This paper presents a template-based control method for achieving diverse trotting motions in quadrupedal systems,with a focus on smooth transitions between walking trot,regular trot,and flying(running)trot.First,we e...This paper presents a template-based control method for achieving diverse trotting motions in quadrupedal systems,with a focus on smooth transitions between walking trot,regular trot,and flying(running)trot.First,we extend the Clock Torque Actuated Spring-Loaded Inverted Pendulum(CT-SLIP)template to three dimensions,creating a comprehensive control framework.A template-based control strategy is then developed to compute joint torques for stable locomotion,along with a detailed approach for transitioning between gaits.To enable the flight phase in the running trot,a projectile motion model is incorporated into the template.For improved turning,we implement a yaw control method that rotates the swing foot plane to enhance stability,enabling higher turning rates while maintaining steady forward motion and balance.To further enhance locomotion stability and performance,a Whole-Body Controller(WBC)is integrated.The proposed method is implemented and rigorously evaluated in the MuJoCo simulator,with experiments testing gait transitions and disturbance rejection.Additionally,comparative studies assess the impacts of both swing foot plane rotation and the WBC on overall system performance.Furthermore,the approach is validated through real hardware experiments on Unitree GO1 quadrupedal robot,successfully demonstrating smooth gait transitions,stable locomotion,and practical applicability in real-world scenarios.展开更多
In this work, TiO2 nanorods with uniform diameter of about 100 nm and a length of several micrometers were successfully prepared by the sol-gel template method. Also the influence of molar ratios of precursor on the m...In this work, TiO2 nanorods with uniform diameter of about 100 nm and a length of several micrometers were successfully prepared by the sol-gel template method. Also the influence of molar ratios of precursor on the morphology and structure of TiO2 nanorods has been investigated. The prepared samples were characterized by Fourier transform infrared spectroscopy （FTIR）, X-ray diffraction （XRD） and scanning electron microscopy （SEM）. The XRD results indicated that the TiO2 nanorods were crystallized in the anatase and rutile phases, after annealing to 400-700℃ up to 2 h.展开更多
基金supported by The Scientific and Technological Research Council of Türkiye(TUBITAK)1515 Frontier R&D Laboratories Support Program for Turk Telekom neXt Generation Technologies Lab(XGeNTT)under Project No.5249902supported by the Scientific Research Projects Coordination Unit of Middle East Technical University(METU)under Project No.ADEP-301-2025-11613.
文摘This paper presents a template-based control method for achieving diverse trotting motions in quadrupedal systems,with a focus on smooth transitions between walking trot,regular trot,and flying(running)trot.First,we extend the Clock Torque Actuated Spring-Loaded Inverted Pendulum(CT-SLIP)template to three dimensions,creating a comprehensive control framework.A template-based control strategy is then developed to compute joint torques for stable locomotion,along with a detailed approach for transitioning between gaits.To enable the flight phase in the running trot,a projectile motion model is incorporated into the template.For improved turning,we implement a yaw control method that rotates the swing foot plane to enhance stability,enabling higher turning rates while maintaining steady forward motion and balance.To further enhance locomotion stability and performance,a Whole-Body Controller(WBC)is integrated.The proposed method is implemented and rigorously evaluated in the MuJoCo simulator,with experiments testing gait transitions and disturbance rejection.Additionally,comparative studies assess the impacts of both swing foot plane rotation and the WBC on overall system performance.Furthermore,the approach is validated through real hardware experiments on Unitree GO1 quadrupedal robot,successfully demonstrating smooth gait transitions,stable locomotion,and practical applicability in real-world scenarios.
文摘In this work, TiO2 nanorods with uniform diameter of about 100 nm and a length of several micrometers were successfully prepared by the sol-gel template method. Also the influence of molar ratios of precursor on the morphology and structure of TiO2 nanorods has been investigated. The prepared samples were characterized by Fourier transform infrared spectroscopy （FTIR）, X-ray diffraction （XRD） and scanning electron microscopy （SEM）. The XRD results indicated that the TiO2 nanorods were crystallized in the anatase and rutile phases, after annealing to 400-700℃ up to 2 h.
