The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In order to solve the problem of energy supply for wearable and portable electronic equipment and exoskeleton, a direct energy recovery mechanism based on hydraulic transmission principle was designed. Firstly, according to the particularity of human body structure and function, establish a theoretical model can reflect the state of human body by Lagrange modeling method. Based on the established...
Limited travel constrains the widely application of XYZ parallel micro/nano-positioning stage. In this paper, a novel parallel-kinematics micro/nano-positioning stage is proposed with the goal of enlarging the travel range. In order to obtain a large input displacement for actuating the stage, voice coil motors (VCM) are adopted. For a large-travel parallel stage, the cross-axis motion increases the...
We consider efficient controls for swimming with multiple rigid legs at low Reynolds number. We derive equations governing the translation and rotation of a general class of multi-legged swimmers, and we formulate energy-efficient controls of symmetric swimmers as a problem in geometric control theory. We then focus on the case of symmetric swimmers with multi pairs of legs. In the framework of sub-Riemannian...
Modeling and evaluation of patients’ gait patterns is the basis for both gait assessment and gait rehabilitation. This paper presents a convenient and real-time gait modeling, analysis, and evaluation method based on ground reaction forces (GRFs) measured by a pair of smart insoles. Gait states are defined based on the foot–ground contact forms of both legs. From the obtained gait state sequence and...
The main characteristic of FroBot is the dual-swing-legs propulsion mechanism, and it is necessary for us to conduct a series of experiments to study its propulsion model, both on land and underwater. As the propulsion of FroBot comes from the interaction force between caudal fins and water when it locomotes underwater, this paper presents an analysis about the propulsion and control of angle Θ. Then...
This study aims to develop mathematical model which can capture behavior of “wheel spider” that can perform rolling locomotion and analyze characteristics of the behavior to realize biologically inspired locomotion by robots. Therefore, a rolling wheel spider model is developed by applying constraint force on the ground to a wheel spider model without the ground and considering velocity transformation...
Jumping locomotion has been widely employed in milliscale mobile robots to help overcome their size limitations by extending their range and enabling them to overcome obstacles. During jumping, the robot's legs experience acceleration that is up to an order of magnitude greater than the gravitational acceleration. This large force results in bending of the jumping legs. In this paper, we study how...
This paper discusses a dynamic nonprehensile manipulation of a thin deformable object and its rotational behavior similarity to bipedal gaits toward an effective rotation. A rigid plate end-effector at the tip of a high-speed manipulator can remotely manipulate an object without grasping it. We make use of a simulation model in order to approximate the dynamic characteristics of a thin deformable...
Swing leg retraction reduces touchdown energy losses of running by decreasing foot speed at the moment of ground contact, but does the additional acceleration of the swing leg cost more energy than is saved? To determine whether swing leg retraction can increase the overall energy efficiency of running robots, we find the optimally efficient gaits of a McGeer-like runner over a range of retraction...
In this paper, a realistic simulation of extraterrestrial legged robot in trade-off between accuracy and simulation time is presented which provides an enough accuracy to simulate the dynamical properties and locomotions of the legged robot as well as simplified models in a possible timing rate for the realtime simulation. To simplify the complex joint actuator model, an abstract joint actuator model...
Based on the motion characteristics of double half-revolution mechanism, a new-style wheel-legged lunar rover was proposed. In order to evaluate its maneuvering performance, the performance experiment of single wheel-legged mechanism is needed. To simulate the loading conditions of single wheel-legged mechanism when the lunar rover is walking in flat ground, climbing up a slope or walking sideways...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.