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This paper presents a novel locomotion control framework that achieves stable galloping gait for a torque-controlled quadruped robot. By analytically exploiting the stance dynamics of the Spring-Loaded Inverted Pendulum (SLIP) model, a two-layered Dual-SLIP model based Task-space Formulation (DS-TSF) is developed to control the 12-DoF quadruped robot with an active spine. On the higher layer, a dead-beat...
Ground-based experiment of human locomotion in microgravity needs to partially compensate the influence of the earth gravity. This paper presents a novel design and preliminary experiment of an active suspension gravity compensation system, which can apply a desired constant vertical force at human body for physically simulating human walking in microgravity. The system composed of a passive static...
The novel functionalization of multi-walled carbon nanotubes (MWCNTs) was synthesized by reacting trimethoxysilylpropanethiol (MPTs), hydrazine, ammonium ferrous sulfate, and ammonium ferric sulfate in sequence as efficient ways to introduce Fe3O4, amino and thiol groups onto the nanotubes sidewalls. The magnetic MWCNTs composite material (N2H4–SH–Fe3O4/o-MWCNTs) was characterized by transmission...
Flux-switching permanent magnet linear generator (FSPMLG) has advantages of simple translator structure, and is well suited for the applying for wave energy extraction. In this paper, a gird-unconnected control strategy for FSPMLG based on the vector control and the PI controller is proposed. Firstly, the basic structure of the FSPMLG is introduced. Based on the mathematical models of the FSPMLG,...
This paper deals with the dynamics and motion control of a spherical robot designed for reconnaissance and unstructured hostile environment exploration. The robot in this paper has three DOFs and two inputs, of which the nature is a nonlinear and underactuated system with nonholonomic dynamic constraints. The improved construction of two pendulums offers novel motion principle of spherical robot,...
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