This paper aims to establish the simplest human walking model and provide a guide for controlling biped robots. Firstly, a human motion capture system was utilized to sample the motion data of human walking and a repr...
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ISBN:
(数字)9781728158556
ISBN:
(纸本)9781728158563
This paper aims to establish the simplest human walking model and provide a guide for controlling biped robots. Firstly, a human motion capture system was utilized to sample the motion data of human walking and a representative subject was selected. Secondly, one of the simplest human walking model was set up. The mechanical property analysis of human walking was done based on the established walking model via fitting. Thirdly, the feasibility and effectiveness of proposed walking model were validated by numerical simulations. Finally, the intrinsical relationships among human walking, biped walking model and control were discussed to provide a guide and insight for controlling biped robots.
Iterative methods for solving fixed point problems and pseudomonotone equilibrium problems have been considered. An extragradient algorithm has been presnted for finding a common element of the fixed points of pseudoc...
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Humans rely increasingly on sensors to address grand challenges and to improve quality of life in the era of digitalization and big data. For ubiquitous sensing, flexible sensors are developed to overcome the limitati...
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Humans rely increasingly on sensors to address grand challenges and to improve quality of life in the era of digitalization and big data. For ubiquitous sensing, flexible sensors are developed to overcome the limitations of conventional rigid counterparts. Despite rapid advancement in bench-side research over the last decade, the market adoption of flexible sensors remains limited. To ease and to expedite their deployment, here, we identify bottlenecks hindering the maturation of flexible sensors and propose promising solutions. We first analyze continued...challenges in achieving satisfactory sensing performance for real-world applications and then summarize issues in compatible sensor-biology interfaces, followed by brief discussions on powering and connecting sensor networks. Issues en route to commercialization and for sustainable growth of the sector are also analyzed, highlighting environmental concerns and emphasizing nontechnical issues such as business, regulatory, and ethical considerations. Additionally, we look at future intelligent flexible sensors. In proposing a comprehensive roadmap, we hope to steer research efforts towards common goals and to guide coordinated development strategies from disparate communities. Through such collaborative
Thispaper relates to the field of knowledge management and information retrieval technology, and specifically provides a method for constructing a knowledge graph. The method for constructing the knowledge graph inclu...
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ISBN:
(数字)9781728152448
ISBN:
(纸本)9781728152455
Thispaper relates to the field of knowledge management and information retrieval technology, and specifically provides a method for constructing a knowledge graph. The method for constructing the knowledge graph includes: acquiring triple data, converting the triple data into a normalized triple vector, using the triple vector to construct a knowledge graph based on fuzzy relations, and The minimization objective optimization function of the triple vector is acquired, and the knowledge graph is optimized. This paper reduces the complexity of the knowledge map training process and the time required for the training process.
Having human-like legged structure, biped robots are regarded as the most promising robots that can take the place of human to work in the environments designed for human beings. To this end, it is the premise for bip...
Having human-like legged structure, biped robots are regarded as the most promising robots that can take the place of human to work in the environments designed for human beings. To this end, it is the premise for biped robots to achieve stable walking on uneven ground. This paper presents a control strategy for a biped robot based on spring-loaded inverted pendulum (SLIP) model, which controls the joint torque of the robot by obtaining the errors of length and angular position of virtual spring legs. Additionally, this paper proposes a new control method of adjusting the length of legs to enable the robot to achieve stable walking on unstructured terrains, such as staircases. In the end, the simulation results corroborate the effectiveness of the proposed approaches.
When position-controlled biped robot is blind walking on a uneven terrain at a high speed, huge foot contact impacts will be generated. However, traditional admitance control can't absorb the impact and stabilize ...
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ISBN:
(数字)9781538676301
ISBN:
(纸本)9781538676318
When position-controlled biped robot is blind walking on a uneven terrain at a high speed, huge foot contact impacts will be generated. However, traditional admitance control can't absorb the impact and stabilize the robot due to its slow response and Incompleteness. In this paper, we propose a control strategy including respectively designed swing leg control and support leg control with a new approach of control transition. For Swing leg control, double spring damping model is presented to optimize the admitance controller with faster response and better robustness, and a active foot height controller is also proposed to reduce the impact further. On the other hand, the control transition is accomplished by using a bionic fuzzy control. As a result, the foot contact impact can be reduced and the robot can blind walk fast on uneven terrain. Finally, the validity of the proposed strategy is confirmed by the simulation.
Decreasing conventional power supply is promoting the development of the distributed renewable energy sources, such as solar power and wind power. Recently rooftop photovoltaic has been widely applied, and accordingly...
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A new type of rehabilitation robot that can follow the user side-by-side is designed for aiding the elderly and disabled. The Human Following Rehabilitation Robot (HFRR) consists of a metal armrest, a set of sensors a...
A new type of rehabilitation robot that can follow the user side-by-side is designed for aiding the elderly and disabled. The Human Following Rehabilitation Robot (HFRR) consists of a metal armrest, a set of sensors and a differential mobile base. By predicting the user's speed in the future through the user's current walking speed and the preset path, the problem of human following side-by-side is converted to a problem of keeping a certain lateral distance from the predicted trajectory. Linearizing the tracking error model, the nonholonomic mobile robot (NMR) can maintain a certain lateral distance from the trajectory by using Model Predictive control (MPC) and then follow the user side-by-side. The simulation and experimental results show the proposed controller can obtain good performance in this problem.
Bootstrap aggregating (Bagging) and boosting are two popular ensemble learning approaches, which combine multiple base learners to generate a composite model for more accurate and more reliable performance. They have ...
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Rehabilitation of the grasp function of hands is critical for improving the quality of living for those who suffer from lost or weakened hand abilities due to neuromuscular disease. Current finger rehabilitation devic...
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