To realize the coordinated and stable rhythmic motion of quadruped robots （QRs）, the locomotion control method of QRs based on central pattern generator （CPG） was explored. In tradi- tional control strategies base...To realize the coordinated and stable rhythmic motion of quadruped robots （QRs）, the locomotion control method of QRs based on central pattern generator （CPG） was explored. In tradi- tional control strategies based on CPG, few CPG models care about the intra-limb coordination of QRs, and the durations of stance phase and swing phase are always equal. In view of these deficien- cies, a new and simpler multi-joint coordinated control method for both inter-limb and intra-limb was proposed in this paper. A layered CPG control network to realize the locomotion control of QRs was constructed by using modified Hopf oscillators. The coupled relationships among hip joints of all limbs and between hip joint and knee joint within a limb were established. Using the co-simulation method of ADAMS and MATLAB/Simulink, various gait simulation experiments were carried out and the effectiveness of the designed control network was tested. Simulation results show that the pro- posed control method is effective for QRs and can meet the control requirements of QRs＇ gaits with different duty factors.展开更多
The wingless-related integration site(WNT)proteins are a family of secreted glycoproteins that are evolutionarily conserved and are believed to be involved in evolution in vertebrates and invertebrates.WNT signaling p...The wingless-related integration site(WNT)proteins are a family of secreted glycoproteins that are evolutionarily conserved and are believed to be involved in evolution in vertebrates and invertebrates.WNT signaling pathways may be associated with limb regeneration and development in crustaceans.However,the detail mechanisms remain unclear.Therefore,the distribution of WNT4 in the hepatopancreas,muscle,hemocyte,ganglion,heart,eyestalk,gill tissue,and diff erent larvae development stages of the swimming crab(Portunus trituberculatus)were characterized using immunofl uorescence,real-time PCR,and Western blotting.Signifi cant PtWNT4 expression was detected in heart and eyestalk.In addition,PtWNT4 was expressed in all larval stages of P.trituberculatus with a dynamic expression pattern,especially in the eyestalk and other organs in the carapace area.The injection of WNT4 dsRNA into regenerative limbs signifi cantly decreased PtWNT4 mRNA levels in the eyestalk,heart,and muscle,resulting in 1.9-fold,2.2-fold,and 2.7-fold decreases compared with those detected in the group injected with crab saline(P<0.05),respectively,indicating successful gene silencing.Overall,expression analysis on the WNT4 using RNAi provides an insight to its functional mechanism during limb regeneration in P.trituberculatus.The results not only demonstrated the requirement for WNT4 in limb regeneration of Crustaceans,but also suggested its ability to promote larval development at specifi c stages.展开更多
基金Supported by the Ministerial Level Advanced Research Foundation(40401060305)
文摘To realize the coordinated and stable rhythmic motion of quadruped robots （QRs）, the locomotion control method of QRs based on central pattern generator （CPG） was explored. In tradi- tional control strategies based on CPG, few CPG models care about the intra-limb coordination of QRs, and the durations of stance phase and swing phase are always equal. In view of these deficien- cies, a new and simpler multi-joint coordinated control method for both inter-limb and intra-limb was proposed in this paper. A layered CPG control network to realize the locomotion control of QRs was constructed by using modified Hopf oscillators. The coupled relationships among hip joints of all limbs and between hip joint and knee joint within a limb were established. Using the co-simulation method of ADAMS and MATLAB/Simulink, various gait simulation experiments were carried out and the effectiveness of the designed control network was tested. Simulation results show that the pro- posed control method is effective for QRs and can meet the control requirements of QRs＇ gaits with different duty factors.
基金Supported by the National Natural Science Foundation of China(No.31602152)the Major Agriculture Program of Ningbo(No.2017C110007)the K.C.Wong Magana Fund in Ningbo University.The funding body had no role in the study design,experimental implementation,interpretation of data,or writing of the manuscript。
文摘The wingless-related integration site(WNT)proteins are a family of secreted glycoproteins that are evolutionarily conserved and are believed to be involved in evolution in vertebrates and invertebrates.WNT signaling pathways may be associated with limb regeneration and development in crustaceans.However,the detail mechanisms remain unclear.Therefore,the distribution of WNT4 in the hepatopancreas,muscle,hemocyte,ganglion,heart,eyestalk,gill tissue,and diff erent larvae development stages of the swimming crab(Portunus trituberculatus)were characterized using immunofl uorescence,real-time PCR,and Western blotting.Signifi cant PtWNT4 expression was detected in heart and eyestalk.In addition,PtWNT4 was expressed in all larval stages of P.trituberculatus with a dynamic expression pattern,especially in the eyestalk and other organs in the carapace area.The injection of WNT4 dsRNA into regenerative limbs signifi cantly decreased PtWNT4 mRNA levels in the eyestalk,heart,and muscle,resulting in 1.9-fold,2.2-fold,and 2.7-fold decreases compared with those detected in the group injected with crab saline(P<0.05),respectively,indicating successful gene silencing.Overall,expression analysis on the WNT4 using RNAi provides an insight to its functional mechanism during limb regeneration in P.trituberculatus.The results not only demonstrated the requirement for WNT4 in limb regeneration of Crustaceans,but also suggested its ability to promote larval development at specifi c stages.
