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基于3-D步行序列的双足机器人步态规划及实验研究 被引量:2
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作者 陈建芳 丁加涛 肖晓晖 《中南大学学报(自然科学版)》 EI CAS CSCD 北大核心 2018年第4期831-838,共8页
为了提高双足步行机器人对真实环境的适应能力,提出1种基于3-D步行序列的步态规划方法,模仿人类行走行为并考虑地面高度的变化。首先定义考虑足部踝关节旋转运动和机器人质心(COM)竖直高度变化的3-D步行序列。其次,在单足相阶段(SSP),... 为了提高双足步行机器人对真实环境的适应能力,提出1种基于3-D步行序列的步态规划方法,模仿人类行走行为并考虑地面高度的变化。首先定义考虑足部踝关节旋转运动和机器人质心(COM)竖直高度变化的3-D步行序列。其次,在单足相阶段(SSP),基于运动最优控制(OC)理论和线性倒立摆模型(LIMP),求解零力矩点轨迹;采用5次多项式插值,生成双足相阶段(DSP)的零力矩点轨迹,并且实现质心竖直高度变化。基于足部的运动参数,使用分段连续3次Hermite插值得到足部运动轨迹。然后,通过牛顿-拉斐逊迭代法求解关节角度解。最后,基于NAO机器人样机进行平地和倾斜地面行走的动力学仿真和样机实验。研究结果表明:本文规划方法可行,且机器人行走平稳;在平面和斜坡2种地面工况的样机实验中,足底接触力的波动幅度比相应的仿真结果分别减少37.01%和59.94%,髋关节力矩波动幅度分别减少69.13%和62.75%。 展开更多
关键词 3-d步行序列 双足机器人 步态规划 斜坡
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Molecular Cloning and Characteristics of Catalase cDNA from Chinese Soft-shelled Turtle(Pelodiscus sinensis)
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作者 Lijun PU Cuijuan NIU 《Asian Herpetological Research》 SCIE 2013年第2期90-99,共10页
A catalase cDNA was cloned from the liver of the Chinese soft-shelled turtle (Pelodiscus sinensis) using reverse transcription-polymerase chain reaction (RT-PCR) with degenerate primers. Both 3'-and 5'-untransla... A catalase cDNA was cloned from the liver of the Chinese soft-shelled turtle (Pelodiscus sinensis) using reverse transcription-polymerase chain reaction (RT-PCR) with degenerate primers. Both 3'-and 5'-untranslated regions were isolated by the rapid amplification of cDNA ends method (RACE). Analysis of nucleotide sequence revealed that the catalase cDNA clone consisted of 2173 bp with an open reading frame of 1587 bp encoding a protein of 528 amino acids. The calculated molecular mass of the mature protein is 59.8 kDa with an estimated pI of 6.84. The peroxisomal targeting signal SNL at the C-terminal and two putative N-glycosylation sites NLSV and NVSQ were found in the catalase. Sequence comparison showed that this catalase, deduced by the amino acid sequence, had high similarity and identity with those of vertebrates recorded in GenBank. Four functional domains and conserved amino acids responsible for binding heme and NAPDH including four essential residues were observed. The 3-D homology model of the turtle catalase was predicted by SwissModel based on the relative domains of bovine catalase structure (PDB ID: 3rgp). The mRNA expression and enzyme activities in liver, brain, spleen, kidney, heart, gut, lung and muscle were investigated, and the results showed that the mRNA and enzyme activities of catalase in these tissues were species-specific. 展开更多
关键词 sequence comparison 3-d homology model EXPRESSION enzyme activity Pelodiscus sinensis
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