The dynamic stability of a quadruped robot trotting on slope was analyzed.Compared with crawl gait,trot gait can improve walking speed of quadruped robots.When a quadruped robot trots,each leg is in the alternate stat...The dynamic stability of a quadruped robot trotting on slope was analyzed.Compared with crawl gait,trot gait can improve walking speed of quadruped robots.When a quadruped robot trots,each leg is in the alternate state of swing phase or supporting phase,and two legs in the diagonal line are in the same phase.The feet in the supporting phase form a supporting region on the ground.When a quadruped robot walks on slope,the vertical distance from zero moment point(ZMP) to the supporting diagonal line is defined as ZMP offset distance.Whether this distance is less than the maximum offset distance or not,the stability of robot trotting on slope can be judged.The foot trajectory was planned with the sinusoidal function.Based on the kinematic analysis,the ZMP offset distance of quadruped robot under different slope angles,step length and step height was calculated,then the reasonable slope angle,step length and step height for quadruped robot trotting on slope to keep dynamic stability can be determined.On the other hand,the posture angle of quadruped robot should be controlled within the desired range.Computer simulations were executed to verify the theoretical analysis.The study will provide reference for determining reasonable step parameters of the quadruped robot.展开更多
The present study reflects upon the results of substantial program of two-dimensional Finite Element Method （FEM） numerical analyses of the open pit that links to slope angle optimization associated with the safety ...The present study reflects upon the results of substantial program of two-dimensional Finite Element Method （FEM） numerical analyses of the open pit that links to slope angle optimization associated with the safety factor of the pit slope of a coal mine in Bangladesh. In the present analyses, two types of models have been presented. The first model estimates safety factor without seismic effect on the overall pit slope of the model; the second model incorporates safety factor with seismic stability of the model. The calculated optimum slope angle of the first model is 31% with a rational safety factor of 1.51, prior to the seismic effect. However, the value is reduced to 0.93, 0.82, and 0.72, after we applies the seismic effect in the second model with M6, M6.5, and M7, respectively. Finally, our modeling results emphasize that for the case of the proposed Phulbari coalmine, there is extremely high prospect for causing massive slope failure along the optimum pit slope angle with 31% if the mine area felt seismic shaking, like the Sikkim （in northern India） earthquake with M6.9 on September 18, 2011.展开更多
Based on the exploration of the engineering geology and the rock mechan-ics testing, limit equilibrium analysis method was adopted to calculate the stability of the Huogeqi Copper Mine slope, the results show that the...Based on the exploration of the engineering geology and the rock mechan-ics testing, limit equilibrium analysis method was adopted to calculate the stability of the Huogeqi Copper Mine slope, the results show that the original slope angle is too con-servative and the slope have the potential of more preferable slope angle. In order to discuss the possibility of slope angle enhancement, sensitivity analysis of parameters related to limit state slope was made. Quantitatively determined angle value of the add-ing and the optimal slope angle was obtained. The study having performed showed that it is not only useful for the safety control of open-pit mine slope but also for the open-pit mine design for the similar geological condition.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The dynamic stability of a quadruped robot trotting on slope was analyzed.Compared with crawl gait,trot gait can improve walking speed of quadruped robots.When a quadruped robot trots,each leg is in the alternate state of swing phase or supporting phase,and two legs in the diagonal line are in the same phase.The feet in the supporting phase form a supporting region on the ground.When a quadruped robot walks on slope,the vertical distance from zero moment point(ZMP) to the supporting diagonal line is defined as ZMP offset distance.Whether this distance is less than the maximum offset distance or not,the stability of robot trotting on slope can be judged.The foot trajectory was planned with the sinusoidal function.Based on the kinematic analysis,the ZMP offset distance of quadruped robot under different slope angles,step length and step height was calculated,then the reasonable slope angle,step length and step height for quadruped robot trotting on slope to keep dynamic stability can be determined.On the other hand,the posture angle of quadruped robot should be controlled within the desired range.Computer simulations were executed to verify the theoretical analysis.The study will provide reference for determining reasonable step parameters of the quadruped robot.
文摘The present study reflects upon the results of substantial program of two-dimensional Finite Element Method （FEM） numerical analyses of the open pit that links to slope angle optimization associated with the safety factor of the pit slope of a coal mine in Bangladesh. In the present analyses, two types of models have been presented. The first model estimates safety factor without seismic effect on the overall pit slope of the model; the second model incorporates safety factor with seismic stability of the model. The calculated optimum slope angle of the first model is 31% with a rational safety factor of 1.51, prior to the seismic effect. However, the value is reduced to 0.93, 0.82, and 0.72, after we applies the seismic effect in the second model with M6, M6.5, and M7, respectively. Finally, our modeling results emphasize that for the case of the proposed Phulbari coalmine, there is extremely high prospect for causing massive slope failure along the optimum pit slope angle with 31% if the mine area felt seismic shaking, like the Sikkim （in northern India） earthquake with M6.9 on September 18, 2011.
基金Supported by the National Nature Science Foundation of China(50074002)
文摘Based on the exploration of the engineering geology and the rock mechan-ics testing, limit equilibrium analysis method was adopted to calculate the stability of the Huogeqi Copper Mine slope, the results show that the original slope angle is too con-servative and the slope have the potential of more preferable slope angle. In order to discuss the possibility of slope angle enhancement, sensitivity analysis of parameters related to limit state slope was made. Quantitatively determined angle value of the add-ing and the optimal slope angle was obtained. The study having performed showed that it is not only useful for the safety control of open-pit mine slope but also for the open-pit mine design for the similar geological condition.
