检索结果-内蒙古大学图书馆

A Three-Step Optimization Framework With Hybrid Models for a Humanoid Robot’s Jump Motion

IEEE Transactions on Automation Science and Engineering 2025年 22卷 14120-14132页

作者： Qi, Haoxiang Yu, Zhangguo Chen, Xuechao Li, Qingqing Liu, Yaliang Yi, Chuanku Dong, Chencheng Meng, Fei Huang, Qiang Beijing Institute of Technology Intelligent Robotics Institute School of Mechatronical Engineering Beijing100081 China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing100081 China National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing100081 China Qiyuan Laboratory Beijing100029 China

关键词： Anthropomorphic robots

来源：评论

学校读者我要写书评

暂无评论

Mechanical Properties Inside Origami-Inspired Structures: An Overview

引用

Applied Mechanics Reviews 2025年第1期77卷 011001页

作者： Yan, Peng Huang, Hailin Meloni, Marco Li, Bing Cai, Jianguo Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China Harbin Institute of Technology Shenzhen518052 China Key Laboratory of C & PC Structures of Ministry of Education National Prestress Engineering Research Center Southeast University Nanjing211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China Key University Laboratory of Mechanism Machine Theory and Intelligent Unmanned Systems of Guangdong Habin Institute of Technology Shenzhen518052 China

In recent decades, origami has transitioned from a traditional art form into a systematic field of scientific inquiry, characterized by attributes such as high foldability, lightweight frameworks, diverse deformation modes, and limited degrees-of-freedom. Despite the abundant literature on smart materials, actuation methods, design principles, and manufacturing techniques, comprehensive reviews focusing on the mechanical properties of origami-inspired structures are relatively rare and unsystematic. This review aims to fill this void by analyzing and summarizing the significant studies conducted on the mechanical properties of origami-inspired structures from 2013 to 2023. We begin with an overview that includes essential definitions of origami, classical origami patterns, and their associated tessellated or stacked structures. Following this, we delve into the principal dynamic modeling method for origami and conduct an in-depth analysis of the key mechanical properties of origami-inspired structures. These properties include tunable stiffness, bistability and multistability, metamechanical properties demonstrated by origami-based metamaterials, and bio-inspired mechanical properties. Finally, we conclude with a comprehensive summary that discusses the current challenges and future directions in the field of origami-inspired structures. Our review provides a thorough synthesis of both the mechanical properties and practical applications of origami-inspired structures, aiming to serve as a reference and stimulate further research. © 2025 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Degrees of freedom (mechanics)

来源：评论

学校读者我要写书评

暂无评论

FWAF-VID: A Flapping-Wing Aggressive Flight Benchmark Dataset for Visual-Inertial Localization

引用

IEEE robotics and Automation Letters 2025年第6期10卷 6328-6335页

作者： Jiang, Jizhou Pan, Erzhen Xu, Wenfu Sun, Wei Ye, Jingyang School of Robotics and Advanced Manufacture Harbin Institute of Technology Shenzhen China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen China Guangdong Biomimetic Intelligent Unmanned System Engineering Technology Research Center Shenzhen518052 China

Accurate state estimation of micro aerial vehicles (MAVs) in high-speed and dynamic environments poses a significant challenge for visual-inertial odometry (VIO) algorithms. Flapping-wing aerial vehicles (FWAVs), as an emerging flight platform, have attracted significant attention for stealth capabilities and efficient flight characteristics. Despite the availability of numerous MAV visual-inertial datasets for six-degree-of-freedom (6-DoF) state estimation, these datasets are not applicable for FWAVs with pronounced vibrations and agile maneuverability. To address this gap, we propose a large-scale flapping-wing aggressive flight visual-inertial dataset FWAF-VID. It contains diverse integrations of synchronized onboard cameras and IMU sensors. A total of 28 sequences include static flapping, calibration, and real-world flights collected in outdoor and indoor environments. The 17 flight sequences feature variations in illuminations, speeds, trajectories, camera perspectives, and flight modalities. We provide precisely aligned ground truth RTK and UWB measurements for algorithm evaluation. Furthermore, a comprehensive benchmark comparison is conducted, qualitatively and quantitatively evaluating the positioning accuracy of state-of-theart VIO algorithms. The experimental results indicate that despite the degradation in localization accuracy in high-dynamic environments, FWAF-VID can effectively support the further development of VIO algorithms for FWAVs. To the best of our knowledge, this is the first onboard benchmark dataset tailored for aggressive flight in flapping-wing airborne platforms. © 2016 IEEE.

关键词： Micro air vehicle (MAV)

来源：评论

学校读者我要写书评

暂无评论

A Three-Step Optimization Framework With Hybrid Models for a Humanoid Robot’s Jump Motion

引用

IEEE Transactions on Automation Science and Engineering 2025年 22卷 14120-14132页

作者： Haoxiang Qi Zhangguo Yu Xuechao Chen Qingqing Li Yaliang Liu Chuanku Yi Chencheng Dong Fei Meng Qiang Huang Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing China Qiyuan Laboratory Beijing China

High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper proposes a 3-step trajectory optimization framework for generating a jump motion for a humanoid robot. To improve iteration speed and achieve ideal performance, the framework comprises three sub-optimizations. The first optimization incorporates momentum, inertia, and center of pressure (CoP), treating the robot as a static reaction momentum pendulum (SRMP) model to generate corresponding trajectories. The second optimization maps these trajectories to joint space using effective Quadratic Programming (QP) solvers. Finally, the third optimization generates whole-body joint trajectories utilizing trajectories generated by previous parts. With the combined consideration of momentum and inertia, the robot achieves agile forward jump motions. A simulation and experiments of forward jump with a distance of 1.0 m and 0.5 m height are presented in this paper, validating the applicability of the proposed framework. Note to Practitioners—The motivation of this paper stems from the need to improve jumping performance of humanoid robots. By comprehensively considering factors such as robot posture, centroidal angular momentum, and landing foot placement, the algorithm enhances the robot’s ability to navigate complex environments. This capability is crucial for applications that require overcoming obstacles, such as in search and rescue or inspection tasks. Improved jumping ability can significantly boost environmental adaptability, allowing robots to perform effectively in diverse conditions, and it also represents an exploration of the high-dynamic motion capabilities of humanoid robots. Future research will focus on integrating visual and perceptual information to enhance decision-making.

关键词： Robots Optimization Robot kinematics Humanoid robots Dynamics Legged locomotion Trajectory optimization Mathematical models Vectors Solid modeling

来源：评论

学校读者我要写书评

暂无评论

Evolution Design Methodology of the Metamorphic Mechanisms Inspired by Gene Deduction

引用

Journal of Mechanical Design 2025年第8期147卷 083302页

作者： Zhang, Yang Xu, Peng Li, Bing Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong School of Robotics and Advanced Manufacture Harbin Institute of Technology Shenzhen 518052 China

This article proposes an evolutionary design method for metamorphic mechanisms inspired by gene deduction. First, the correlations between biological evolution and mechanical evolution, biological systems and mechanical systems, and genes and mechanisms are revealed. There are many similarities between biology and mechanism. Biological principles can be applied to the study and design of the mechanisms to adapt well to tasks and environments. The correlation between genetic operation and mechanical design is developed. The selection operator, recombination operator, and mutation operator of the mechanisms are deduced by inspiring genes. To verify the rationality of these operators, they are used to construct 5R (revolute joints) overconstrained closed-loop linkage, 6R metamorphic closed-loop linkage, 7R deployable closed-loop linkage, and 2RP (prismatic joint) RR metamorphic parallel mechanism (MPM). The mobilities of these mechanisms are analyzed via the atlas method. Finally, the evolutionary design method of MPMs is introduced and used to design the mechanisms with 2R1T (two rotation one translation) and 1R2T modes, which verify the effectiveness of the method. The proposed evolutionary design method provides a new theoretical tool for the design of metamorphic single-loop and parallel mechanisms.

关键词： bio-inspired design Chain Design methodology evolution design Design Parallel mechanisms Kinematics metamorphic mechanisms single-loop/parallel mechanisms Kinematic chains gene deduction atlas method Biology Bifurcation

来源：评论

学校读者我要写书评

暂无评论

Adaptive Closed-Loop Functional Electrical Stimulation System with Visual Feedback for Enhanced Grasping in Neurological Impairments

IEEE Transactions on Medical Robotics and Bionics

引用

IEEE Transactions on Medical robotics and Bionics 2025年第2期7卷 678-686页

作者： Lin, Chengyu Cheng, Kong Hoi Pan, Wei Sun, Jinxin Gou, Guotao Fu, Junyun Leng, Yuquan Fu, Chenglong Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Department of Mechanical and Energy Engineering Shenzhen518055 China Guilin University of Electronic Technology Guangxi Human Physiological Information Non Invasive Detection Engineering Technology Research Center School of Life and Environmental Sciences Guilin541004 China

Grasping is a critical motor skill essential for daily activities, but it is often compromised in individuals with neural impairments. Functional Electrical Stimulation (FES) has emerged as a promising intervention, utilizing electrical pulses to stimulate muscles and thereby restore impaired motor functions. However, existing closed-loop FES systems depend on pre-calibrated angles or forces specific to individual objects, which limits their practicality in dynamic, real-world environments with varying object *** paper presents a novel closed-loop FES (CLFES) system with visual feedback, designed to dynamically adjust stimulation parameters based on real-time interaction states without requiring object-specific calibration. The system employs a finite state machine to manage sequential grasp-release tasks and integrates a visual perception module for slip detection and intent recognition. The system was tested with two individuals with disabilities on five common household objects. Experimental results demonstrate significant improvements, including a 42.6% increase in success rate and a 45.9% reduction in task completion time compared to tasks performed without the system. These results underscore the system’s potential to improve daily task performance for individuals with neural impairments. © 2018 IEEE.

关键词： Visual servoing

来源：评论

学校读者我要写书评

暂无评论

Electric Vehicle Routing Problem with Capacitated Charging Stations and Dynamic Electricity Prices

引用

IEEE Internet of Things Journal 2025年

作者： He, Zhiye Tian, Yuning Miao, Haoyu Yao, Canqi Yang, Zaiyue Shenzhen Key Laboratory of Control Theory and Intelligent Systems Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities School of System Design and Intelligent Manufacturing Shenzhen518055 China The Hong Kong Polytechnic University Department of Logistics and Maritime Studies Hong Kong Hong Kong

With rapid electrification of transportation systems in recent years, the electric vehicle routing problem (EVRP) has received increasing attention. In order to serve a set of valuable transportation tasks using a fleet of electric vehicles, EVRP intends to jointly determine their routes and the charging schedules, with the aim of optimizing service reward and charging cost under state of charge (SOC) constraints of battery. EVRP is a difficult nonlinear integer program, and due to its intrinsic NP-hardness early EVRP studies often oversimplify the charging process and assume unlimited capacity of charging stations and constant electricity price. The contribution of this paper lies in twofold. First, to better characterize the practical charging process, this paper introduces a new graph model that can take the charging station capacity and dynamic electricity price into full consideration. Second, we design a series of transformation techniques, including reformulation SOC dynamics, Lagrangian relaxation, exact linear programming relaxation, etc, which eventually convert the original EVRP into an approximate linear program. Extensive simulations across 14 instances demonstrate that, the proposed approach is capable of solving large-scale instances over 500 nodes, and is 100 times faster than traditional analytic methods while achieving very close optimality. While comparing with the popular heuristic method ALNS (Adaptive Large Neighborhood Search), our method is several times faster and obtains much better optimality. © 2014 IEEE.

关键词： Charging stations

来源：评论

学校读者我要写书评

暂无评论

A 3-Step Optimization Framework with Hybrid Models for a Humanoid Robot's Jump Motion

arXiv

引用

arXiv 2025年

作者： Qi, Haoxiang Yu, Zhangguo Chen, Xuechao Liu, Yaliang Yi, Chuanku Dong, Chencheng Meng, Fei Huang, Qiang The Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing100081 China The International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing100081 China The National Key Lab of Autonomous Intelligent Unmanned Systems Beijing100081 China

High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper proposes a 3-step trajectory optimization framework for generating a jump motion for a humanoid robot. To improve iteration speed and achieve ideal performance, the framework comprises three sub-optimizations. The first optimization incorporates momentum, inertia, and center of pressure (CoP), treating the robot as a static reaction momentum pendulum (SRMP) model to generate corresponding trajectories. The second optimization maps these trajectories to joint space using effective Quadratic Programming (QP) solvers. Finally, the third optimization generates whole-body joint trajectories utilizing trajectories generated by previous parts. With the combined consideration of momentum and inertia, the robot achieves agile forward jump motions. A simulation and experiments (Fig. 1) of forward jump with a distance of 1.0 m and 0.5 m height are presented in this paper, validating the applicability of the proposed framework. Note to Practitioners-The motivation of this paper stems from the need to improve jumping performance of humanoid robots. By comprehensively considering factors such as robot posture, centroidal angular momentum, and landing foot placement, the algorithm enhances the robot's ability to navigate complex environments. This capability is crucial for applications that require overcoming obstacles, such as in search and rescue or inspection tasks. Improved jumping ability can significantly boost environmental adaptability, allowing robots to perform effectively in diverse conditions, and it also represents an exploration of the high-dynamic motion capabilities of humanoid robots. Future research will focus on integrating visual and perceptual information to enhance decision-making. Copyright © 2025, The Authors. All rights reserve

关键词： Anthropomorphic robots

来源：评论

学校读者我要写书评

暂无评论

Integrated Cross-Scale Manipulation and Modulable Encapsulation of Cell-Laden Hydrogel for Constructing Tissue-Mimicking Microstructures

引用

Research 2025年第1期2024卷 704-717页

作者： Yanfeng Zhao Xinyi Dong Yang Li Juan Cui Qing Shi Hen-Wei Huang Qiang Huang Huaping Wang Intelligent Robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Peking University First Hospital Xicheng DistrictBeijing 100034China Key Laboratory of Instrumentation Science and Dynamic Measurement Ministry of EducationNorth University of ChinaTaiyuan 030051China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Laboratory for Translational Engineering Harvard Medical SchoolCambridgeMA 02139USA Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of EducationBeijing 100081China

Engineered microstructures that mimic in vivo tissues have demonstrated great potential for applications in regenerative medicine,drug screening,and cell behavior ***,current methods for engineering microstructures that mimic the multi-extracellular matrix and multicellular features of natural tissues to realize tissue-mimicking microstructures in vitro remain ***,we propose a versatile method for constructing tissue-mimicking heterogeneous microstructures by orderly integration of macroscopic hydrogel exchange,microscopic cell manipulation,and encapsulation ***,various cell-laden hydrogel droplets are manipulated at the millimeter scale using electrowetting on dielectric to achieve efficient hydrogel ***,the cells are manipulated at the micrometer scale using dielectrophoresis to adjust their density and arrangement within the hydrogel ***,the photopolymerization of these hydrogel droplets is triggered in designated regions by dynamically modulating the shape and position of the excitation ultraviolet ***,heterogeneous microstructures with different extracellular matrix geometries and components were constructed,including specific cell densities and *** resulting heterogeneous microstructure supported long-term culture of hepatocytes and fibroblasts with high cell viability(over 90%).Moreover,the density and distribution of the 2 cell types had significant effects on the cell proliferation and urea *** propose that our method can lead to the construction of additional biomimetic heterogeneous microstructures with unprecedented potential for use in future tissue engineering applications.

关键词： cell behavior explorationhowevercurrent tissue mimicking microstructures cell laden hydrogel electrowetting dielectric regenerative medicinedrug screeningand heterogeneous microstructures engineered microstructures orderly integration

来源：评论

学校读者我要写书评

暂无评论

Enhanced corrosion resistance of laser powder bed fusion 316L stainless steel by modifying the microstructure through heat treatment

引用

Journal of Materials Research and Technology 2025年 36卷 7158-7171页

作者： Cuiling Zhao Yuchao Bai Qi Yan Bing Li Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots Harbin Institute of Technology Shenzhen 518055 China Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Harbin Institute of Technology Shenzhen 518055 China School of Robotics and Advanced Manufacture Harbin Institute of Technology Shenzhen 518055 China Department of Mechanical Engineering College of Design and Engineering National University of Singapore Singapore 117575 Singapore

This study aims to investigate the microstructural evolution of laser powder bed fusion (LPBF) 316L stainless steel during heat treatment and its effect on corrosion resistance through microstructural characterization and corrosion testing. The results show that the as-built LPBF samples featured melt pool boundaries, cellular structures, a few nano-sized manganese silicate particles and irregular grains with strong fiber texture <101>, which are retained after heat treatment at 450 °C. With temperature increase to 850 °C, a σ phase rich in Cr, Mo, and S elements was formed. Subsequently, after heat treatment at 1100 °C, melt boundary disappears and large square grains similar to the cast counterparts appear. Electrochemical tests demonstrate that the corrosion resistance of LPBF samples surpasses the cast samples heat treated at 1100 °C. In addition, annealing at or below 1100 °C will reduce the corrosion resistance of LPBF samples due to the formation of hazardous precipitates. However, after heat treatment at 1300 °C, the best corrosion resistance was obtained due to the diffusion of Cr, Mo and S elements into the matrix and homogeneous microstructure. This study provides a method for effectively improving the corrosion resistance of LPBF 316L stainless steel and understanding the corresponding corrosion mechanism.

关键词： Laser powder bed fusion Corrosion behaviour Heat treatment 316L stainless steel Microstructure

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：