The four-legged bionic robot for agriculture has been one of the hotspots in the field of robotics.The farmland environment is complex,and the balance requirement of quadruped bionic robot is higher.However,head adjus...The four-legged bionic robot for agriculture has been one of the hotspots in the field of robotics.The farmland environment is complex,and the balance requirement of quadruped bionic robot is higher.However,head adjustment is a key factor affecting the balance of quadruped animals.Based on this,this study takes the four-legged animal goat as an example to investigate the effect of goat head movement adjustment on the balance of goat.In this study,the head and neck of goats were simplified to a two-link model.The kinematics model was established by D-H method.MATLAB software was used to solve it.Origin software was used to draw the movement track of the center of mass of the head.The center of mass movement of the head is a quarter ellipse.Then,the goat walking experiments were carried out on the different slopes(0°,5°,10°,15°,20°,25°,30°,35°and 40°).MATLAB software was used to fit the movement data of goat head.The movement of the center of mass of the goat's head corresponds to Fourier 6.The result is:the determination coefficient is 0.8629,and the mean variance is 0.019.When the slope gradient gradually increases,the volatility gradually increases and is cyclical.The results of this study verify the rationality of the four-legged bionic mechanism under various parameters and reveal the mechanism of goat walking with an appendage at the head.展开更多
With the increasing impacts of overfishing and environmental pollution,the deep-sea cage culture of marine fishes has become an important direction of mariculture.In this paper,a tuna-like robotic fish with a three-di...With the increasing impacts of overfishing and environmental pollution,the deep-sea cage culture of marine fishes has become an important direction of mariculture.In this paper,a tuna-like robotic fish with a three-dimensional helix path-following control system is designed for deep-sea net cage inspection.To mimic the flexibility of the fish’s movement,the kinematic model of the robotic fish adopts a tuna-like double-joint design with an addi-tional thruster device at the tail.Since the descending interval control plays a critical role in deep-sea net cage inspection,the control system utilizes the proportion integration differ-entiation(PID)based fuzzy logic control method to control the descending interval and yaw angle during the helix path movement.A polar coordinate path definition method is also proposed to simplify the reference path definition during net cage inspection.The experi-mental results demonstrates that the proposed three-dimensional path-following model can conduct net inspection task in an interferential environment and move along prede-fined reference path.展开更多
基金The authors acknowledge that this research was supported by the National Natural Science Foundation of China(51675163)Foundation for University Young Key Teacher of Henan Province(2017GGJS062)Research and Development Project of Snake-like Robot Technology of Luoyang Power Supply Company of State Grid and the postdoctoral fund of Henan Province(2012086).
文摘The four-legged bionic robot for agriculture has been one of the hotspots in the field of robotics.The farmland environment is complex,and the balance requirement of quadruped bionic robot is higher.However,head adjustment is a key factor affecting the balance of quadruped animals.Based on this,this study takes the four-legged animal goat as an example to investigate the effect of goat head movement adjustment on the balance of goat.In this study,the head and neck of goats were simplified to a two-link model.The kinematics model was established by D-H method.MATLAB software was used to solve it.Origin software was used to draw the movement track of the center of mass of the head.The center of mass movement of the head is a quarter ellipse.Then,the goat walking experiments were carried out on the different slopes(0°,5°,10°,15°,20°,25°,30°,35°and 40°).MATLAB software was used to fit the movement data of goat head.The movement of the center of mass of the goat's head corresponds to Fourier 6.The result is:the determination coefficient is 0.8629,and the mean variance is 0.019.When the slope gradient gradually increases,the volatility gradually increases and is cyclical.The results of this study verify the rationality of the four-legged bionic mechanism under various parameters and reveal the mechanism of goat walking with an appendage at the head.
基金This work is supported by the National Key Research and Development Program of China(Grant No.2019YFD0901000)the Key Technical Cooperation of Coastal Deep-water Probe(Grant No.2015DFA00090).
文摘With the increasing impacts of overfishing and environmental pollution,the deep-sea cage culture of marine fishes has become an important direction of mariculture.In this paper,a tuna-like robotic fish with a three-dimensional helix path-following control system is designed for deep-sea net cage inspection.To mimic the flexibility of the fish’s movement,the kinematic model of the robotic fish adopts a tuna-like double-joint design with an addi-tional thruster device at the tail.Since the descending interval control plays a critical role in deep-sea net cage inspection,the control system utilizes the proportion integration differ-entiation(PID)based fuzzy logic control method to control the descending interval and yaw angle during the helix path movement.A polar coordinate path definition method is also proposed to simplify the reference path definition during net cage inspection.The experi-mental results demonstrates that the proposed three-dimensional path-following model can conduct net inspection task in an interferential environment and move along prede-fined reference path.
