Heavy-duty legged robots have been regarded as one of the important developments in the field of legged robots because of their high payload-total mass ratio,terrain adaptability,and multitasking.The problems associat...Heavy-duty legged robots have been regarded as one of the important developments in the field of legged robots because of their high payload-total mass ratio,terrain adaptability,and multitasking.The problems associated with the development and use of heavy-duty legged robots have motivated researchers to conduct many important studies,covering topics related to the mechanical structure,force distribution,control strategy,energy efficiency,etc.Overall,heavy-duty legged robots have three main characteristics:greater body masses,larger body sizes,and higher payload-total mass ratios.Thus,various heavy-duty legged robots and their performances are reviewed here.This review presents the current developments with regard to heavy-duty legged robots.Also,the main characteristics of high-performance heavy-duty legged robots are determined and conclusions are drawn.Furthermore,the current research of key techniques of heavy-duty legged robots,including the mechanical structure,force distribution,control method,and power source,is described.To assess the transportation capacity of heavy-duty legged robots,performance evaluation parameters are proposed.Finally,problems that need further research are addressed.展开更多
Considering a one-supplier and two-retailer supply chain setting in which the supplier makes contacts with retailers in sequence based on FCFS(first–come–first-service) principle, the authors investigate the margina...Considering a one-supplier and two-retailer supply chain setting in which the supplier makes contacts with retailers in sequence based on FCFS(first–come–first-service) principle, the authors investigate the marginal effect of extra-gain guilty fairness concerns of supply chain members on the contract design, supply chain's profit and profit distribution. When the supplier considers distributional fairness of loss aversion and extra-gain guilty, extra-gain guilty concern reduces the optimal wholesale and retail price, and improves supply chain performance. When the first or the second retailer considers distributional fairness and peer-induced fairness, extra-gain guilty concerns decrease the optimal wholesale and retail price but increase the profit of all supply chain members only when the level of loss aversion is large enough and the level of extra-gain guilty is less than 1/2. However, when the level of loss aversion is small and the level of extra-gain guilty is less than 1/2, extra-gain guilty has no influence on supply chain performance. The analysis reveals that the supply chain performance can be further improved by considering fairness of extra-gain guilty.展开更多
基金supported by the National Basic Research Program of China("973" Program)(Grant No.2013CB035502)the International Sci-ence and Technology Cooperation Project with Russia(Grant No.2010DFR70270)+2 种基金the National Natural Science Foundation of China(Grant No.51275106)the"111" Project(Grant No.B07018)the Key Laboratory Opening Funding of Aerospace Mechanism and Control(Grant No.HIT.KLOF.2010057)
文摘Heavy-duty legged robots have been regarded as one of the important developments in the field of legged robots because of their high payload-total mass ratio,terrain adaptability,and multitasking.The problems associated with the development and use of heavy-duty legged robots have motivated researchers to conduct many important studies,covering topics related to the mechanical structure,force distribution,control strategy,energy efficiency,etc.Overall,heavy-duty legged robots have three main characteristics:greater body masses,larger body sizes,and higher payload-total mass ratios.Thus,various heavy-duty legged robots and their performances are reviewed here.This review presents the current developments with regard to heavy-duty legged robots.Also,the main characteristics of high-performance heavy-duty legged robots are determined and conclusions are drawn.Furthermore,the current research of key techniques of heavy-duty legged robots,including the mechanical structure,force distribution,control method,and power source,is described.To assess the transportation capacity of heavy-duty legged robots,performance evaluation parameters are proposed.Finally,problems that need further research are addressed.
基金partially supported by the National Natural Science Foundation of China under Grant Nos.71571079,71301122,71671133,71131004Program for New Century Excellent Talents in University under Grant No.NCET-13-0228
文摘Considering a one-supplier and two-retailer supply chain setting in which the supplier makes contacts with retailers in sequence based on FCFS(first–come–first-service) principle, the authors investigate the marginal effect of extra-gain guilty fairness concerns of supply chain members on the contract design, supply chain's profit and profit distribution. When the supplier considers distributional fairness of loss aversion and extra-gain guilty, extra-gain guilty concern reduces the optimal wholesale and retail price, and improves supply chain performance. When the first or the second retailer considers distributional fairness and peer-induced fairness, extra-gain guilty concerns decrease the optimal wholesale and retail price but increase the profit of all supply chain members only when the level of loss aversion is large enough and the level of extra-gain guilty is less than 1/2. However, when the level of loss aversion is small and the level of extra-gain guilty is less than 1/2, extra-gain guilty has no influence on supply chain performance. The analysis reveals that the supply chain performance can be further improved by considering fairness of extra-gain guilty.
