The classification of sitting issues is investigated since detailed state classification for humanoid robots plays a key role in the practical application of humanoid robots, particularly for the humanoid robots doing...The classification of sitting issues is investigated since detailed state classification for humanoid robots plays a key role in the practical application of humanoid robots, particularly for the humanoid robots doing complicated tasks. This paper presents the concept, the characteristics tree, and the prototype of the humanoid robot SJTU-HR1. The basic states lbr humanoid robots are proposed, including lying, sitting, standing, and handstanding. Moreover, the sitting states are classified into several states from the viewpoint of topology. The Gy （generalized function） set theory is applied to achieve the kinematic characteristics of the interested end-effectors of the humanoid robot SJTU-HR1. Finally, the results indicate that a large number of the sitting states can be represented by the meaningful notations systematically. Furthermore, the one-to-one correspondence between the state and kinematic characteristics of the interested end-effectors of the SJTU-HR 1 leads to deeper insight into the capabilities of the humanoid robot SJTU-HR1.展开更多
Spatial straight line mechanisms are a class of spatial mechanisms whose end-effectors generate the trajectory with the form of exact straight lines, which have potential applications in many industrial sectors. This ...Spatial straight line mechanisms are a class of spatial mechanisms whose end-effectors generate the trajectory with the form of exact straight lines, which have potential applications in many industrial sectors. This study aims to synthesis the spatial straight line mechanisms with only revolute joints, meaning that no prismatic joints are included. According to the generalized function sets and the law of one dimensional rotation, the type of compositions of characteristic and the corresponding conditions are derived. Furthermore, some novel symmetrical and asymmetrical spatial straight line mechanisms are synthesized through assembling specific kinematic chains under the corresponding conditions. Finally, several synthesized spatial straight line mechanisms are illustrated to show the effectiveness of the synthesis methodology.展开更多
In this study a new hybrid aggregation operator named as the generalized intuitionistic fuzzy hybrid Choquet averaging（GIFHCA） operator is defined.Meantime,some desirable properties are studied, and several importan...In this study a new hybrid aggregation operator named as the generalized intuitionistic fuzzy hybrid Choquet averaging（GIFHCA） operator is defined.Meantime,some desirable properties are studied, and several important cases are examined.Furthermore,we define the generalized Shapley GIFHCA （GS-GIFHCA） operator,which does not only overall consider the importance of elements and their ordered positions,but also globally reflect the correlations among them and their ordered positions.In order to simplify the complexity of solving a fuzzy measure,we further define the generalizedλ-Shapley GIFHCA（GλS-GIFHCA） operator.展开更多
基金Acknowledgement This work was supported by the National Basic Research Program of China （2006CB705402）, the Na- tional Natural Science Foundation of China （30770538, 50821003）, and the Joint Research Fund for Overseas Natural Science of China.
文摘The classification of sitting issues is investigated since detailed state classification for humanoid robots plays a key role in the practical application of humanoid robots, particularly for the humanoid robots doing complicated tasks. This paper presents the concept, the characteristics tree, and the prototype of the humanoid robot SJTU-HR1. The basic states lbr humanoid robots are proposed, including lying, sitting, standing, and handstanding. Moreover, the sitting states are classified into several states from the viewpoint of topology. The Gy （generalized function） set theory is applied to achieve the kinematic characteristics of the interested end-effectors of the humanoid robot SJTU-HR1. Finally, the results indicate that a large number of the sitting states can be represented by the meaningful notations systematically. Furthermore, the one-to-one correspondence between the state and kinematic characteristics of the interested end-effectors of the SJTU-HR 1 leads to deeper insight into the capabilities of the humanoid robot SJTU-HR1.
基金National Basic Research Program of China (973 Program,No.2006CB705402)National Science and Technology Major Project,China(No.2009ZX04013-021)National Natural Science Foundation of China (No.51008288)
文摘Spatial straight line mechanisms are a class of spatial mechanisms whose end-effectors generate the trajectory with the form of exact straight lines, which have potential applications in many industrial sectors. This study aims to synthesis the spatial straight line mechanisms with only revolute joints, meaning that no prismatic joints are included. According to the generalized function sets and the law of one dimensional rotation, the type of compositions of characteristic and the corresponding conditions are derived. Furthermore, some novel symmetrical and asymmetrical spatial straight line mechanisms are synthesized through assembling specific kinematic chains under the corresponding conditions. Finally, several synthesized spatial straight line mechanisms are illustrated to show the effectiveness of the synthesis methodology.
基金supported by the National Natural Science Foundation of China(Nos.71201089,71201110, 71071018 and 71271217)the Natural Science Foundation Youth Project of Shandong Province,China (ZR2012GQ005)the Specialized Research Fund for the Doctoral Program of Higher Education(No. 20111101110036)
文摘In this study a new hybrid aggregation operator named as the generalized intuitionistic fuzzy hybrid Choquet averaging（GIFHCA） operator is defined.Meantime,some desirable properties are studied, and several important cases are examined.Furthermore,we define the generalized Shapley GIFHCA （GS-GIFHCA） operator,which does not only overall consider the importance of elements and their ordered positions,but also globally reflect the correlations among them and their ordered positions.In order to simplify the complexity of solving a fuzzy measure,we further define the generalizedλ-Shapley GIFHCA（GλS-GIFHCA） operator.
