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国家重点基础研究发展计划(2013CB035501): 作品数：13被引量：140H指数：9; 导出分析报告; 相关作者：张金柱金振林高峰张哲乔立更多>>; 相关机构：燕山大学上海交通大学更多>>; 相关期刊：《Chinese Journal of Mechanical Engineering》《光学精密工程》《农业工程学报》《中国机械工程》更多>>; 相关主题：SIX六足机器人运动学分析运动学PARALLEL_MECHANISM更多>>; 相关领域：自动化与计算机技术机械工程理学环境科学与工程更多>>

Type Synthesis of Walking Robot Legs被引量：9: 《Chinese Journal of Mechanical Engineering》2018年第1期53-65,共13页Da Xi Feng Gao; Supported by National Natural Science Foundation of China(Grant Nos.U1613208,51335007);National Basic Research Program of China(973 Program,Grant No.2013CB035501);Science Fund for Creative Research Groups of the National Natural Science Foundation of China(Grant No.51421092);Science and Technology Commission of Shanghai-based "Innovation Action Plan" Project(Grant No.16DZ1201001); Walking robots use leg structures to overcome obstacles or move on complicated terrains. Most robots of current researches are equipped with legs of simple structure. The specific design method of walking robot legs i...; 关键词：Type synthesis Robot leg GF set Number synthesis Linear Diophantine equation

并联驱动机械腿运动学静力学性能评价及几何参数设计被引量：10: 《农业工程学报》2017年第21期61-69,共9页张金柱金振林张天浩; 国家重点基础研究发展计划(973计划)资助项目(2013CB035501);机械系统与振动国家重点实验室课题资助项目(MSV201506);河北省研究生创新资助项目(2016SJBS011); 为了拓展农业机器人的作业场合,该文对一种三自由度六足腿式机器人并联驱动机械腿机构进行了运动学静力学性能评价及几何参数优选。首先,求解了足端线速度和角速度之间的耦合关联矩阵,定义了该腿部机构的运动学性能评价指标,绘制了该指...; 关键词：机器人运动学静力学分析并联驱动腿性能评价参数设计

Novel Door-opening Method for Six-legged Robots Based on Only Force Sensing被引量：6: 《Chinese Journal of Mechanical Engineering》2017年第5期1227-1238,共12页Zhi-Jun Chen Feng Gao Yang Pan; Supported by National Natural Science Foundation of China(Grant Nos.U1613208,51335007);National Basic Research Program of China(973 Program,Grant No.2013CB035501);Science Fund for Creative Research Groups of the National Natural Science Foundation of China(Grant No.51421092);Science and Technology Commission of Shanghai-based ‘‘Innovation Action Plan’’ Project(Grant No.16DZ1201001); Current door-opening methods are mainly developed on tracked, wheeled and biped robots by applying multi-DOF manipulators and vision systems. However, door-opening methods for six-legged robots are seldom studied, esp...; 关键词：Door-opening·Six-legged robots· Forcesensing · O-DOF tool

Energy Expenditure of Trotting Gait Under Different Gait Parameters被引量：3: 《Chinese Journal of Mechanical Engineering》2017年第4期943-950,共8页Xian-Bao Chen Feng Gao; Supported by National Basic Research Program of China(973Program,Grant No.2013CB035501); Robots driven by batteries are clean, quiet, and can work indoors or in space. However, the battery endurance is a great problem. A new gait parameter design energy saving strategy to extend the working hours of the q...; 关键词：Quadruped robot Energy expenditure GAIT Bezier curve

空间对接半物理仿真噪声处理研究被引量：1: 《机械设计与研究》2017年第4期33-35,40,共4页乔立赵现朝齐臣坤高峰; 国家自然科学基金资助项目(51675328;61004047);国家973计划课题(2013CB035501); 为了解决空间对接半物理仿真过程中,力传感器噪声对碰撞试验的影响,在研究半物理仿真模型和力传感器噪声统计学特性的基础上,提出了一种力传感器噪声的处理方法。对半物理仿真过程中,对接机构接触和未接触两种状态,噪声处理方法对试验...; 关键词：空间对接半物理仿真噪声处理

六足机器人整机运动学分析及构型选择被引量：17: 《光学精密工程》2017年第7期1832-1842,共11页张金柱金振林张哲; 国家重点基础研究发展计划(973计划)资助项目(No.2013CB035501);机械系统与振动国家重点实验室课题资助项目(No.MSV201506);河北省高等学校科学技术研究项目(No.QN2015185);河北省研究生创新资助项目(No.2016SJBS011); 六足机器人整机构型设计和整机运动学模型是机器人样机研制和行为控制的基础。利用GF集理论阐明了六足机器人整机构型设计的实质即为解决机械腿在机身平台上的布局问题,并基于仿生学原理给出了5种整机构型。介绍了一种三自由度并联驱动...; 关键词：六足机器人整机构型运动学模型运动学性能

Obstacle avoidance for a hexapod robot in unknown environment被引量：7: 《Science China(Technological Sciences)》2017年第6期818-831,共14页CHAI Xun GAO Feng QI ChenKun PAN Yang XU YiLin ZHAO Yue; supported by the National Basic Research Program of China (Grant No. 2013CB035501); Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait gener...; 关键词：obstacle avoidance hexapod robot terrain map building path planning motion planning

Optimal Design of a 3-Leg 6-DOF Parallel Manipulator for a Specific Workspace被引量：15: 《Chinese Journal of Mechanical Engineering》2016年第4期659-668,共10页FU Jianxun GAO Feng; Supported by National Basic Research Program of China(973 Program,Grant No.2013CB035501); Researchers seldom study optimum design of a six-degree-of-freedom（DOF） parallel manipulator with three legs based upon the given workspace.An optimal design method of a novel three-leg six-DOF parallel manipulator...; 关键词：parallel robot optimal design workspace three legs

Method for Six-Legged Robot Stepping on Obstacles by Indirect Force Estimation被引量：16: 《Chinese Journal of Mechanical Engineering》2016年第4期669-679,共11页XU Yilin GAO Feng PAN Yang CHAI Xun; Supported by National Basic Research Program of China(973 Program,Grant No.2013CB035501);Research Fund of the State Key Lab of MSV of China(Grant No.MSV201208); Adaptive gaits for legged robots often requires force sensors installed on foot-tips,however impact,temperature or humidity can affect or even damage those sensors.Efforts have been made to realize indirect force esti...; 关键词：robot parallel mechanism force estimation obstacle

Human-Tracking Strategies for a Six-legged Rescue Robot Based on Distance and View被引量：18: 《Chinese Journal of Mechanical Engineering》2016年第2期219-230,共12页PAN Yang GAO Feng QI Chenkun CHAI Xun; Supported by National Basic Research Program of China(973 Program,Grant No.2013CB035501); Human tracking is an important issue for intelligent robotic control and can be used in many scenarios, such as robotic services and human-robot cooperation. Most of current human-tracking methods are targeted for mob...; 关键词：human-tracking legged robot intelligent control algorithm

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