Most species of bipeds walk with "bouncing gait" in nature, which plays an important role in their rapid and energy-saving movement. From the perspective of bionics, the "bouncing gait" for an ostr...
详细信息
Most species of bipeds walk with "bouncing gait" in nature, which plays an important role in their rapid and energy-saving movement. From the perspective of bionics, the "bouncing gait" for an ostrich-like one-leg is introduced in this paper, the bouncing characteristics of the leg is analyzed, the effect law of elastic component on the bouncing performance of the one-leg is revealed, and the forms and mechanisms of failure of the elastic component is obtained. This study provides theoretical references for the selection of elastic components in the ostrich-like robot, and gives an optimization scheme for improving its bouncing performance.
Imitation learning is a significant means of human learning,but also the main research field in the mechanism of bionic *** paper focuses on the imitation learning strategies of robot in the framework of probabilistic...
详细信息
ISBN:
(纸本)9781479970186
Imitation learning is a significant means of human learning,but also the main research field in the mechanism of bionic *** paper focuses on the imitation learning strategies of robot in the framework of probabilistic *** teaching data are used as training samples of Gaussian process to acquire demonstration *** neural network is adopted to express imitation control *** imitation trajectory with imitation control strategy which contains unknown parameters is modeled by Gaussian *** divergence is constructed with the probability distribution of demonstration and imitation trajectory,and gradient descent method is used to minimize the KL divergence so as to seek the optimal strategy of *** the imitation task is learned gradually by updating the optimal strategy to imitative *** swing behavior of the articulated robot arm is used as the simulation task of imitation learning,and the result of simulation experiments demonstrates the effectiveness of the robotic control strategy for imitation learning based on KL divergence and RBF neural network.
Service robot, bionic robot and agricultural robot must directly contact with organism, which requires high security and adaptability. Flexible pneumatic actuators and joints can meet this demand. A type of flexible p...
详细信息
ISBN:
(纸本)9781424447749
Service robot, bionic robot and agricultural robot must directly contact with organism, which requires high security and adaptability. Flexible pneumatic actuators and joints can meet this demand. A type of flexible pneumatic rotary joint is proposed in this paper, based on the flexible pneumatic actuator FPA. The rotation movement is realized by inflating and deflating the rotary joint chamber. According to the principle of equilibrium of moments, the static model of rotary joint are established. Impact of the parameters initial angle, average radius and shell thickness on the output angle of rotary joint is simulated with MATLAB. The experimental results are basically consistent with that of simulation, which implies the validity of rotary joint static model.
This paper designs and implements the bionic robot which is as an implementation of soldiers in the strategy game,and the robot has three parts:perception system, target and path system and decision-making *** percept...
详细信息
This paper designs and implements the bionic robot which is as an implementation of soldiers in the strategy game,and the robot has three parts:perception system, target and path system and decision-making *** perception system is responsible for perceiving information inside the scene;the target and path system is to find the best position for attacking and the optimal path for the robot;the decision-making system determines the behavior of the robot in the next *** paper also introduces map information updated in real time in the *** bionic robot system designed has a good expansibility,and soldiers of different arms using this system, the game is running well.
A snake-like robot is a hyper-redundant robot. It has flexible movement ability and high stability with low center of gravity. It is very suitable for environment detection in the rugged road or narrow space. This pap...
详细信息
ISBN:
(纸本)9781509018987
A snake-like robot is a hyper-redundant robot. It has flexible movement ability and high stability with low center of gravity. It is very suitable for environment detection in the rugged road or narrow space. This paper develops a snake-like robot with 10 degrees of freedoms（DOFs）. Its joints are arranged as the structure of "Roll-Pitch-Roll-Pitch-....", where "Roll" and "Pitch" respectively denote a Roll and Pitch joint. Each joint is designed as the same modularized unit, which can be used as a "Roll" or "Pitch" joint. Such design decreases the cost of development and enhances the flexibility of applications. Furthermore, the kinematics equation of this robot is derived and the movement ability is analyzed. Inspired by the biological behavior of a real snake, we plan several typical gaits for the snake-like robot, including peristalsis, rolling and Serpenoid curve gaits. We also develop the embedded controller based on the ARM processor and uc/os-ii real-time operation system. The gait planning algorithms are programmed using C language and realized in the embedded processor. At last, typical cases are experimented. The experiment results show that the developed robot has high mobility and flexibility.
暂无评论