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A New Method of Desired Gait Synthesis for Biped Walking Robot Based on Ground Reaction Force
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作者 张永学 《High Technology Letters》 EI CAS 2000年第4期33-38,共6页
A new method of desired gait synthesis for biped walking robot based on the ground reaction force was proposed. The relation between the ground reaction force and joint motion is derived using the D’Almbert principle... A new method of desired gait synthesis for biped walking robot based on the ground reaction force was proposed. The relation between the ground reaction force and joint motion is derived using the D’Almbert principle. In view of dynamic walking with high stability, the ZMP(Zero Moment Point)stability criterion must be considered in the desired gait synthesis. After that, the joint trajectories of biped walking robot are decided by substituting the ground reaction force into the aforesaid relation based on the ZMP criterion. The trajectory of desired ZMP is determined by a fuzzy logic based upon the body posture of biped walking robot. The proposed scheme is simulated and experimented on a 10 degree of freedom biped walking robot. The results indicate that the proposed method is feasible. 展开更多
关键词 BIPED walking robot DESIRED gait SYNTHESIS ZMP Ground reaction force Fuzzy logic
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Adjustable Mechanism for Walking Robots with Minimum Number of Actuators 被引量:4
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作者 GUHA Anirban AMARNATH C 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2011年第5期760-766,共7页
Recent literature on walking robots deals predominantly with multi-degrees-of-freedom leg mechanisms and machines capable of adopting several gaits.This paper explores the other end of the spectrum suggesting mechanis... Recent literature on walking robots deals predominantly with multi-degrees-of-freedom leg mechanisms and machines capable of adopting several gaits.This paper explores the other end of the spectrum suggesting mechanisms derived from a four bar coupler curve for a one degree of freedom walking robot.Simulation of the walk indicates that body of the robot is able to move with low variation in velocity.The best strategy for changing the gait to enable the robot to walk over obstacles and the effect of change in length of different links are explored to open up the possibility of a two degree of freedom walking robot with the capability of changing its gait,suitable as a low cost unit for several applications.Such rugged units would permit the use of an IC engine as the primary source of power and could be of utility in installations where electronics may not be functional.In simple walking machines the foot of a leg is usually required to trace a D shaped curve with respect to the chassis.In this paper we begin with a Hoecken mechanism capable of tracing such a curve.The foot is required to move parallel to itself and the same could be achieved using a six or eight link mechanism.A few such devices have been synthesized in this paper and their motion properties compared.The study also covers the possibility of providing adjustments to vary the step length and height of the foot's movement. 展开更多
关键词 walking robot degree of freedom coupler curve gait
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Coordinated control strategy for robotic-assisted gait training with partial body weight support 被引量:6
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作者 秦涛 张立勋 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第8期2954-2962,共9页
Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) w... Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) was designed followed the end-effector principle, and an active partial body weight support(PBWS) system was introduced to facilitate successful gait training. For successful establishment of a walking gait on the GTR with PBWS, the motion laws of the GTR were planned to enable the phase distribution relationships of the cycle step, and the center of gravity(COG) trajectory of the human body during gait training on the GTR was measured. A coordinated control strategy was proposed based on the impedance control principle. A robotic prototype was developed as a platform for evaluating the design concepts and control strategies. Preliminary gait training with a healthy subject was implemented by the robotic-assisted gait training system and the experimental results are encouraging. 展开更多
关键词 robotic-assisted gait training gait training robot (GTR) partial body weight support (PBWS) center of gravity (COG) coordinated control strategy ground reaction force (GRF)
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DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking 被引量:2
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作者 Hongfei Wang Shimeng Li Yuan F.Zheng 《Engineering》 SCIE EI 2015年第1期36-45,共10页
In this paper, we briefly introduce the history of the Defense Advanced Research Projects Agency(DARPA) Grand Challenge programs with particular focus on the 2012 Robotics Challenge. As members of team DRC-HUBO, we pr... In this paper, we briefly introduce the history of the Defense Advanced Research Projects Agency(DARPA) Grand Challenge programs with particular focus on the 2012 Robotics Challenge. As members of team DRC-HUBO, we propose different approaches for the Rough-Terrain task, such as enlarged foot pedals and a transformation into quadruped walking. We also introduce a new gait for humanoid robot locomotion to improve stability performance, called the Ski-Type gait. We analyze the stability performance of this gait and use the stability margin to choose between two candidate step sequences, Crawl-1 and Crawl-2. Next, we perform a force/torque analysis for the redundant closedchain system in the Ski-Type gait, and determine the joint torques by minimizing the total energy consumption. Based on the stability and force/torque analysis, we design a cane length to support a feasible and stable Crawl-2 gait on the HUBO2 humanoid robot platform. Finally, we compare our experimental results with biped walking to validate the SkiType gait. We also present our team performance in the trials of the Robotics Challenge. 展开更多
关键词 humanoid robot DARPA robotics challenge(DRC) rough-terrain walking Ski-Type gait
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Clock-turning gait synthesis for humanoid robots 被引量:1
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作者 Zhe TANG Zengqi SUN +1 位作者 Hongbo LIU Meng Joo ER 《控制理论与应用(英文版)》 EI 2007年第1期23-27,共5页
Turning gait is a basic motion for humanoid robots. This paper presents a method for humanoid tuming, i.e. clock-turning. The objective of clock-turning is to change robot direction at a stationary spot. The clock-tur... Turning gait is a basic motion for humanoid robots. This paper presents a method for humanoid tuming, i.e. clock-turning. The objective of clock-turning is to change robot direction at a stationary spot. The clock-turning planning consists of four steps: ankle trajectory generation, hip trajectory generation, knee trajectory generation, and inverse kinematics calculation. Our proposed method is based on a typical humanoid structure with 12 DOFs (degrees of freedom). The final output of clock-turning planning is 12 reference trajectories, which are used to control a humanoid robot with 12 DOFs. ZMP (zero moment point) is used as stability criterion for the planning. Simulation experiments are conducted to verify the effectiveness of our proposed clock-turuing method. 展开更多
关键词 Humanoid robots turning gait ZMP Clock-turning
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Gait simulation of new robot for human walking on sand 被引量:1
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作者 张立勋 王令军 +1 位作者 王凤良 王克宽 《Journal of Central South University》 SCIE EI CAS 2009年第6期971-975,共5页
In order to simulate the gait of human walking on different terrains a new robot with six degrees of freedom was proposed. Based on sand bearing characteristic compliance control was introduced to control system in ho... In order to simulate the gait of human walking on different terrains a new robot with six degrees of freedom was proposed. Based on sand bearing characteristic compliance control was introduced to control system in horizontal and vertical movement directions at the end of the robot,and position control in attitude. With Matlab/Simulink toolbox,the system control models were established,and the bearing characteristics of rigid ground,hard sand,soft sand and softer sand were simulated. The results show that 0,0.62,0.89 and 1.12 mm are the maximal subsidences of the four kinds of ground along the positive direction of x-axis,respectively,and 0,-0.96,-1.99 and -3.00 mm are the maximal subsidences along the negative direction of x-axis,respectively. Every subsidence along y-axis is negative,and 0,-4.12,-8.23 and -12.01 mm are the maximal subsidences of the four kinds of ground,respectively. Simulation results show that the subsidence of footboard points to inferior anterior in early stage of stand phase,while points to posterior aspect in late stage. The subsidence tends to point to posterior aspect in the whole. These results are basically consistent with the gait characteristics of human walking on sand. Gait simulation of the robot for human walking on sand is achieved. 展开更多
关键词 robot gait simulation sand bearing characteristic compliance control
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Gait planning and intelligent control for a quadruped robot
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作者 Baoping WANG Renxi HU +1 位作者 Xiaodong ZHANG Chuangfeng HUAI 《控制理论与应用(英文版)》 EI 2009年第2期207-211,共5页
We present a method for designing free gaits for a structurally symmetrical quadruped robot capable of performing statically stable, omnidirectional walking on irregular terrain. The robot's virtual model is construc... We present a method for designing free gaits for a structurally symmetrical quadruped robot capable of performing statically stable, omnidirectional walking on irregular terrain. The robot's virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. The deliberative-based controller can generate flexible sequences of leg transferences while maintaining walking speed, and choose optimum foothold for moving leg based on integration data of exteroceptive terrain profile. Simulation results are presented to show the gait's efficiency and system's stability in adapting to an uncertain terrain. 展开更多
关键词 Structural symmetry Quadruped robot gait planning Intelligent control Virtual model
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Study on Gait Planning of Dynamic Walking of Biped Robots Based on Optimization Theory
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作者 谭冠政 《High Technology Letters》 EI CAS 1997年第1期22-25,共4页
In this paper, two important problems in the gait planning of dynamic walking of biped robot, i.e., finding inverse kinematic solution and constructing joint trajectories, are studied in detail by adopting complex opt... In this paper, two important problems in the gait planning of dynamic walking of biped robot, i.e., finding inverse kinematic solution and constructing joint trajectories, are studied in detail by adopting complex optimization theory. The optimization algorithm for finding the inverse kinematic solution is developed, the construction method of joint trajectories is given, and the gait planning method of dynamic walking of biped robots is proposed. 展开更多
关键词 Biped robot Dynamic walking gait planning Complex optimization theory
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Planning on Bionic Walking Gait of Quadruped Robot over Rough Terrain
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作者 LI Jun MIAO Xin-cong LIU An 《International Journal of Plant Engineering and Management》 2013年第1期20-29,共10页
A quadruped robot is more adjustable to a complex terrain than a wheeled or caterpillar robot to realize the continuous adjustable motions characterized by submissiveness and low energy consumption in basic control of... A quadruped robot is more adjustable to a complex terrain than a wheeled or caterpillar robot to realize the continuous adjustable motions characterized by submissiveness and low energy consumption in basic control of the quadruped robot over rough terrain. This paper presents a static walking mode of "altitude hold", which means to keep absolute altitude by controlling limbs adjustably on the basis of which biokinetics studies have shown that quadrupeds can move with almost the same body altitude over rough terrains characterized by a nearly horizontal relief. The gait design specifies several characteristic states of stance phase and swing phase for a quadruped robot and controls the phase sequence and phase of four legs through change of characteristic states. Furthermore, we design a robot control system to generate adjustable gaits and control the coordinative movement of robot joints. This planning method is tested through ADAMS and MATLAB interactive co-simulation; the quadruped robot which has 8 degrees of freedom (8-DOF) is used to simulate the motion over a terrain character- ized by randomly arranged humps. The results show that this method can make the quadruped robot capable to walk over certain rough terrain. 展开更多
关键词 quadruped robot walking gait rough terrain BIONIC
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Dynamically Adapt to Uneven Terrain Walking Control for Humanoid Robot 被引量:2
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作者 WEI Hui SHUAI Mei WANG Zhongyu 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2012年第2期214-222,共9页
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
关键词 humanoid robots landing control online gait generation uneven terrain
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Effectiveness of the A3 robot on lower extremity motor function in stroke patients:A prospective,randomized controlled trial
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作者 Lin-Jian Zhang Xin Wen +4 位作者 Yang Peng Wei Hu Hui Liao Zi-Cai Liu Hui-Yu Liu 《World Journal of Clinical Cases》 SCIE 2024年第24期5523-5533,共11页
BACKGROUND The results of existing lower extremity robotics studies are conflicting,and few relevant clinical trials have examined short-term efficacy.In addition,most of the outcome indicators in existing studies are... BACKGROUND The results of existing lower extremity robotics studies are conflicting,and few relevant clinical trials have examined short-term efficacy.In addition,most of the outcome indicators in existing studies are scales,which are not objective enough.We used the combination of objective instrument measurement and scale to explore the short-term efficacy of the lower limb A3 robot,to provide a clinical reference.AIM To investigate the improvement of lower limb walking ability and balance in stroke treated by A3 lower limb robot.METHODS Sixty stroke patients were recruited prospectively in a hospital and randomized into the A3 group and the control group.They received 30 min of A3 robotics training and 30 min of floor walking training in addition to 30 min of regular rehabilitation training.The training was performed five times a week,once a day,for 2 wk.The t-test or non-parametric test was used to compare the threedimensional gait parameters and balance between the two groups before and after treatment.RESULTS The scores of basic activities of daily living,Stroke-Specific Quality of Life Scale,FM balance meter,Fugl-Meyer Assessment scores,Rivermead Mobility Index,Stride speed,Stride length,and Time Up and Go test in the two groups were significantly better than before treatment(19.29±12.15 vs 3.52±4.34;22.57±17.99 vs 4.07±2.51;1.21±0.83 vs 0.18±0.40;3.50±3.80 vs 0.96±2.08;2.07±1.21 vs 0.41±0.57;0.89±0.63 vs 0.11±0.32;12.38±9.00 vs 2.80±3.43;18.84±11.24 vs 3.80±10.83;45.12±69.41 vs 8.41±10.20;29.45±16.62 vs 8.68±10.74;P<0.05).All outcome indicators were significantly better in the A3 group than in the control group,except the area of the balance parameter.CONCLUSION For the short-term treatment of patients with subacute stroke,the addition of A3 robotic walking training to conventional physiotherapy appears to be more effective than the addition of ground-based walking training. 展开更多
关键词 STROKE robotics gait robot-assisted gait training Neurological rehabilitation walking training
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Static Force Analysis of Foot of Electrically Driven Heavy-Duty Six-Legged Robot under Tripod Gait 被引量:1
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作者 Zhen Liu Hong-Chao Zhuang +2 位作者 Hai-Bo Gao Zong-Quan Deng Liang Ding 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2018年第4期58-72,共15页
The electrically driven six-legged robot with high carrying capacity is an indispensable equipment for planetary exploration, but it hinders its practicability because of its low efficiency of carrying energy. Meanwhi... The electrically driven six-legged robot with high carrying capacity is an indispensable equipment for planetary exploration, but it hinders its practicability because of its low efficiency of carrying energy. Meanwhile, its load capacity also affects its application range. To reduce the power consumption, increase the load to mass ratio, and improve the stability of robot, the relationship between the walking modes and the forces of feet under the tripod gait are researched for an electrically driven heavy-duty six-legged robot. Based on the configuration characteristics of electrically driven heavy-duty six-legged, the typical walking modes of robot are analyzed. The mathematical models of the normal forces of feet are respectively established under the tripod gait of typical walking modes. According to the MATLAB software, the variable tendency charts are respectively gained for the normal forces of feet. The walking experiments under the typical tripod gaits are implemented for the prototype of electrically driven heavy-duty six-legged robot. The variable tendencies of maximum normal forces of feet are acquired. The comparison results show that the theoretical and experimental data are in the same trend. The walking modes which are most available to realize the average force of distribution of each foot are confirmed. The proposed method of analyzing the relationship between the walking modes and the forces of feet can quickly determine the optimal walking mode and gait parameters under the average distribution of foot force, which is propitious to develop the excellent heavy-duty multi-legged robots with the lower power consumption, larger load to mass ratio, and higher stability. 展开更多
关键词 Electrically driven Heavy-duty six-legged robot Tripod gait Force of foot walking mode
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Free gait generation method for omnidirectional locomotion on abrupt terrain with multi-legged biomimetic robot 被引量:1
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作者 陈甫 赵杰 +1 位作者 臧希喆 闫继宏 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2011年第2期101-106,共6页
In order to achieve omnidirectional locomotion on rough terrain with multi-legged biomimetic robot,a free gait generation approach is proposed based on local rules.The phase coordinates of each operation leg was estab... In order to achieve omnidirectional locomotion on rough terrain with multi-legged biomimetic robot,a free gait generation approach is proposed based on local rules.The phase coordinates of each operation leg was established according to the motion task and a universal depiction of leg-end locomotion was implemented;the mathematical relation of gait pattern and walking velocity of multi-legged robot was put forward;combined polynomial curve was adopted to generate the leg-end trajectory,which was capable of accomplishing walking missions and accommodating to landform conditions;a distributed network of local rules for gait control was constructed based on a set of local rules operating between adjacent legs.In the simulation experiments,adaptive regulation of inter-leg phase sequence,omnidirectional locomotion and ground accommodation were realized.Moreover,statically stable free gait was obtained simultaneously,which provided multi-legged robot with the capability of walking on irregular terrain reliably and expeditiously. 展开更多
关键词 multi-legged robot rough terrain walking free gait local rules inter-leg phase sequence
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Walking Stability Control Method for Biped Robot on Uneven Ground Based on Deep Q-Network
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作者 Baoling Han Yuting Zhao Qingsheng Luo 《Journal of Beijing Institute of Technology》 EI CAS 2019年第3期598-605,共8页
A gait control method for a biped robot based on the deep Q-network (DQN) algorithm is proposed to enhance the stability of walking on uneven ground. This control strategy is an intelligent learning method of posture ... A gait control method for a biped robot based on the deep Q-network (DQN) algorithm is proposed to enhance the stability of walking on uneven ground. This control strategy is an intelligent learning method of posture adjustment. A robot is taken as an agent and trained to walk steadily on an uneven surface with obstacles, using a simple reward function based on forward progress. The reward-punishment (RP) mechanism of the DQN algorithm is established after obtaining the offline gait which was generated in advance foot trajectory planning. Instead of implementing a complex dynamic model, the proposed method enables the biped robot to learn to adjust its posture on the uneven ground and ensures walking stability. The performance and effectiveness of the proposed algorithm was validated in the V-REP simulation environment. The results demonstrate that the biped robot's lateral tile angle is less than 3° after implementing the proposed method and the walking stability is obviously improved. 展开更多
关键词 DEEP Q-network (DQN) BIPED robot uneven ground walking STABILITY gait control
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The HITCR-I:Evaluation on a free gait generation method for the hexapod robot on irregular terrain
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作者 张赫 Zhao Jie +1 位作者 Liu Yubin Chen Fu 《High Technology Letters》 EI CAS 2013年第4期406-412,共7页
The purpose of this paper is to present and evaluate a method of free gait generation for HITCRI,a hexapod walking robot.The HITCR-I is designed as a modularized structure of legs that is based upon a four-bar linkage... The purpose of this paper is to present and evaluate a method of free gait generation for HITCRI,a hexapod walking robot.The HITCR-I is designed as a modularized structure of legs that is based upon a four-bar linkage mechanism and with force sensors in the tip of legs,distributed hardware structure and a modular software structure of the control system.Based on a set of local rules between adjacent legs,finite state machine(FSM) model is built to control the coordination of legs.An automatic smooth transition of gait pattern is achieved through deriving the mathematical relation between gait pattern and locomotion parameters.The disordered inter-leg phase sequence is adjusted to a regular state smoothly and quickly by the local rules based FSM,and the gait pattern can transform automatically adapting to irregular terrain.The experiment on HITCR-I has demonstrated that it can walk through irregular terrain reliably and expeditiously with the free gait controller designed in this paper. 展开更多
关键词 robotICS hexapod robot irregular terrain walking tree gait gait pattern transition
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Stable walking of quadruped robot on unknown rough terrain 被引量:1
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作者 何玉东 王军政 +1 位作者 柯贤锋 汪首坤 《Journal of Beijing Institute of Technology》 EI CAS 2016年第4期463-472,共10页
Quadruped robot is considered to be the most practical locomotion machine to negotiate uneven terrain, and shows superb stability during static walking. To improve the ability to go over rough terrain, this paper is f... Quadruped robot is considered to be the most practical locomotion machine to negotiate uneven terrain, and shows superb stability during static walking. To improve the ability to go over rough terrain, this paper is focused on the stable walking and balance control of quadruped robots. 24 kinds of walking gaits are analyzed in order to derive the most stable and smoothest walking gait. Considering the inefficiency to model a terrain by its specified appearance, a uniform terrain model is established and by means of kinematic analysis, a method to adjust the body posture and center of gravity (COG) height is presented. Simulations demonstrate the effectiveness of the proposed meth- od and the improvement of the adaptation of quadruped robots on rough terrain. 展开更多
关键词 quadruped robot unknown rough terrain walking gait body posture body center ofgravity (COG)
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A control structure for the autonomous locomotion on rough terrain with a hexapod robot
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作者 Chen Fu Zang Xizhe Yan Jihong Zhao Jie 《High Technology Letters》 EI CAS 2010年第3期311-317,共7页
A motion control structure used for autonomous walking on uneven terrain with a hexapod biomimetic robot is proposed based on function-behavior-integration. In the gait planning level, a set of local rules operating b... A motion control structure used for autonomous walking on uneven terrain with a hexapod biomimetic robot is proposed based on function-behavior-integration. In the gait planning level, a set of local rules operating between adjacent legs were put forward and the theory of finite state machine was employed to model them; further, a distributed network of local rules was constructed to adaptively adjust the fluctuation of inter-leg phase sequence. While in the leg-end trajectory planning level, combined polynomial curve was adopted to generate foot trajectory, which could realize real-time control of robot posture and accommodation to terrain conditions. In the simulation experiments, adaptive regulation of inter-leg phase sequence, omnidirectional locomotion and ground accommodation were realized, moreover, statically stable free gait was obtained simultaneously, which provided hexapod robot with the capability of walking on slightly irregular terrain reliably and expeditiously. 展开更多
关键词 hexapod robot rough terrain walking motion planning free gait leg-end trajectory planning
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康复机器人训练脑性瘫痪患者:改善下肢运动功能效果的Meta分析
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作者 刘兴朝 胡通 +4 位作者 马艳 王倩 魏晓辉 常万鹏 于少泓 《中国组织工程研究》 CAS 北大核心 2025年第18期3925-3933,共9页
目的:系统评价康复机器人治疗脑性瘫痪患者下肢运动功能的临床效果,并比较不同机器人的疗效差异。方法:检索PubMed、Web of Science、Embase、Cochrane Library、中国知网、中国生物医学文献数据库、维普和万方数据库,搜集从建库至2024-... 目的:系统评价康复机器人治疗脑性瘫痪患者下肢运动功能的临床效果,并比较不同机器人的疗效差异。方法:检索PubMed、Web of Science、Embase、Cochrane Library、中国知网、中国生物医学文献数据库、维普和万方数据库,搜集从建库至2024-04-10发表的关于康复机器人治疗脑性瘫痪患者运动功能障碍的随机对照试验。主要结局指标包括肌肉力量,肌张力、平衡功能、步速、步频、步长、步行耐力、下肢运动功能、日常生活活动能力。根据《国际功能、残疾和健康分类》对上述指标进行编码,通过Meta分析评价临床疗效并比较不同机器人的疗效差异。由2名研究人员进行文献检索与筛选,使用Cochrane 5.1.0偏倚风险评估工具对纳入文献进行质量评价。采用RevMan 5.4软件和Stata 16.0软件进行Meta分析。结果:①最终纳入15篇文献,共512例患者,试验组260例、对照组252例。②Meta分析结果显示,与常规康复疗法相比,康复机器人可以提高身体结构和功能(SMD=0.41,95%CI:0.24-0.58,P<0.05)、活动(SMD=0.53,95%CI:0.41-0.65,P<0.05)和参与能力(MD=7.86,95%CI:1.54-14.18,P<0.05)。其中,康复机器人可以改善脑性瘫痪患者下肢肌力、平衡功能、步速、步行耐力、下肢粗大运动功能和日常生活活动能力,但对步频、步长和肌张力的效果不明显。③网状Meta分析结果显示,步速:Innowalkpro>Gait trainer>Lokomat>3DCalt;6MWT评分:Gait trainer>Lokomat>Lokohelp>Innowalkro;GMFM-88D区评分:Lokohelp>Lokomat>KidGo>Innowalkpro>3DCalt;GMFM-88E区评分:Lokomat>Lokohelp>KidGo>3DCalt>Innowalkpro。结论:基于《国际功能、残疾和健康分类》,康复机器人训练可以改善脑性瘫痪患者下肢运动功能和日常生活活动能力。在改善步速方面,Innowalkpro机器人效果更优;在改善6MWT评分方面,Gait trainer机器人效果更优;在改善GMFM-D区评分方面,Lokohelp机器人效果更优;在改善GMFM-E区评分方面,Lokomat机器人效果更优。 展开更多
关键词 脑性瘫痪 康复机器人 下肢运动功能 步行 步态 日常生活活动 系统评价 网状Meta分析 工程化康复
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Control of a Quadruped Robot with Bionic Springy Legs in Trotting Gait 被引量:30
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作者 Mantian Li Zhenyu Jiang +2 位作者 Pengfei Wang Lining Sun Shuzhi Sam Ge 《Journal of Bionic Engineering》 SCIE EI CSCD 2014年第2期188-198,共11页
Legged robots have better performance on discontinuous terrain than that of wheeled robots. However, the dynamic trotting and balance control of a quadruped robot is still a challenging problem, especially when the ro... Legged robots have better performance on discontinuous terrain than that of wheeled robots. However, the dynamic trotting and balance control of a quadruped robot is still a challenging problem, especially when the robot has multi-joint legs. This paper presents a three-dimensional model of a quadruped robot which has 6 Degrees of Freedom (DOF) on torso and 5 DOF on each leg. On the basis of the Spring-Loaded Inverted Pendulum (SLIP) model, body control algorithm is discussed in the first place to figure out how legs work in 3D trotting. Then, motivated by the principle of joint function separation and introducing certain biological characteristics, two joint coordination approaches are developed to produce the trot and provide balance. The robot reaches the highest speed of 2.0 m.s-1, and keeps balance under 250 Kg.m.s-1 lateral disturbance in the simulations. The effectiveness of these approaches is also verified on a prototype robot which runs to 0.83 m.s-1 on the treadmill, The simulations and experiments show that legged robots have good biological properties, such as the ground reaction force, and spring-like leg behavior. 展开更多
关键词 legged robots locomotion control quadruped robot trotting gait
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Control of a Cheetah Robot in Passive Bounding Gait 被引量:3
20
作者 Hua Nie Ronglei Sun +2 位作者 Liya Hu Zhendong Su Wenqiang Hu 《Journal of Bionic Engineering》 SCIE EI CSCD 2016年第2期283-291,共9页
Passive dynamics is always one of research emphases of the legged robots. Studies have proved that cheetah robot could achieve stably passive bounding motion under proper initial conditions in the ideal case. However,... Passive dynamics is always one of research emphases of the legged robots. Studies have proved that cheetah robot could achieve stably passive bounding motion under proper initial conditions in the ideal case. However, the actual robot must have energy dissipation because of friction and collision compared with the theoretical model. This paper aims to propose a control method that can drive the cheetah robot running in passive bounding gait. First, a sagittal-plane model with a rigid torso and two compliant legs is introduced to capture the dynamics of robot bounding. Numerical return map studies of the bounding model reveal that there exists a large variety of passively cyclic bounding motions (fixed points). Based on the distribution law of fixed points, an open-loop control method including touchdown angle control strategy and leg length control strategy is put forward. At last, prototype of the cheetah robot is designed and manufactured, and locomotion experiment are carried out. The experiment results show that the cheetah robot can achieve a stable bounding motion at different speeds with the proposed control method. 展开更多
关键词 cheetah robot passive dynamics control bounding gait
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