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Balance recovery control for biped robot based on reaction null space method
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作者 Baoping WANG Renxi HU +1 位作者 Jinming ZHANG Chuangfeng HUAI 《控制理论与应用(英文版)》 EI 2009年第1期87-91,共5页
A biped walking robot should be able to keep balance even in the presence of disturbing forces. This paper presents a step strategy concept of biped walking robot that is stabilized by using reaction null space method... A biped walking robot should be able to keep balance even in the presence of disturbing forces. This paper presents a step strategy concept of biped walking robot that is stabilized by using reaction null space method. The called "step strategy" can be modeled by means of the reaction null space method that introduced earlier to tackle dynamic interaction problems of free-floating robots, or moving base robots in general. 6-DOF biped robot model simulations are used to confirm the validity. 展开更多
关键词 Biped robot balance recovery control Reaction null space Step strategy
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Application of the Material Balance Method in Paleoelevation Recovery: A Case Study of the Longmen Mountains Foreland Basin on the Eastern Margin of the Tibetan Plateau 被引量:4
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作者 YAN Zhaokun LI Yong +6 位作者 LI Haibing DONG Shunli ZHAO Guohua LI Jingbo LI Fensheng YAN Liang ZHENG Lilong 《Acta Geologica Sinica(English Edition)》 SCIE CAS CSCD 2015年第2期598-609,共12页
We applied the material balance principle of the denudation volume and sedimentary flux to study the denudation-accumulation system between the Longmen Mountains (Mts.) and the foreland basin. The amount of sediment... We applied the material balance principle of the denudation volume and sedimentary flux to study the denudation-accumulation system between the Longmen Mountains (Mts.) and the foreland basin. The amount of sediment in each sedimentation stage of the basin was estimated to obtain the denudation volume, erosion thickness and deposit thickness since the Late Triassic Epoch, to enable us to recover the paleoelevation of the provenance and the sedimentary area. The results show the following: (1) Since the Late Triassic Epoch, the elevation of the surface of the Longmen Mts. has uplifted from 0 m to 2751 m, and the crust of the Longmen Mts. has uplifted by 9.8 km. Approximately 72% of the materials introduced have been denuded from the mountains. (2) It is difficult to recover the paleoelevation of each stage of the Longmen Mts. foreland basin quantitatively by the present-day techniques and data. (3) The formation of the Longmen Mts. foreland basin consisted of three stages of thrust belt tectonic load and three stages of thrust belt erosional unload. During tectonic loading stages (Late Triassic Epoch, Late Jurassic-Early Cretaceous, Late Cretaceous-Miocene), the average elevation of Longmen Mts. was lower (approximately 700-1700 m). During erosional unloading stages (Early and Middle Jurassic, Middle Cretaceous and Jiaguan, Late Cenozoic), the average elevation of Longmen Mts. was high at approximately 2000-2800m. 展开更多
关键词 Longmen Mountains foreland basin material balance method paleoelevation recovery the eastern margin of the Tibetan Plateau
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