Dynamically adapt to uneven ground locomotion is a crucial ability for humanoid robots utilized in human environments.However,because of the effect of current pattern generation method,adapting to unknown rough ground...Dynamically adapt to uneven ground locomotion is a crucial ability for humanoid robots utilized in human environments.However,because of the effect of current pattern generation method,adapting to unknown rough ground is limited.Moreover,to maintain large support region by four-point contact during the landing phase is usually a key problem.In order to solve these problems,a landing phase control and online pattern generation in three dimensional environments is proposed.On the basis of robot-environment non-planar interactive modes,a method of landing control based on optimal support region is put forward to realize stable four-point contact by flexible foot,and a controller is employed to adapt to the changes of ground without using prior knowledge.Furthermore,an adaptable foothold planning is put forward to the online pattern generation considering walking speed,uneven terrain,and the effect of lateral movement to the locomotion stability.Finally,the effectiveness of landing control and online pattern generation is demonstrated by dynamic simulations and real robot walking experiments on outdoor uneven ground.The results indicate that the robot kept its balance even though the ground is unknown and irregular.The proposed methods lay a foundation for studies of humanoid robots performing tasks in complex environments.展开更多
For the concerted motion of rocker lunar rover, the pitch angle of rocker of a rocker lunar rover in uneven terrain must be calculated. According to the character of passive shape-shifting adaptive suspension of rocke...For the concerted motion of rocker lunar rover, the pitch angle of rocker of a rocker lunar rover in uneven terrain must be calculated. According to the character of passive shape-shifting adaptive suspension of rocker lunar rover, the model of rocker lunar rover and the model of terrain were both simplified. The pitch angle of rocker was calculated using forward solving, reverse solving and the method of offsetting the curve of terrain respectively. Because of the banishment of the nonlinearity of equation sets of calculation by reverse solving, the calculation of the pitch angle based on reverse solving was programmed by means of MATLAB. Simulations were carried out by means of ADAMS. The result verified the validity of the calculation based on reverse solving. It provides the theoretical foundation for motion planning and path planning of rocker lunar rover. As applications of the calculation of pitch angle of rocker, the multi-attribute decision making of path based on the concerted motion planning and the predictive control on lunar rover based on the Markov prediction model were introduced.展开更多
目前对均匀覆冰下架空线等值覆冰厚度计算模型的研究较多,但缺少对大截面、大单位长度重量的地线复合光缆(optical pilot ground wire,OPGW)地线覆冰的研究,特别是在微地形下等值冰厚计算模型的适用性。选取大档距大高差工况,通过有限...目前对均匀覆冰下架空线等值覆冰厚度计算模型的研究较多,但缺少对大截面、大单位长度重量的地线复合光缆(optical pilot ground wire,OPGW)地线覆冰的研究,特别是在微地形下等值冰厚计算模型的适用性。选取大档距大高差工况,通过有限元软件建立3种典型地形(山坡、山顶、垭口)下的3塔两档OPGW地线模型,结合考虑绝缘子串偏斜角的等值冰厚模型,对传统输电线路等值覆冰厚度模型进行误差分析,结果发现等值冰厚较小时大档薄覆冰情况下的传统冰厚计算误差较大。但随着平均等值冰厚增大,冰厚计算误差显著减小。利用以上分析结果和平均等值冰厚与绝缘子串轴向拉力与倾角的函数关系,提出一种冰厚误差优化计算方法,改进后的冰厚相对误差能控制在10%以内。展开更多
基金supported by National Natural Science Foundation of China (Grant No. 50775008)the PhD Programs Foundation of Ministry of Education of China (Grant No. 200800061019)Hubei provincial Digital Manufacturing Key Laboratory Foundation of China (Grant No.SZ0602)
文摘Dynamically adapt to uneven ground locomotion is a crucial ability for humanoid robots utilized in human environments.However,because of the effect of current pattern generation method,adapting to unknown rough ground is limited.Moreover,to maintain large support region by four-point contact during the landing phase is usually a key problem.In order to solve these problems,a landing phase control and online pattern generation in three dimensional environments is proposed.On the basis of robot-environment non-planar interactive modes,a method of landing control based on optimal support region is put forward to realize stable four-point contact by flexible foot,and a controller is employed to adapt to the changes of ground without using prior knowledge.Furthermore,an adaptable foothold planning is put forward to the online pattern generation considering walking speed,uneven terrain,and the effect of lateral movement to the locomotion stability.Finally,the effectiveness of landing control and online pattern generation is demonstrated by dynamic simulations and real robot walking experiments on outdoor uneven ground.The results indicate that the robot kept its balance even though the ground is unknown and irregular.The proposed methods lay a foundation for studies of humanoid robots performing tasks in complex environments.
基金Sponsored by the National Natural Science Foundation of China(Grant No.50375032)the 111 Project (Grant No.B07018)
文摘For the concerted motion of rocker lunar rover, the pitch angle of rocker of a rocker lunar rover in uneven terrain must be calculated. According to the character of passive shape-shifting adaptive suspension of rocker lunar rover, the model of rocker lunar rover and the model of terrain were both simplified. The pitch angle of rocker was calculated using forward solving, reverse solving and the method of offsetting the curve of terrain respectively. Because of the banishment of the nonlinearity of equation sets of calculation by reverse solving, the calculation of the pitch angle based on reverse solving was programmed by means of MATLAB. Simulations were carried out by means of ADAMS. The result verified the validity of the calculation based on reverse solving. It provides the theoretical foundation for motion planning and path planning of rocker lunar rover. As applications of the calculation of pitch angle of rocker, the multi-attribute decision making of path based on the concerted motion planning and the predictive control on lunar rover based on the Markov prediction model were introduced.
文摘目前对均匀覆冰下架空线等值覆冰厚度计算模型的研究较多,但缺少对大截面、大单位长度重量的地线复合光缆(optical pilot ground wire,OPGW)地线覆冰的研究,特别是在微地形下等值冰厚计算模型的适用性。选取大档距大高差工况,通过有限元软件建立3种典型地形(山坡、山顶、垭口)下的3塔两档OPGW地线模型,结合考虑绝缘子串偏斜角的等值冰厚模型,对传统输电线路等值覆冰厚度模型进行误差分析,结果发现等值冰厚较小时大档薄覆冰情况下的传统冰厚计算误差较大。但随着平均等值冰厚增大,冰厚计算误差显著减小。利用以上分析结果和平均等值冰厚与绝缘子串轴向拉力与倾角的函数关系,提出一种冰厚误差优化计算方法,改进后的冰厚相对误差能控制在10%以内。
