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
Both necessary and sufficient maximum principles for optimal control of stochastic systemwith random jumps consisting of forward and backward state variables are proved.The control variableis allowed to enter both dif...Both necessary and sufficient maximum principles for optimal control of stochastic systemwith random jumps consisting of forward and backward state variables are proved.The control variableis allowed to enter both diffusion and jump coefficients.The result is applied to a mean-varianceportfolio selection mixed with a recursive utility functional optimization problem.Explicit expressionof the optimal portfolio selection strategy is obtained in the state feedback form.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.
基金supported by the National Basic Research Program of China (973 Program) under Grant No.2007CB814904the National Natural Science Foundations of China under Grant Nos.10921101 and 10701050the Natural Science Foundation of Shandong Province under Grant Nos.JQ200801 and 2008BS01024
文摘Both necessary and sufficient maximum principles for optimal control of stochastic systemwith random jumps consisting of forward and backward state variables are proved.The control variableis allowed to enter both diffusion and jump coefficients.The result is applied to a mean-varianceportfolio selection mixed with a recursive utility functional optimization problem.Explicit expressionof the optimal portfolio selection strategy is obtained in the state feedback form.
