In this study,we present a small,integrated jumping-crawling robot capable of intermittent jumping and self-resetting.Compared to robots with a single mode of locomotion,this multi-modal robot exhibits enhanced obstac...In this study,we present a small,integrated jumping-crawling robot capable of intermittent jumping and self-resetting.Compared to robots with a single mode of locomotion,this multi-modal robot exhibits enhanced obstacle-surmounting capabilities.To achieve this,the robot employs a novel combination of a jumping module and a crawling module.The jumping module features improved energy storage capacity and an active clutch.Within the constraints of structural robustness,the jumping module maximizes the explosive power of the linear spring by utilizing the mechanical advantage of a closed-loop mechanism and controls the energy flow of the jumping module through an active clutch mechanism.Furthermore,inspired by the limb movements of tortoises during crawling and self-righting,a single-degree-of-freedom spatial four-bar crawling mechanism was designed to enable crawling,steering,and resetting functions.To demonstrate its practicality,the integrated jumping-crawling robot was tested in a laboratory environment for functions such as jumping,crawling,self-resetting,and steering.Experimental results confirmed the feasibility of the proposed integrated jumping-crawling robot.展开更多
Bio-inspired jumping robots have emerged as a promising solution for traversing complex terrains inaccessible to conventional locomotion systems.Drawing upon the exceptional jumping kinematics observed in insects,rese...Bio-inspired jumping robots have emerged as a promising solution for traversing complex terrains inaccessible to conventional locomotion systems.Drawing upon the exceptional jumping kinematics observed in insects,researchers have developed multiple robotic prototypes mimicking biological propulsion mechanisms.However,the principal technological barrier resides in actuator systems,where current energy storage technologies suffer from inadequate energy density,fundamentally limiting takeoff velocity and jumping height.To overcome these limitations,we present a novel combustion-explosive propulsion system exhibiting high mass-specific energy release and rapid acceleration characteristics.By integrating this propulsion mechanism with a unique jumping leg structure,experimental validation through prototype testing demonstrated vertical leaps reaching 20 cm(1.67 times body length)under laboratory conditions,accompanied by comprehensive thermodynamic modeling using ABAQUS simulations that validated the effectiveness of this actuation system.The integrated design approach combines bionic structural design with combustible fuel formulations to offer new possibilities for the development of highly flexible robotic systems capable of negotiating obstacles in disaster response scenarios.展开更多
Jumping robots are highly capable of overcoming obstacles.However,their explosive force,short duration,and variable trajectories pose significant challenges in achieving stable landings in complex environments.Traditi...Jumping robots are highly capable of overcoming obstacles.However,their explosive force,short duration,and variable trajectories pose significant challenges in achieving stable landings in complex environments.Traditional approaches rely heavily on sophisticated algorithms and electronic sensor feedback systems to ensure landing stability,which increases the implementation complexity.Inspired by the process by which humans complete jumps and achieve stable landings in complex environments,this study proposes a novel landing control method for jumping robots.By designing a mechanically coupled perception-control structure based on mechanical logic computing,the robot simulates the real-time transmission of neural signals triggered by the ground reaction force(GRF)in human reflex loops,thereby simplifying traditional control approaches.Through the collaboration of a flexible mechanical spine and a bistable foot module,the robot achieves an average height of 16.8 cm and a distance of 25.36 cm in consecutive stable jumps.It also demonstrates reliable landing performance on challenging terrain including slopes and cobblestone surfaces.This paper proposes a novel landing control method for jumping robots that simplifies traditional control approaches.The method enables stable landings on complex terrain through a mechanically coupled perception-control structure.This approach has potential applications in tasks requiring mobility over uneven terrain,such as search and rescue.展开更多
The Celebrated Jumping Frog of Calaveras County is a novel first published in 1865.It tells us a story taking place in the ancient mining camp of Angel's.By using analysis,the implication hidden behind the novel i...The Celebrated Jumping Frog of Calaveras County is a novel first published in 1865.It tells us a story taking place in the ancient mining camp of Angel's.By using analysis,the implication hidden behind the novel is explored here.That is,the abnormal social phenomena exist in the reality,the intrigue among people to gain profits and also the immoral measures people took for panning gold at the Gold Rush Era.展开更多
This paper presents a mechanical model of jumping robot based on the biological mechanism analysis of frog. By biological observation and kinematic analysis the frog jump is divided into take-offphase, aerial phase an...This paper presents a mechanical model of jumping robot based on the biological mechanism analysis of frog. By biological observation and kinematic analysis the frog jump is divided into take-offphase, aerial phase and landing phase. We find the similar trajectories of hindlimb joints during jump, the important effect of foot during take-off and the role of forelimb in supporting the body. Based on the observation, the frog jump is simplified and a mechanical model is put forward. The robot leg is represented by a 4-bar spring/linkage mechanism model, which has three Degrees of Freedom （DOF） at hip joint and one DOF （passive） at tarsometatarsal joint on the foot. The shoulder and elbow joints each has one DOF for the balancing function of arm. The ground reaction force of the model is analyzed and compared with that of frog during take-off. The results show that the model has the same advantages of low likelihood of premature lift-off and high efficiency as the frog. Analysis results and the model can be employed to develop and control a robot capable of mimicking the jumping behavior of frog.展开更多
In recent years,designing a soft robot that can jump continuously and quickly explore in a narrow space has been a hot research topic.With the continuous efforts of researchers,many types of actuators have been develo...In recent years,designing a soft robot that can jump continuously and quickly explore in a narrow space has been a hot research topic.With the continuous efforts of researchers,many types of actuators have been developed and successfully employed to actuate the rapid locomotion of soft robots.Although these mechanisms have enabled soft robots with excellent movement capabilities,they largely rely on external energy supply cables,which greatly limits their applications.Therefore,it is still a big challenge to realize the unconstrained movement of the soft robot and the flexible adjustment of the movement direction in a narrow space.Here,a wireless magnetically controlled soft jumping robot with single-leg is proposed,which can achieve continuous and rapid jumping motion.What's more interesting is that by changing the frequency and waveform of the control signal,this soft robot can easily switch between forward and backward motions.This motion direction switching function enables the magnetically controlled soft robot to return to the initial position without adjusting the direction when it completes the operation in a narrow pipe or takes the wrong path,which greatly improves the motion efficiency of the soft jumping robot and broadens its application field.展开更多
This paper is concerned with a delay-dependent state estimator for neutral-type neural networks with mixed timevarying delays and Markovian jumping parameters.The addressed neural networks have a finite number of mode...This paper is concerned with a delay-dependent state estimator for neutral-type neural networks with mixed timevarying delays and Markovian jumping parameters.The addressed neural networks have a finite number of modes,and the modes may jump from one to another according to a Markov process.By construction of a suitable Lyapunov-Krasovskii functional,a delay-dependent condition is developed to estimate the neuron states through available output measurements such that the estimation error system is globally asymptotically stable in a mean square.The criterion is formulated in terms of a set of linear matrix inequalities（LMIs）,which can be checked efficiently by use of some standard numerical packages.展开更多
This paper presents a modified half-sine-squared load model of the jumping impulses for a single person. The model is based on a database of 22,921 experimentally measured single jumping load cycles from 100 test subj...This paper presents a modified half-sine-squared load model of the jumping impulses for a single person. The model is based on a database of 22,921 experimentally measured single jumping load cycles from 100 test subjects. Threedimensional motion capture technology in conjunction with force plates was employed in the experiment to record jumping loads. The variation range and probability distribution of the controlling parameters for the load model such as the impact factor, jumping frequency and contact ratio, are discussed using the experimental data. Correlation relationships between the three parameters are investigated. The contact ratio and jumping frequency are identified as independent model parameters, and an empirical frequency-dependent function is derived for the impact factor. The feasibility of the proposed load model is established by comparing the simulated load curves with measured ones, and by comparing the acceleration responses of a single-degree-of-freedom system to the simulated and measured jumping loads. The results show that a realistic individual jumping load can be generated by the proposed method. This can then be used to assess the dynamic response of assembly structures.展开更多
Understanding the mechanism of coalescence-induced self-propelled jumping behavior provides distinct insights in designing and optimizing functional coatings with self-cleaning and anti-icing properties.However,to dat...Understanding the mechanism of coalescence-induced self-propelled jumping behavior provides distinct insights in designing and optimizing functional coatings with self-cleaning and anti-icing properties.However,to date self-propelled jumping phenomenon has only been observed and studied on superhydrophobic surfaces,other than those hydrophobic surfaces with weaker but fairish water-repellency,for instance,vulcanized silicon rubber(RTV) coatings.In this work,from the perspective of thermodynamic-based energy balance aspect,the reason that self-propelled jumping phenomenon does not happen on RTV coatings is studied.The apparent contact angles of droplets on RTV coatings can be less than the theoretical critical values therefore cannot promise energy surplus for the coalesced droplets onside.Besides,on RTV and superhydrophobic surfaces,the droplet-size dependent variation characteristics of the energy leftover from the coalescence process are opposite.For the droplets coalescing on RTV coatings,the magnitudes of energy dissipations are more sensitive to the increase in droplet size,compared to that of released surface energy.While for superhydrophobic coatings,the energy generated during the coalescence process can be more sensitive than the dissipations to the change in droplet size.展开更多
This paper proposed a novel multi-motion wheel-leg-separated quadruped robot that can adapt to both the structured and unstructured grounds.The models of the positive/inverse position,velocity,acceleration,and workspa...This paper proposed a novel multi-motion wheel-leg-separated quadruped robot that can adapt to both the structured and unstructured grounds.The models of the positive/inverse position,velocity,acceleration,and workspace of the single leg mechanism in the quadruped robot were established.A single leg complex dynamic model of the quadruped robot is derived,considering the mass and inertial force of all the components in the mechanical leg.Combined with the human jumping law in situ,the jumping trajectory of the single leg was planned.To reduce landing impact,a soft landing strategy based on motion planning was proposed by simulating human knee bending and buffering action.The change law of the kinetic energy and momentum of all the links in the single leg mechanism during the jump process was studied,and the influencing factors of jump height were analyzed to realize the height control of the jump.Single leg jumping dynamics model was established,and a dynamic control strategy for trajectory tracking with foot force compensation was proposed.In Adams and MATLAB/Simulink software,the jump simulation of single leg mechanism was carried out.The prototype of quadruped robot was developed,and the jumping experiment of the single leg mechanism was tested.The robot's single leg bionic jumping and soft landing control are realized.展开更多
This study introduces a wheeled robot platform with jumping ability.To realize jump movement,a twisted string lever mechanism is used,which is characterized by its compactness and variable gear ratio.Based on robot mo...This study introduces a wheeled robot platform with jumping ability.To realize jump movement,a twisted string lever mechanism is used,which is characterized by its compactness and variable gear ratio.Based on robot modeling and parameter calculation,the twisted string actuator shows its advantage when applied to situations such as jumping of robots,where explosiveness of output force matters.In this study,a wheeled bipedal robot equipped with the twisted string actuator is designed and fabricated.It weighs 16.0 kg and can perform jumps when it encounters obstacles.The prototype can jump up to a stage with a maximum height of 1.0 m using electric power,which is approximately 1.5 times the height of its stretched legs.展开更多
This paper investigates event-triggered synchronization for complex networks with Markovian jumping parameters.Nonlinear dynamics with Markovian jumping parameters is considered for each node in a complex network. By ...This paper investigates event-triggered synchronization for complex networks with Markovian jumping parameters.Nonlinear dynamics with Markovian jumping parameters is considered for each node in a complex network. By utilizing the proposed event-triggered strategy, and based on the Lyapunov functional method and linear matrix inequality technology,some sufficient conditions for synchronization of complex networks are derived whether the transition rate matrix for the Markov process is completely known or not. Finally, a numerical example is presented to illustrate the effectiveness of the proposed theoretical results.展开更多
In this paper, global robust stability of uncertain stochastic recurrent neural networks with Markovian jumping parameters is considered. A novel Linear matrix inequal- ity（LMI） based stability criterion is obtained...In this paper, global robust stability of uncertain stochastic recurrent neural networks with Markovian jumping parameters is considered. A novel Linear matrix inequal- ity（LMI） based stability criterion is obtained to guarantee the asymptotic stability of uncertain stochastic recurrent neural networks with Markovian jumping parameters. The results are derived by using the Lyapunov functional technique, Lipchitz condition and S-procuture. Finally, numerical examples are given to demonstrate the correctness of the theoretical results. Our results are also compared with results discussed in [31] and [34] to show the effectiveness and conservativeness.展开更多
We investigate the stochastic asymptotical synchronization of chaotic Markovian jumping fuzzy cellular neural networks （MJFCNNs） with discrete, unbounded distributed delays, and the Wiener process based on sampled-d...We investigate the stochastic asymptotical synchronization of chaotic Markovian jumping fuzzy cellular neural networks （MJFCNNs） with discrete, unbounded distributed delays, and the Wiener process based on sampled-data control using the linear matrix inequality （LMI） approach. The Lyapunov–Krasovskii functional combined with the input delay approach as well as the free-weighting matrix approach is employed to derive several sufficient criteria in terms of LMIs to ensure that the delayed MJFCNNs with the Wiener process is stochastic asymptotical synchronous. Restrictions （e.g., time derivative is smaller than one） are removed to obtain a proposed sampled-data controller. Finally, a numerical example is provided to demonstrate the reliability of the derived results.展开更多
The global asymptotical stability for a class of stochastic delayed neural networks （SDNNs） with Maxkovian jumping parameters is considered. By applying Lyapunov functional method and Ito＇s differential rule, new d...The global asymptotical stability for a class of stochastic delayed neural networks （SDNNs） with Maxkovian jumping parameters is considered. By applying Lyapunov functional method and Ito＇s differential rule, new delay-dependent stability conditions are derived. All results are expressed in terms of linear matrix inequality （LMI）, and a numerical example is presented to illustrate the correctness and less conservativeness of the proposed method.展开更多
To improve the impact sound insulation performance of building floors and meet the objective requirements for living comfort of residents,in this article,three kinds of elastic cushion materials,Portuguese cork board,...To improve the impact sound insulation performance of building floors and meet the objective requirements for living comfort of residents,in this article,three kinds of elastic cushion materials,Portuguese cork board,BGL insulation sound insulation foam board,and EPP polypropylene plastic foam board,are applied to the sound insulation of a light frame wood floor structure of the same bedroom and compared to the ordinary floor.This study uses the transfer function method and transient excitation method to measure the sound insulation,damping ratio,and elastic modulus of materials,as well as the sound insulation of the floor under the jumping excitation method of daily behavior.Through comparative analysis,the results and factors of improving the sound insulation performance of the floor are obtained,according to which three types of elastic cushion materials and the floor covering composed of them have higher vibration and noise reduction performance.Among them,the overall sound insulation performance of BGL board floor is the highest,followed by EPP board and cork board floor,and ordinary OSB floor is the lowest.Under the jumping excitation method,three floating floors can improve the impact sound insulation performance of the middle and low-frequency bands.展开更多
This paper studies the nonstationary filtering problem of Markov jump system under <span style="white-space:nowrap;"><i>l</i><sub>2</sub> - <i>l</i><sub>...This paper studies the nonstationary filtering problem of Markov jump system under <span style="white-space:nowrap;"><i>l</i><sub>2</sub> - <i>l</i><sub>∞</sub> </span>performance. Due to the difference in propagation channels, signal strength and phase will inevitably change randomly and cause the waste of signals resources. In response to this problem, a channel fading model with multiplicative noise is introduced. And then a nonstationary filter, which receives signals more efficiently is designed. Meanwhile Lyapunov function is constructed for error analysis. Finally, the gain matrix for filtering is obtained by solving the matrix inequality, and the results showed that the nonstationary filter converges to the stable point more quickly than the traditional asynchronous filter, the stability of the designed filter is verified.展开更多
基金supported by the National Natural Science Foundation of China(Nos.51375383).
文摘In this study,we present a small,integrated jumping-crawling robot capable of intermittent jumping and self-resetting.Compared to robots with a single mode of locomotion,this multi-modal robot exhibits enhanced obstacle-surmounting capabilities.To achieve this,the robot employs a novel combination of a jumping module and a crawling module.The jumping module features improved energy storage capacity and an active clutch.Within the constraints of structural robustness,the jumping module maximizes the explosive power of the linear spring by utilizing the mechanical advantage of a closed-loop mechanism and controls the energy flow of the jumping module through an active clutch mechanism.Furthermore,inspired by the limb movements of tortoises during crawling and self-righting,a single-degree-of-freedom spatial four-bar crawling mechanism was designed to enable crawling,steering,and resetting functions.To demonstrate its practicality,the integrated jumping-crawling robot was tested in a laboratory environment for functions such as jumping,crawling,self-resetting,and steering.Experimental results confirmed the feasibility of the proposed integrated jumping-crawling robot.
基金supported by the National Natural Science Foundation of China(No.32270460).
文摘Bio-inspired jumping robots have emerged as a promising solution for traversing complex terrains inaccessible to conventional locomotion systems.Drawing upon the exceptional jumping kinematics observed in insects,researchers have developed multiple robotic prototypes mimicking biological propulsion mechanisms.However,the principal technological barrier resides in actuator systems,where current energy storage technologies suffer from inadequate energy density,fundamentally limiting takeoff velocity and jumping height.To overcome these limitations,we present a novel combustion-explosive propulsion system exhibiting high mass-specific energy release and rapid acceleration characteristics.By integrating this propulsion mechanism with a unique jumping leg structure,experimental validation through prototype testing demonstrated vertical leaps reaching 20 cm(1.67 times body length)under laboratory conditions,accompanied by comprehensive thermodynamic modeling using ABAQUS simulations that validated the effectiveness of this actuation system.The integrated design approach combines bionic structural design with combustible fuel formulations to offer new possibilities for the development of highly flexible robotic systems capable of negotiating obstacles in disaster response scenarios.
基金Supported by New Chongqing Innovative Young Talent Project(Grant No.2024NSCQ-qncxX0468)Natural Science Foundation of Chongqing(Grant No.CSTB2022NSCQ-MSX1283)Dreams Foundation of Jianghuai Advanced Technology Center(Grant No.2023-ZM01Z007).
文摘Jumping robots are highly capable of overcoming obstacles.However,their explosive force,short duration,and variable trajectories pose significant challenges in achieving stable landings in complex environments.Traditional approaches rely heavily on sophisticated algorithms and electronic sensor feedback systems to ensure landing stability,which increases the implementation complexity.Inspired by the process by which humans complete jumps and achieve stable landings in complex environments,this study proposes a novel landing control method for jumping robots.By designing a mechanically coupled perception-control structure based on mechanical logic computing,the robot simulates the real-time transmission of neural signals triggered by the ground reaction force(GRF)in human reflex loops,thereby simplifying traditional control approaches.Through the collaboration of a flexible mechanical spine and a bistable foot module,the robot achieves an average height of 16.8 cm and a distance of 25.36 cm in consecutive stable jumps.It also demonstrates reliable landing performance on challenging terrain including slopes and cobblestone surfaces.This paper proposes a novel landing control method for jumping robots that simplifies traditional control approaches.The method enables stable landings on complex terrain through a mechanically coupled perception-control structure.This approach has potential applications in tasks requiring mobility over uneven terrain,such as search and rescue.
文摘The Celebrated Jumping Frog of Calaveras County is a novel first published in 1865.It tells us a story taking place in the ancient mining camp of Angel's.By using analysis,the implication hidden behind the novel is explored here.That is,the abnormal social phenomena exist in the reality,the intrigue among people to gain profits and also the immoral measures people took for panning gold at the Gold Rush Era.
基金the National High Technology Research and Development Program of China (No.2006AA04Z245)Program for Changjiang Scholars and Innovative Research Team in University (PCSIRT) (IRT0423)
文摘This paper presents a mechanical model of jumping robot based on the biological mechanism analysis of frog. By biological observation and kinematic analysis the frog jump is divided into take-offphase, aerial phase and landing phase. We find the similar trajectories of hindlimb joints during jump, the important effect of foot during take-off and the role of forelimb in supporting the body. Based on the observation, the frog jump is simplified and a mechanical model is put forward. The robot leg is represented by a 4-bar spring/linkage mechanism model, which has three Degrees of Freedom （DOF） at hip joint and one DOF （passive） at tarsometatarsal joint on the foot. The shoulder and elbow joints each has one DOF for the balancing function of arm. The ground reaction force of the model is analyzed and compared with that of frog during take-off. The results show that the model has the same advantages of low likelihood of premature lift-off and high efficiency as the frog. Analysis results and the model can be employed to develop and control a robot capable of mimicking the jumping behavior of frog.
基金support from the National Natural Science Foundation of China (No.61803088)Joint fund of the Science&Technology Department of Liaoning Province and the State Key Laboratory of Robotics,China (Grant No.2021-KF-22-13)Natural Science Foundation of Fujian Province,China (No.2022J01543).
文摘In recent years,designing a soft robot that can jump continuously and quickly explore in a narrow space has been a hot research topic.With the continuous efforts of researchers,many types of actuators have been developed and successfully employed to actuate the rapid locomotion of soft robots.Although these mechanisms have enabled soft robots with excellent movement capabilities,they largely rely on external energy supply cables,which greatly limits their applications.Therefore,it is still a big challenge to realize the unconstrained movement of the soft robot and the flexible adjustment of the movement direction in a narrow space.Here,a wireless magnetically controlled soft jumping robot with single-leg is proposed,which can achieve continuous and rapid jumping motion.What's more interesting is that by changing the frequency and waveform of the control signal,this soft robot can easily switch between forward and backward motions.This motion direction switching function enables the magnetically controlled soft robot to return to the initial position without adjusting the direction when it completes the operation in a narrow pipe or takes the wrong path,which greatly improves the motion efficiency of the soft jumping robot and broadens its application field.
基金Project supported by the 2010 Yeungnam University Research Grant
文摘This paper is concerned with a delay-dependent state estimator for neutral-type neural networks with mixed timevarying delays and Markovian jumping parameters.The addressed neural networks have a finite number of modes,and the modes may jump from one to another according to a Markov process.By construction of a suitable Lyapunov-Krasovskii functional,a delay-dependent condition is developed to estimate the neuron states through available output measurements such that the estimation error system is globally asymptotically stable in a mean square.The criterion is formulated in terms of a set of linear matrix inequalities（LMIs）,which can be checked efficiently by use of some standard numerical packages.
基金the National Natural Science Foundation of China under Grant Nos.51178338 and 51478346State Key Laboratory of Disaster Reduction in Civil Engineering under Grant No.SLDRCE14-B-16
文摘This paper presents a modified half-sine-squared load model of the jumping impulses for a single person. The model is based on a database of 22,921 experimentally measured single jumping load cycles from 100 test subjects. Threedimensional motion capture technology in conjunction with force plates was employed in the experiment to record jumping loads. The variation range and probability distribution of the controlling parameters for the load model such as the impact factor, jumping frequency and contact ratio, are discussed using the experimental data. Correlation relationships between the three parameters are investigated. The contact ratio and jumping frequency are identified as independent model parameters, and an empirical frequency-dependent function is derived for the impact factor. The feasibility of the proposed load model is established by comparing the simulated load curves with measured ones, and by comparing the acceleration responses of a single-degree-of-freedom system to the simulated and measured jumping loads. The results show that a realistic individual jumping load can be generated by the proposed method. This can then be used to assess the dynamic response of assembly structures.
文摘Understanding the mechanism of coalescence-induced self-propelled jumping behavior provides distinct insights in designing and optimizing functional coatings with self-cleaning and anti-icing properties.However,to date self-propelled jumping phenomenon has only been observed and studied on superhydrophobic surfaces,other than those hydrophobic surfaces with weaker but fairish water-repellency,for instance,vulcanized silicon rubber(RTV) coatings.In this work,from the perspective of thermodynamic-based energy balance aspect,the reason that self-propelled jumping phenomenon does not happen on RTV coatings is studied.The apparent contact angles of droplets on RTV coatings can be less than the theoretical critical values therefore cannot promise energy surplus for the coalesced droplets onside.Besides,on RTV and superhydrophobic surfaces,the droplet-size dependent variation characteristics of the energy leftover from the coalescence process are opposite.For the droplets coalescing on RTV coatings,the magnitudes of energy dissipations are more sensitive to the increase in droplet size,compared to that of released surface energy.While for superhydrophobic coatings,the energy generated during the coalescence process can be more sensitive than the dissipations to the change in droplet size.
基金This work was supported by the National Nature Science Foundation of China(Grant No.51905367)the Foundation of Applied Basic Research General Youth Program of Shanxi(Grant No.201901D211011)the Scientific and Technological Innovation Programs of Higher Education Institutions of Shanxi(Grant No.2019L0176).
文摘This paper proposed a novel multi-motion wheel-leg-separated quadruped robot that can adapt to both the structured and unstructured grounds.The models of the positive/inverse position,velocity,acceleration,and workspace of the single leg mechanism in the quadruped robot were established.A single leg complex dynamic model of the quadruped robot is derived,considering the mass and inertial force of all the components in the mechanical leg.Combined with the human jumping law in situ,the jumping trajectory of the single leg was planned.To reduce landing impact,a soft landing strategy based on motion planning was proposed by simulating human knee bending and buffering action.The change law of the kinetic energy and momentum of all the links in the single leg mechanism during the jump process was studied,and the influencing factors of jump height were analyzed to realize the height control of the jump.Single leg jumping dynamics model was established,and a dynamic control strategy for trajectory tracking with foot force compensation was proposed.In Adams and MATLAB/Simulink software,the jump simulation of single leg mechanism was carried out.The prototype of quadruped robot was developed,and the jumping experiment of the single leg mechanism was tested.The robot's single leg bionic jumping and soft landing control are realized.
基金Project supported by the Grant from Zhejiang Lab,China(No.2019KE0AD01)。
文摘This study introduces a wheeled robot platform with jumping ability.To realize jump movement,a twisted string lever mechanism is used,which is characterized by its compactness and variable gear ratio.Based on robot modeling and parameter calculation,the twisted string actuator shows its advantage when applied to situations such as jumping of robots,where explosiveness of output force matters.In this study,a wheeled bipedal robot equipped with the twisted string actuator is designed and fabricated.It weighs 16.0 kg and can perform jumps when it encounters obstacles.The prototype can jump up to a stage with a maximum height of 1.0 m using electric power,which is approximately 1.5 times the height of its stretched legs.
基金Project supported by the National Natural Science Foundation of China(Grant No.11202084)
文摘This paper investigates event-triggered synchronization for complex networks with Markovian jumping parameters.Nonlinear dynamics with Markovian jumping parameters is considered for each node in a complex network. By utilizing the proposed event-triggered strategy, and based on the Lyapunov functional method and linear matrix inequality technology,some sufficient conditions for synchronization of complex networks are derived whether the transition rate matrix for the Markov process is completely known or not. Finally, a numerical example is presented to illustrate the effectiveness of the proposed theoretical results.
基金supported by NBHM project grant No.2/48(10)/2011-RD-II/865
文摘In this paper, global robust stability of uncertain stochastic recurrent neural networks with Markovian jumping parameters is considered. A novel Linear matrix inequal- ity（LMI） based stability criterion is obtained to guarantee the asymptotic stability of uncertain stochastic recurrent neural networks with Markovian jumping parameters. The results are derived by using the Lyapunov functional technique, Lipchitz condition and S-procuture. Finally, numerical examples are given to demonstrate the correctness of the theoretical results. Our results are also compared with results discussed in [31] and [34] to show the effectiveness and conservativeness.
基金the Ministry of Science and Technology of India(Grant No.DST/Inspire Fellowship/2010/[293]/dt.18/03/2011)
文摘We investigate the stochastic asymptotical synchronization of chaotic Markovian jumping fuzzy cellular neural networks （MJFCNNs） with discrete, unbounded distributed delays, and the Wiener process based on sampled-data control using the linear matrix inequality （LMI） approach. The Lyapunov–Krasovskii functional combined with the input delay approach as well as the free-weighting matrix approach is employed to derive several sufficient criteria in terms of LMIs to ensure that the delayed MJFCNNs with the Wiener process is stochastic asymptotical synchronous. Restrictions （e.g., time derivative is smaller than one） are removed to obtain a proposed sampled-data controller. Finally, a numerical example is provided to demonstrate the reliability of the derived results.
基金supported by the National Natural Science Foundation of China(60874114).
文摘The global asymptotical stability for a class of stochastic delayed neural networks （SDNNs） with Maxkovian jumping parameters is considered. By applying Lyapunov functional method and Ito＇s differential rule, new delay-dependent stability conditions are derived. All results are expressed in terms of linear matrix inequality （LMI）, and a numerical example is presented to illustrate the correctness and less conservativeness of the proposed method.
基金This study was funded by Co-Innovation Center of Efficient Processing and Utilization of Forest Resources(Nanjing Forestry University,Nanjing,210037,China).
文摘To improve the impact sound insulation performance of building floors and meet the objective requirements for living comfort of residents,in this article,three kinds of elastic cushion materials,Portuguese cork board,BGL insulation sound insulation foam board,and EPP polypropylene plastic foam board,are applied to the sound insulation of a light frame wood floor structure of the same bedroom and compared to the ordinary floor.This study uses the transfer function method and transient excitation method to measure the sound insulation,damping ratio,and elastic modulus of materials,as well as the sound insulation of the floor under the jumping excitation method of daily behavior.Through comparative analysis,the results and factors of improving the sound insulation performance of the floor are obtained,according to which three types of elastic cushion materials and the floor covering composed of them have higher vibration and noise reduction performance.Among them,the overall sound insulation performance of BGL board floor is the highest,followed by EPP board and cork board floor,and ordinary OSB floor is the lowest.Under the jumping excitation method,three floating floors can improve the impact sound insulation performance of the middle and low-frequency bands.
文摘This paper studies the nonstationary filtering problem of Markov jump system under <span style="white-space:nowrap;"><i>l</i><sub>2</sub> - <i>l</i><sub>∞</sub> </span>performance. Due to the difference in propagation channels, signal strength and phase will inevitably change randomly and cause the waste of signals resources. In response to this problem, a channel fading model with multiplicative noise is introduced. And then a nonstationary filter, which receives signals more efficiently is designed. Meanwhile Lyapunov function is constructed for error analysis. Finally, the gain matrix for filtering is obtained by solving the matrix inequality, and the results showed that the nonstationary filter converges to the stable point more quickly than the traditional asynchronous filter, the stability of the designed filter is verified.
