTRACTOR maximum Lyapunov exponent (MLE).
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Humanistic cultural tradition background and research of similarities and differences between Chinese and Western music
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作者 Jinghang Zou 《International Journal of Technology Management》 2014年第6期18-20,共3页
Music is an integral part of culture, culture represents the spirit of a country, so from this point of the music, we can get a glimpse of the cultural characteristics of a country. Music, broadly speaking, I think it... Music is an integral part of culture, culture represents the spirit of a country, so from this point of the music, we can get a glimpse of the cultural characteristics of a country. Music, broadly speaking, I think it should be the extension of culture, is a crystalline form of the essence which the culture conceived. This article discusses the musical and cultural ties, the characteristics of Chinese and Western musical culture, contacts the cultural background of Chinese and Western music culture, making more in-depth understanding. 展开更多
关键词 Humanistic cultural tradition Western music Chinese music
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