1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki ...1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki et al.,2010;Englsberger et al.,2015;Xie et al.,2020).With regard to model-based gait-generation methods for uphill and downhill terrain,Kuo(2007)simulated human gait using an inverted pendulum,which provided a circular trajectory for the COM rather than a horizontal trajectory.He found that a horizontal COM trajectory consumed more muscle energy.Massah et al.(2012)utilized a 3D LIPM and the concept of zero moment point(ZMP).They developed a trajectory planner using the semi-elliptical motion equations of an NAO humanoid robot and simulated walking on various sloped terrains using the Webots platform.展开更多
基于COM技术研制开发了MATLAB和Aspen P lus的接口工具箱MAP,实现了在MATLAB环境下对Aspen P lus中数据进行读写操作,并控制模拟的运行。MAP接口将MATLAB计算能力和Aspen P lus的模拟能力结合在一起,扩展了Aspen P lus的高级应用。通过...基于COM技术研制开发了MATLAB和Aspen P lus的接口工具箱MAP,实现了在MATLAB环境下对Aspen P lus中数据进行读写操作,并控制模拟的运行。MAP接口将MATLAB计算能力和Aspen P lus的模拟能力结合在一起,扩展了Aspen P lus的高级应用。通过精馏塔进料软测量的示例,阐述了如何通过MAP接口来调用自主开发的禁忌搜索优化算法,解决由于Aspen P lus中的优化算法的局限性所无法实现的模拟与优化问题。展开更多
基金supported by the National Natural Science Foundation of China(No.12332023)the Zhejiang Provincial Natural Science Foundation of China(No.LY23E050010).
文摘1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki et al.,2010;Englsberger et al.,2015;Xie et al.,2020).With regard to model-based gait-generation methods for uphill and downhill terrain,Kuo(2007)simulated human gait using an inverted pendulum,which provided a circular trajectory for the COM rather than a horizontal trajectory.He found that a horizontal COM trajectory consumed more muscle energy.Massah et al.(2012)utilized a 3D LIPM and the concept of zero moment point(ZMP).They developed a trajectory planner using the semi-elliptical motion equations of an NAO humanoid robot and simulated walking on various sloped terrains using the Webots platform.
文摘基于COM技术研制开发了MATLAB和Aspen P lus的接口工具箱MAP,实现了在MATLAB环境下对Aspen P lus中数据进行读写操作,并控制模拟的运行。MAP接口将MATLAB计算能力和Aspen P lus的模拟能力结合在一起,扩展了Aspen P lus的高级应用。通过精馏塔进料软测量的示例,阐述了如何通过MAP接口来调用自主开发的禁忌搜索优化算法,解决由于Aspen P lus中的优化算法的局限性所无法实现的模拟与优化问题。
