针对简化动力学模型对运动规划造成较大误差的问题,提出一种仿人机器人全身运动生成方法,它结合扩展零力矩点(extended zero moment point,EZMP)的预观控制和分解动量控制,实现了含多种约束的高效运动规划。该方法给出了非线性EZMP方程...针对简化动力学模型对运动规划造成较大误差的问题,提出一种仿人机器人全身运动生成方法,它结合扩展零力矩点(extended zero moment point,EZMP)的预观控制和分解动量控制,实现了含多种约束的高效运动规划。该方法给出了非线性EZMP方程在三维空间中的封闭形式,使得机器人稳定步态生成更加方便,同时将之前文献中忽略的角动量等因素也考虑在内,另外可以对EZMP、四肢运动和角动量等自由添加约束。仿真结果表明,该方法将EZMP平均误差减小到单一预观控制方法的2/5,并可以方便地实现含复杂约束的运动规划,为仿人机器人提供了一种形式简单且灵活、高效的运动规划方法。展开更多
In this paper, we show that if Wmax 〈 6 for the Hamming code Ham （r, 2）, then all of the nonzero codewords of Ham （r, 2） are minimal and if Wrnax 〈 8 for the extended Hamming code Hfim （r, 2）, then all of the ...In this paper, we show that if Wmax 〈 6 for the Hamming code Ham （r, 2）, then all of the nonzero codewords of Ham （r, 2） are minimal and if Wrnax 〈 8 for the extended Hamming code Hfim （r, 2）, then all of the nonzero codewords ofHfim （r, 2） are minimal, where Wmax is the maximum nonzero weight in Ham （r, 2） and Hfim （r, 2）.展开更多
With the help of the zero-curvature equation and the super trace identity, we derive a super extensionof the Kaup-Newell hierarchy associated with a 3×3 matrix spectral problem and establish its super bi-Hamilton...With the help of the zero-curvature equation and the super trace identity, we derive a super extensionof the Kaup-Newell hierarchy associated with a 3×3 matrix spectral problem and establish its super bi-Hamiltonianstructures.Furthermore, infinite conservation laws of the super Kaup-Newell equation are obtained by using spectralparameter expansions.展开更多
文摘针对简化动力学模型对运动规划造成较大误差的问题,提出一种仿人机器人全身运动生成方法,它结合扩展零力矩点(extended zero moment point,EZMP)的预观控制和分解动量控制,实现了含多种约束的高效运动规划。该方法给出了非线性EZMP方程在三维空间中的封闭形式,使得机器人稳定步态生成更加方便,同时将之前文献中忽略的角动量等因素也考虑在内,另外可以对EZMP、四肢运动和角动量等自由添加约束。仿真结果表明,该方法将EZMP平均误差减小到单一预观控制方法的2/5,并可以方便地实现含复杂约束的运动规划,为仿人机器人提供了一种形式简单且灵活、高效的运动规划方法。
文摘In this paper, we show that if Wmax 〈 6 for the Hamming code Ham （r, 2）, then all of the nonzero codewords of Ham （r, 2） are minimal and if Wrnax 〈 8 for the extended Hamming code Hfim （r, 2）, then all of the nonzero codewords ofHfim （r, 2） are minimal, where Wmax is the maximum nonzero weight in Ham （r, 2） and Hfim （r, 2）.
基金Supported by National Natural Science Foundation of China under Grant No.10871182 Innovation Scientists and Technicians Troop Construction Projects of Henan Province (084200410019)SRFDP (200804590008)
文摘With the help of the zero-curvature equation and the super trace identity, we derive a super extensionof the Kaup-Newell hierarchy associated with a 3×3 matrix spectral problem and establish its super bi-Hamiltonianstructures.Furthermore, infinite conservation laws of the super Kaup-Newell equation are obtained by using spectralparameter expansions.
