Mapping grasps from human to anthropomorphic robotic hands is an open issue in research,because the master hand and the slave hand have dissimilar *** paper proposes a hybrid mapping method to solve this *** the propo...
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Mapping grasps from human to anthropomorphic robotic hands is an open issue in research,because the master hand and the slave hand have dissimilar *** paper proposes a hybrid mapping method to solve this *** the proposed method,fingers in the master and the slave hands are divided into vital and synergic fingers according to their contribution to the grasping *** tip of the vital finger of the master hand is first mapped to that of the slave hand while ensuring that both are in simultaneous contact with the object to be *** postural synergy theory,joints of the other synergic fingers of the slave hand are then used to generate an anthropomorphic grasping configuration according to the shape of the object to be *** this,a human-guided impedance controller is used to reduce the pre-grasping error and realize compliant interaction with the *** proposed hybrid mapping method can not only generate the posture of the humanoid envelope but can also carry out impedance-adaptive *** was evaluated using simulations and an experiment involving an anthropomorphic robotic slave hand.
To ensure the flexible walking of the weight-bearing exoskeleton robot,most researchers control the exoskeleton to follow the wearer’s movements and provide force to maintain the current dynamic ***,due to the limita...
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To ensure the flexible walking of the weight-bearing exoskeleton robot,most researchers control the exoskeleton to follow the wearer’s movements and provide force to maintain the current dynamic ***,due to the limitation of sensing information and computing power,it is difficult for the exoskeleton to provide the wearer reasonable and stable force only based on the dynamic model,especially in switching between swing phase and stance *** by China’s traditional sport named board shoe racing,a walking control method based on the cooperation of the human and the exoskeleton is proposed in this paper for a lower-limb exoskeleton named *** certain conditions,the exoskeleton itself can walk stably depending on the rhythm signals generated by the Central Pattern Generator(CPG).With certain initiative during walking,it can make proper adjustments according to the human *** the help of dynamic simulation software and Genetic Algorithm(GA),the optimized CPG parameters are *** control is introduced to increase the comfort of the *** impedance parameters as well as the CPG parameters are tuned in real time based on *** experiments were conducted with *** results demonstrate that PALExo can effectively assist the wearer walking with a 45-kg payload benefiting from the proposed method.
This paper presents a novel method for optimizing the contact force of a hexapod robot to enhance its dynamic motion stability when one of its legs *** proposed approach aims to improve the Force Angle Stability Margi...
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This paper presents a novel method for optimizing the contact force of a hexapod robot to enhance its dynamic motion stability when one of its legs *** proposed approach aims to improve the Force Angle Stability Margin(FASM)and adapt the foot trajectory through contact force optimization to achieve safe and stable motion on various *** foot force optimization approach is designed to optimize the FASM,a factor rarely considered in existing contact force optimization *** formulating the problem of enhancing the motion stability of the hexapod robot as a Quadratic Programming(QP)optimization problem,this approach can effectively address this *** of a hexapod robot using a fault-tolerant gait,along with real field experiments,were conducted to validate the effectiveness and feasibility of the contact force optimization *** results demonstrate that this approach can be used to design a motion controller for a hexapod robot with a significantly improved motion *** summary,the proposed contact force optimization method offers a promising solution for enhancing the motion stability of hexapod robots with single leg failures and has the potential to significantly advance the development of fault-tolerant hexapod robots for various applications.
For knee rehabilitation patients, it is difficult to maintain balance while walking, and completing a normal gait cycle is challenging. Therefore, we propose a lower limb exosuit tailored for the knee rehabilitation p...
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The thermal shock of subsurface material with shear instability and severe plastic flow during scuffing was *** scuffing damage of M50 steel was tested using a high-speed rolling-sliding contact test rig,and the trans...
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The thermal shock of subsurface material with shear instability and severe plastic flow during scuffing was *** scuffing damage of M50 steel was tested using a high-speed rolling-sliding contact test rig,and the transient temperature during scuffing was calculated using the Fourier transform method considering the effects of both frictional heat and plastic *** results show that a thermal shock with a rapid rise and subsequent rapid decrease in the contact temperature is generated in the subsurface *** frictional power intensity generates a high temperature rise,leading to the austenitization of the subsurface ***,the plastic flow is generated in the subsurface layer under the high shear stress,and the resulting plastic strain energy generates a further temperature ***,a rapid decrease in the contact temperature quenches the material,resulting in clear shear slip bands and retained austenite in the subsurface layers of the M50 steel.
After eons of evolution,biological systems have developed excellent perfor-mance in terms of sensing,intelligence,and actuation—the three primary robotics elements that are closely re-lated to the overall performance...
After eons of evolution,biological systems have developed excellent perfor-mance in terms of sensing,intelligence,and actuation—the three primary robotics elements that are closely re-lated to the overall performance of robot *** example,the buccal pits of some snakes,as the necessary sensors for accurate predation,have a high-temperature sensitivity of 0.003 K[1];the biological brain can exhibit an excellent capacity for efficient learning and multitasking operations[2];and froghopper insects can leap to a height of more than 100 times their body length[3].Most of these biological system per-formances are difficult to realize with tra-ditional electromechanical systems.
Dear Editor,This letter presents a joint probabilistic scheduling and resource allocation method(PSRA) for 5G-based wireless networked control systems(WNCSs). As a control-aware optimization method, PSRA minimizes the...
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Dear Editor,This letter presents a joint probabilistic scheduling and resource allocation method(PSRA) for 5G-based wireless networked control systems(WNCSs). As a control-aware optimization method, PSRA minimizes the linear quadratic Gaussian(LQG) control cost of WNCSs by optimizing the activation probability of subsystems, the number of uplink repetitions, and the durations of uplink and downlink phases. Simulation results show that PSRA achieves smaller LQG control costs than existing works.
Dear editor,The inherent hysteresis of a piezoelectric actuator(PEA) results in intricate nonlinearity between the output displacement and input voltage, which restricts positioning accuracy of the actuator [1, 2]. Hy...
Dear editor,The inherent hysteresis of a piezoelectric actuator(PEA) results in intricate nonlinearity between the output displacement and input voltage, which restricts positioning accuracy of the actuator [1, 2]. Hysteresis behavior appears as a coupling of nonlinearity, frequency-dependence and memory characteristic, which makes it difficult to comprehensively characterize hysteresis [3]. To eliminate the effect of hysteresis on the positioning accuracy of PEAs,
In this paper, our objective is to achieve stable walking for biped robots using a simple yet powerful control scheme. This control scheme consists of a planning and control framework. For the motion planner, we utili...
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General,high-precision theoretical modeling method is not well developed in the field of soft robotics,which holds back motion control and practical application of soft *** concept of modularization brings novel struc...
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General,high-precision theoretical modeling method is not well developed in the field of soft robotics,which holds back motion control and practical application of soft *** concept of modularization brings novel structure,novel locomotion patterns as well as novel control method for soft *** paper presents the concept of hierarchical control method for modular soft robot system and a H-configuration pneumatic modular soft robot is designed as the control *** H-configuration modular soft robot is composed of two basic motion units that take worm-like locomotion *** locomotion principle of the basic motion unit is analyzed and the actuation sequence is optimized by evolution strategy in VOXCAD simulation *** differential drive method is applied to the H-configuration modular soft robot with multi motion modes and vision sensor is used to control the motion mode of the *** H-configuration modular soft robot and the basic motion unit are assembled by a cubic soft module made of silicone ***,connection mechanism is designed to ensure that the soft modules can be assembled in any direction and *** are conducted to verify the effect of the hierarchical control method of the modular soft robots.
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