QUADRUPED

作品数：33被引量：79H指数：5
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相关领域：自动化与计算机技术更多>>
相关机构：中国农业大学更多>>
相关期刊：《Chinese Physics Letters》《Chinese Journal of Mechanical Engineering》《International Journal of Plant Engineering and Management》《High Technology Letters》更多>>
相关基金：国家自然科学基金中国博士后科学基金国家高技术研究发展计划安徽省自然科学基金更多>>
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A Distance-Adjustable 3D DNA Scaff old Accelerated Quadruped DNA Walker for the Photoelectrochemical Biosensing of RNA in Phytophthora Infestans
《Journal of Analysis and Testing》2025年第1期71-81,共11页Hui Yang Liying Ge Ziqing Liang Haoran Shen Yingju Liu Kaiyu He Weipeng Liu 
supported by the National Natural Science Foundation of China(32170100,32470085,22274059);Science and Technology Program of Guangzhou(2024A04J5241);Guangdong Basic and Applied Basic Research Foundation(2023A1515012871);Open Fund of Key Laboratory of Information Traceability for Agricultural Products,Ministry of Agriculture and Rural Aff airs(2023KF04)。
Phytophthora infestans,the causative agent of potato late blight,poses a destructive threat to global agricultural production.Herein,a 3D DNA scaff old is elaborately designed as DNA tracks for accelerating the walkin...
关键词：DNA walker Phytophthora infestans PHOTOELECTROCHEMICAL DNA scaffold RNA detection 
A Unified Motion Generation Approach for Quadruped L-S Walk and Trot Gaits Based on Linear Model Predictive Control
《Journal of Bionic Engineering》2024年第4期1707-1719,共13页Yapeng Shi Zhicheng He Xiaokun Leng Songhao Piao Lining Sun 
supported by the National Natural Science Foundation of China(Nos.52305072 and 52122503);Natural Science Foundation of Hebei Province of China(No.E2022203095);University-Industry Collaborative Education Program(No.220603936245709);Cultivation Project for Basic Research and Innovation of Yanshan University(No.2021LGQN004);henzhen Special Fund for Future Industrial Development(No.KJZD20230923114222045).
The goal of this paper is to develop a unified online motion generation scheme for quadruped lateral-sequence walk and trot gaits based on a linear model predictive control formulation.Specifically,the dynamics of the...
关键词：Motion generation Gait pattern conversion Model predictive control Quadruped locomotion 
Design of a novel side-mounted leg mechanism with high flexibility for a multi-mission quadruped earth rover BJTUBOT被引量：2
《Frontiers of Mechanical Engineering》2023年第2期115-142,共28页Yifan WU Sheng GUO Luquan LI Lianzheng NIU Xiao LI 
supported by the National Natural Science Foundation of China(Grant No.52275004).
Earth rover is a class of emerging wheeled-leg robots for nature exploration.At present,few methods for these robots’leg design utilize a side-mounted spatial parallel mechanism.Thus,this paper presents a complete de...
关键词：design synthesis parallel mechanism hybrid leg mechanism screw theory quadruped robot 
Design, Implementation and Control of an Amphibious Spherical Robot被引量：1
《Journal of Bionic Engineering》2022年第6期1736-1757,共22页Liwei Shi Zhongyin Zhang Zhengyu Li Shuxiang Guo Shaowu Pan Pengxiao Bao Lijie Duan 
National Natural Science Foundation of China(61773064,61503028).
We proposed and implemented a leg-vector water-jet actuated spherical robot and an underwater adaptive motion control system so that the proposed robot could perform exploration tasks in complex environments.Our aim w...
关键词：Bionic amphibious spherical robot Inertial measurement unit Quadruped gaits Forgetting factor least squares algorithm Generalized prediction control 
Efficient learning of robust quadruped bounding usingpretrained neural networks被引量：1
《IET Cyber-Systems and Robotics》2022年第4期331-338,共8页Zhicheng Wang Anqiao Li Yixiao Zheng Anhuan Xie Zhibin Li Jun Wu Qiuguo Zhu 
Key Research Project of Zhejiang Lab,Grant/Award Number:2021NB0AL03;Key R&D Program of China,Grant/Award Number:2020YFB1313300。
Bounding is one of the important gaits in quadrupedal locomotion for negotiating obstacles.The authors proposed an effective approach that can learn robust bounding gaits more efficiently despite its large variation i...
关键词：legged locomotion reinforcement learning robot learning 
Multimodal Locomotion and Cargo Transportation of Magnetically Actuated Quadruped Soft Microrobots被引量：6
《Cyborg and Bionic Systems》2022年第1期12-21,共10页Chenyang Huang Zhengyu Lai Xinyu Wu Tiantian Xu 
supported in part by National Key Re search and Development Project under Grant SQ2020YFB130100;in part by the National Natural Science Foundation of China under Grants 62022087 and U22A2064;in part by the Shenzhen Science and Technology Innovation Commission under Shenzhen Fundamental Research Program under Grant JCYJ20220818101611025;in part by the Youth In novation Promotion Association of CAS,in part by the Special Support Project for Outstanding Young Scholars of Guangdong Province under Grant 2019TQ05X933;in part by the CAS-Croucher Funding Scheme for Joint Laboratories under Grant 172644KYSB20200044;the Croucher Foundation Grant with reference no.CAS20403;in part by the Shenzhen Institute of Artificial Intelligence and Robotics for Society,in part by DMETKF2022008;in part by SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems.
Untethered microrobots have attracted extensive attention due to their potential for biomedical applications and micromanipulation at the small scale.Soft microrobots are of great research importance because of their ...
关键词：robot OBSTACLE STEPS 
Biomimetic Quadruped Robot with a Spinal Joint and Optimal Spinal Motion via Reinforcement Learning被引量：4
《Journal of Bionic Engineering》2021年第6期1280-1290,共11页Young Kook Kim Woojin Seol Jihyuk Park 
supported by a 2019 Yeungnam University Research Grant(No.219A580075).
Feline animals can run quickly using spinal joints as well as the joints that make up their four legs.This paper describes the development of a quadruped robot including a spinal joint that biomimics feline animals.Th...
关键词：Quadruped robot system Bioinspired methods Legged robots Machine learning Q-LEARNING 
An Energy Efficient Motion Controller Based on SLCP for the Electrically Actuated Quadruped Robot被引量：4
《Journal of Bionic Engineering》2020年第2期290-302,共13页Tianfa Li Lelai Zhou Yibin Li Hui Chai Kun Yang 
This work was supported in part by the National Natural Science Foundation of China(Grant Nos.61973191 and 61603216);the National Key R&D Program of China(Grant No.2017YFF0107803);in part by the Key R&D Program of Shandong(Grant No.2017CXGC0901);The authors acknowledge the support by the Young Scholars Program of Shandong University(YSPSDU).
Energy efficiency has been the focus of quadruped robot research.Decreasing the energy loss caused by the DC motor can contribute to the walking efficiency of electrically actuated quadruped robots.Most works have foc...
关键词：BIONIC QUADRUPED ROBOTS Stochastic Linear Complementarity Problem sinusoidal pulse force quasi-elliptic TRAJECTORY 
Analysis on Static Pressure Bearing Seal Characteristics of Guide Sleeve of Electro-hydraulic Servo Cylinder
《International Journal of Plant Engineering and Management》2019年第3期140-156,共17页SHAO Junpeng XU Longfei SUN Guitao 
supported by the National 863 Project(2011AA040701)
As a typical bionic walking robot, hydraulic quadruped robot has attracted much attention because of its high mobility, strong load capacity and steady motion. The electro-hydraulic servo cylinder, as its power actuat...
关键词：hydraulic QUADRUPED robot ELECTRO-HYDRAULIC SERVO cylinder static pressure bearing seal guide SLEEVE CHARACTERISTICS of oil film Fluent simulation ANALYSIS 
A Trot and Flying Trot Control Method for Quadruped Robot Based on Optimal Foot Force Distribution被引量：8
《Journal of Bionic Engineering》2019年第4期621-632,共12页Teng Chen Xiaobo Sun Ze Xu Yibin Li Xuewen Rong Lelai Zhou 
This work was supported by the National Key R&D Program of China(Grant No.2017YFC0806505);the National High-tech R&D Program of China(Grant No.2015AA042201);National Natural Science Foundation of China(Grant Nos.U1613223 and 61603216);the Key R&D Program of Shandong(Grant No.2017CXGC0901).
In order to enhance the dynamic motion capability of the bionic quadruped robot,a flying trot gait control method based on full-scale virtual model and optimal plantar force distribution is proposed.A stable flying tr...
关键词：QUADRUPED robot FLYING TROT VIRTUAL model control QUADRATIC optimization 
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