This paper deals with the mode analysis of the kinematic structure of human locomotion. The authors investigated synergy mechanism of human locomotion from motion-captured data and EMG signal data. The authors extract...This paper deals with the mode analysis of the kinematic structure of human locomotion. The authors investigated synergy mechanism of human locomotion from motion-captured data and EMG signal data. The authors extracted some common basic movements and residual modes, and analyzed the kinematical structures of limit cycle in joint angle space. The authors also implemented the numerical simulation analyses by using the motion captured data and EMG signal data to investigate the mechanical activities of human joints and to extract the mechanical structure of the limit cycle. The results show the joint synergy that is derived by the common basic modes, which expresses an inverted pendulum mode in support phase, and ballistic mode in swing phase with the kick-off motion in the most effective direction. This result can be guessed that the control strategy of human locomotion is simply based on the minimal control principle.展开更多
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
文摘This paper deals with the mode analysis of the kinematic structure of human locomotion. The authors investigated synergy mechanism of human locomotion from motion-captured data and EMG signal data. The authors extracted some common basic movements and residual modes, and analyzed the kinematical structures of limit cycle in joint angle space. The authors also implemented the numerical simulation analyses by using the motion captured data and EMG signal data to investigate the mechanical activities of human joints and to extract the mechanical structure of the limit cycle. The results show the joint synergy that is derived by the common basic modes, which expresses an inverted pendulum mode in support phase, and ballistic mode in swing phase with the kick-off motion in the most effective direction. This result can be guessed that the control strategy of human locomotion is simply based on the minimal control principle.
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.
