Based on the ZMP(zero moment point)trajectory and the walking data of human,a new method is proposed to improve the robot walking smoothness as well as to save energy.Firstly,a measurement system is designed to measur...Based on the ZMP(zero moment point)trajectory and the walking data of human,a new method is proposed to improve the robot walking smoothness as well as to save energy.Firstly,a measurement system is designed to measure the data of humans including the ZMP trajectory and the waist trajectory.Secondly,a new gait planning method which includes presetting the allowable ZMP region is proposed through analyzing human data.Thirdly,the new planning method is applied to the multi-link model based gait planning method.Finally,the feasibility of the proposed method is verified by simulation and experiments.展开更多
In this paper,a binocular 3-D computer vision measurement system is used to measure the relative displacement for the greater and lesser tuberosities in the shoulder prosthesis.The basic principles of binocular optica...In this paper,a binocular 3-D computer vision measurement system is used to measure the relative displacement for the greater and lesser tuberosities in the shoulder prosthesis.The basic principles of binocular optical measurement are introduced in detail,and the loading apparatus is designed for external rotation and anteflexion of the shoulder prosthesis.Both the motion of external rotation and anteflexion of the shoulder are measured,and the corresponding displacement values for the greater and lesser tuberosities are extracted.These results will play an important role in evaluating the stability of humeral tuberosity in the shoulder prosthesis.展开更多
基金the National Natural Science Foundation of China(61320106012,61533004,61375103,61673069,61321002)the 863 Program of China(2015AA043202,2015AA042305)+2 种基金the Key Technologies R&D Program(2015BAF13B01,2015BAK35B01)the Beijing Municipal Science and Technology Project(D161100003016002)the"111"Project(B08043)
文摘Based on the ZMP(zero moment point)trajectory and the walking data of human,a new method is proposed to improve the robot walking smoothness as well as to save energy.Firstly,a measurement system is designed to measure the data of humans including the ZMP trajectory and the waist trajectory.Secondly,a new gait planning method which includes presetting the allowable ZMP region is proposed through analyzing human data.Thirdly,the new planning method is applied to the multi-link model based gait planning method.Finally,the feasibility of the proposed method is verified by simulation and experiments.
基金supported by the National Natural Science Foundation of China(Grant Nos. 30470430,10802106)
文摘In this paper,a binocular 3-D computer vision measurement system is used to measure the relative displacement for the greater and lesser tuberosities in the shoulder prosthesis.The basic principles of binocular optical measurement are introduced in detail,and the loading apparatus is designed for external rotation and anteflexion of the shoulder prosthesis.Both the motion of external rotation and anteflexion of the shoulder are measured,and the corresponding displacement values for the greater and lesser tuberosities are extracted.These results will play an important role in evaluating the stability of humeral tuberosity in the shoulder prosthesis.
