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面向离散地形的欠驱动双足机器人平衡控制方法 被引量:8
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作者 韩连强 陈学超 +3 位作者 余张国 高志发 黄岩 黄强 《自动化学报》 EI CAS CSCD 北大核心 2022年第9期2164-2174,共11页
欠驱动双足机器人在行走中为保持自身的平衡,双脚需要不间断运动.但在仅有特定立足点的离散地形上很难实现调整后的落脚点,从而导致欠驱动双足机器人在复杂环境中的适应能力下降.提出了基于虚拟约束(Virtual constraint,VC)的变步长调... 欠驱动双足机器人在行走中为保持自身的平衡,双脚需要不间断运动.但在仅有特定立足点的离散地形上很难实现调整后的落脚点,从而导致欠驱动双足机器人在复杂环境中的适应能力下降.提出了基于虚拟约束(Virtual constraint,VC)的变步长调节与控制方法,根据欠驱动双足机器人当前状态与参考落脚点设计了非时变尺度缩放因子,能够实时重构适应当前环境的步态轨迹;同时构建了全身动力学模型,采用反馈线性化的模型预测控制(Model predictive control,MPC)滚动优化产生力矩控制量,实现准确的轨迹跟踪控制.最终进行了欠驱动双足机器人的随机离散地形稳定行走的仿真实验,验证了所提方法的有效性与鲁棒性. 展开更多
关键词 欠驱动双足机器人 离散地形 平衡控制 虚拟约束 模型预测控制
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Along Road Height Interpolation Based on Discrete Elevation Points
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作者 Tran Thong Nhat 《Journal of Earth Science and Engineering》 2012年第11期691-695,共5页
The simulating exactly compared with realty of ground surface to run a model is more and more highly required. In the real, terrain of the earth surface is always complicated by the natural and human made ground objec... The simulating exactly compared with realty of ground surface to run a model is more and more highly required. In the real, terrain of the earth surface is always complicated by the natural and human made ground objects. Because of limitation of collecting and storing technologies in the past time, data are usually not detailed so that the data can not be full for the simulation. Besides computing power and simulation increase more day by day, the increasing requirements more detailed of topography surface simulation is a demand. In simulated flooding phenomenon or phenomena related to energy and momentum of water flow, the linear objects of ground surface such as roads, dikes, dams, etc. need to have their vertical dimension along continuously. However, these datas have often no height information alternately, there are only discrete elevation points that are extracted from topographic maps. Consequently, the demand of a suitable method for linear objects height interpolation is necessary. This paper aims to provide a method and evaluate its accuracy to meet this requirement. 展开更多
关键词 Height interpolation GIS road interpolation discrete elevation points.
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Surface settlement caused by twin-parallel shield tunnelling in sandy cobble strata 被引量:26
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作者 Chuan HE Kun FENG +1 位作者 Yong FANG Ying-chao JIANG 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2012年第11期858-869,共12页
City metro tunnels are usually constructed as twin-parallel tunnels and their adjacent construction may lead to surface deformation,affecting the surface environment and the safety of the tunnels.Due to its strong dis... City metro tunnels are usually constructed as twin-parallel tunnels and their adjacent construction may lead to surface deformation,affecting the surface environment and the safety of the tunnels.Due to its strong dispersion,sandy cobble strata can be easily disturbed by shield tunneling.Based on the project of the Chengdu Metro Line 1,field and model tests were carried out to study the surface settlement caused by shield tunneling in sandy cobble strata by measuring surface settlement curves,ground loss ratios and construction influence zones.The discrete element method(DEM) was used to study the factors affecting the formation of ground arches in sandy cobble strata at the microscopic level.Results show that the shape of the surface settlement curve in sandy cobble strata is different from that in soft soil.The buried depth and clear spacing of the two tunnels had a significant impact on the formation of ground arches. 展开更多
关键词 Twin-parallel shield tunneling Surface settlement Ground loss Field test Discrete element method(DEM) Model test
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