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As the population ages, the need for rehabilitation robots is becoming greater and greater. Considering that lower limb motion plays an important role in the activities of daily life. This paper focus on developing a 3-degree of freedom bionic knee lower limb exoskeleton rehabilitation robot. The exoskeleton consists of a 1-DOF hip joint and 2-DOF knee joint in the sagittal plane. According to the...
A quick analysis approach based on Pontryagin principle is proposed to calculate the maximum cross-range, and the lateral accessible region in the new redefined coordinate is analyzed. The order and non-linearity of the point-mass motion function is reduced by coordinate transformation and replacing the independent variable, the trajectory optimization is cast as an optimal control problem, then the...
This paper discusses the sway of a spilled oil recovery apparatus mounted on the unmanned surface vehicle (USV) when it is lifted up off water surface. The dynamic model is established considering the pitch of the USV, and simulation experiment is conducted under the condition of no wind disturbance. The results show that the amplitude and frequency of the pitch are main factors influencing the sway...
This paper provides a three-dimensional quantitative description method of cockroach movement. An experimental platform is built to observe the locomotion of cockroach, which is made of two parts: a high speed camera is used to record the locomotion, and two mirrors that locate two franks provide visual frames. Mathematical model of the platform was provided so that 3D coordinates of cockroach can...
An improved virtual flexible bar algorithm which aims at improving the trajectory tracking accuracy of automatic vehicle following system is proposed in this paper. To achieve successful vehicle following, the algorithm mainly consists two parts: the flexible bar which can fit the leader vehicle's trajectory and the force acting in the flexible bar which pull the follower vehicle to track the leader's...
To improve the existing small-size actuator for robotics, a control module in actuator was developed. After the control module was fixed in an actuator, the actuator would be capable of speed control, PVT position control and continuous trajectory tracking. Those functions are not supported by the existing actuators. The paper presents the development of control module in actuator. In the procedure...
An adaptive trajectory tracking method based on the kinematics model is proposed in this paper to solve the non-holonomic restriction problem of trajectory tracking of the wheeled mobile robot. After analyzing the course statement of the trajectory tracking control, the idea of the artificial field is introduced to improve the effect of the trajectory tracking, which takes the posture error of the...
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