A new passive wheel type of leg-wheeled mobile robot based on rolling principle was introduced. To enhance the stability and maintain vertical to the ground of wheels, four passive wheels were installed at the end of ...A new passive wheel type of leg-wheeled mobile robot based on rolling principle was introduced. To enhance the stability and maintain vertical to the ground of wheels, four passive wheels were installed at the end of four legs respectively and parallel mechanisms were used as legs. And an inertia coordinate system and a robot coordinate system were established, the related kinematic equation of the robot was gotten according to some assumptions after the configuration or the posture of wheels and legs was analyzed. At the same time, the turning conditions of the robot were also obtained. Based on the motion principle, the VSS-based logic control system was designed and the skating straight experiments and the turning experiments were conducted. And some conclusions were drawn.展开更多
Three main basic types of locomotion for a mobile robot were introduced and the advantages and disadvantages of a legged mobile robot, a wheeled mobile robot and an articulated mobile robot were also discussed. A new ...Three main basic types of locomotion for a mobile robot were introduced and the advantages and disadvantages of a legged mobile robot, a wheeled mobile robot and an articulated mobile robot were also discussed. A new type of leg wheeled mobile robot was introduced which combines the adaptability of legged robot with the stability of wheeled robot. On the basis of the structure of the wheels, the paper described the principle of the ice skater robot developed from Roller walker and ALDURO and its construction. The paper also established an inertia coordinate system and a wheel coordinate system, and analyzed the configuration or the posture and the related kinematic constraints of the robot according to some assumptions. Based on the motion principle, a logic based coordinated control system and corresponded flowchart were designed. At last, taking the ice skater robot as an example the paper expounded its application and the actual experiment proved its feasibility.展开更多
This work aims at understanding the tactical action of soccer players from the point of view of Peirce＇s pragmatism. We will focus on the maxim of pragmatism, in which the elements of every concept enter into logical...This work aims at understanding the tactical action of soccer players from the point of view of Peirce＇s pragmatism. We will focus on the maxim of pragmatism, in which the elements of every concept enter into logical thinking through the doors of perception and leave through the doors of utilitarian actions. In this paper, we investigate the formation of a habit able to manage collective actions on a soccer field. The efficiency of this habit is related to collateral experience shared among soccer players： characteristics of high performance sports training. This unique experience orchestrates perceptions and reasoning, leading to efficient combination of conclusions and influences collective actions. We will analyze the concept that we call avalanche in bow-arrow applied to the 1970＇s Brazilian soccer team.展开更多
文摘A new passive wheel type of leg-wheeled mobile robot based on rolling principle was introduced. To enhance the stability and maintain vertical to the ground of wheels, four passive wheels were installed at the end of four legs respectively and parallel mechanisms were used as legs. And an inertia coordinate system and a robot coordinate system were established, the related kinematic equation of the robot was gotten according to some assumptions after the configuration or the posture of wheels and legs was analyzed. At the same time, the turning conditions of the robot were also obtained. Based on the motion principle, the VSS-based logic control system was designed and the skating straight experiments and the turning experiments were conducted. And some conclusions were drawn.
文摘Three main basic types of locomotion for a mobile robot were introduced and the advantages and disadvantages of a legged mobile robot, a wheeled mobile robot and an articulated mobile robot were also discussed. A new type of leg wheeled mobile robot was introduced which combines the adaptability of legged robot with the stability of wheeled robot. On the basis of the structure of the wheels, the paper described the principle of the ice skater robot developed from Roller walker and ALDURO and its construction. The paper also established an inertia coordinate system and a wheel coordinate system, and analyzed the configuration or the posture and the related kinematic constraints of the robot according to some assumptions. Based on the motion principle, a logic based coordinated control system and corresponded flowchart were designed. At last, taking the ice skater robot as an example the paper expounded its application and the actual experiment proved its feasibility.
文摘This work aims at understanding the tactical action of soccer players from the point of view of Peirce＇s pragmatism. We will focus on the maxim of pragmatism, in which the elements of every concept enter into logical thinking through the doors of perception and leave through the doors of utilitarian actions. In this paper, we investigate the formation of a habit able to manage collective actions on a soccer field. The efficiency of this habit is related to collateral experience shared among soccer players： characteristics of high performance sports training. This unique experience orchestrates perceptions and reasoning, leading to efficient combination of conclusions and influences collective actions. We will analyze the concept that we call avalanche in bow-arrow applied to the 1970＇s Brazilian soccer team.
