As the pneumatic artificial muscle （PAM） has flexibility properties similar to biological muscle which is widely used in robotics as one kind of actuators, the bionic mechanism driven by PAMs be- comes a hot spot in...As the pneumatic artificial muscle （PAM） has flexibility properties similar to biological muscle which is widely used in robotics as one kind of actuators, the bionic mechanism driven by PAMs be- comes a hot spot in robotics. In this paper, a kind of musculoskeletal leg mechanism driven by PAMs is presented, which has three joints driven by four PAMs. The jumping movement is divided into three phases. The forward and inverse kinematics of the leg mechanism in different jumping phases is derived. Considering the ground reaction force between feet and environment, the dynamic in different jumping phases is analyzed by Lagrange method, then the relationship between PAM driving force and the joints angular displacement, angular velocity, angular acceleration during one jumping cycle is obtained, which will lay a foundatiori for the jumping experiment of the musculo- skeletal lez mechanism.展开更多
There is a long and rich tradition in the social sciences of using models of collective behavior in animals as jump- ing-off points for the study of human behavior, including collective human behavior. Here, we come a...There is a long and rich tradition in the social sciences of using models of collective behavior in animals as jump- ing-off points for the study of human behavior, including collective human behavior. Here, we come at the problem in a slightly different fashion. We ask whether models of collective human behavior have anything to offer those who study animal behavior. Our brief example of tipping points, a model first developed in the physical sciences and later used in the social sciences, suggests that the analysis of human collective behavior does indeed have considerable to offer展开更多
基金Supported by the National Natural Science Foundation of China(No.51375289)Shanghai Municipal National Natural Science Foundation of China(No.13ZR1415500)Innovation Fund of Shanghai Education Commission(No.13YZ020)
文摘As the pneumatic artificial muscle （PAM） has flexibility properties similar to biological muscle which is widely used in robotics as one kind of actuators, the bionic mechanism driven by PAMs be- comes a hot spot in robotics. In this paper, a kind of musculoskeletal leg mechanism driven by PAMs is presented, which has three joints driven by four PAMs. The jumping movement is divided into three phases. The forward and inverse kinematics of the leg mechanism in different jumping phases is derived. Considering the ground reaction force between feet and environment, the dynamic in different jumping phases is analyzed by Lagrange method, then the relationship between PAM driving force and the joints angular displacement, angular velocity, angular acceleration during one jumping cycle is obtained, which will lay a foundatiori for the jumping experiment of the musculo- skeletal lez mechanism.
文摘There is a long and rich tradition in the social sciences of using models of collective behavior in animals as jump- ing-off points for the study of human behavior, including collective human behavior. Here, we come at the problem in a slightly different fashion. We ask whether models of collective human behavior have anything to offer those who study animal behavior. Our brief example of tipping points, a model first developed in the physical sciences and later used in the social sciences, suggests that the analysis of human collective behavior does indeed have considerable to offer
