Spinning gait is valuable for quadruped robot,which can be used to avoid obstacles quickly for robot walking in unstructured environment. A kind of bionic flexible body is presented for quadruped robot to perform the ...Spinning gait is valuable for quadruped robot,which can be used to avoid obstacles quickly for robot walking in unstructured environment. A kind of bionic flexible body is presented for quadruped robot to perform the spinning gait. The spinning gait can be achieved by coordinated movement of body laterally bending and legs swing,which can improve the mobility of robot walking in the unstructured environments. The coordinated movement relationship between the body and the leg mechanism is presented. The stability of quadruped robot with spinning gait is analyzed based on the center of gravity( COG) projection method. The effect of different body bending angle on the stability of quadruped robot with spinning gait is mainly studied. For the quadruped robot walking with spinning gait,during one spinning gait cycle,the supporting polygon and the trajectory of COG projection point under different body bending angle are calculated. Finally,the stability margin of quadruped robot with spinning gait under different body bending angle is determined,which can be used to evaluate reasonableness of spinning gait parameters.展开更多
Effective perovskite crystallization control strategies for flexible substrates with scalable processing techniques have rarely been reported and remain an important challenge.In this study,3-mercaptobenzoic acid(3-MB...Effective perovskite crystallization control strategies for flexible substrates with scalable processing techniques have rarely been reported and remain an important challenge.In this study,3-mercaptobenzoic acid(3-MBA)was introduced into the perovskite precursor to modulate the crystallization dynamics,facilitating rapid nucleation while slowing down crystal growth.This approach enabled the formation of uniform,dense large-area perovskite films on flexible substrates.Consequently,a 12 cm^(2) flexible perovskite solar module achieved a power conversion efficiency(PCE)of 16.43%.Additionally,the module exhibited enhanced mechanical stability under various bending radii and improved light stability,marking a substantial advance toward the practical application of flexible perovskite solar modules.展开更多
基金Supported by the National Natural Science Foundation of China(No.51375289)Shanghai Municipal National Natural Science Foundation of China(No.13ZR1415500)Innovation Fund of Shanghai Education Commission(No.13YZ020)
文摘Spinning gait is valuable for quadruped robot,which can be used to avoid obstacles quickly for robot walking in unstructured environment. A kind of bionic flexible body is presented for quadruped robot to perform the spinning gait. The spinning gait can be achieved by coordinated movement of body laterally bending and legs swing,which can improve the mobility of robot walking in the unstructured environments. The coordinated movement relationship between the body and the leg mechanism is presented. The stability of quadruped robot with spinning gait is analyzed based on the center of gravity( COG) projection method. The effect of different body bending angle on the stability of quadruped robot with spinning gait is mainly studied. For the quadruped robot walking with spinning gait,during one spinning gait cycle,the supporting polygon and the trajectory of COG projection point under different body bending angle are calculated. Finally,the stability margin of quadruped robot with spinning gait under different body bending angle is determined,which can be used to evaluate reasonableness of spinning gait parameters.
基金financially supported by the National Natural Science Foundation of China(52203237)the Fundamental Research Funds for the Central Universities.
文摘Effective perovskite crystallization control strategies for flexible substrates with scalable processing techniques have rarely been reported and remain an important challenge.In this study,3-mercaptobenzoic acid(3-MBA)was introduced into the perovskite precursor to modulate the crystallization dynamics,facilitating rapid nucleation while slowing down crystal growth.This approach enabled the formation of uniform,dense large-area perovskite films on flexible substrates.Consequently,a 12 cm^(2) flexible perovskite solar module achieved a power conversion efficiency(PCE)of 16.43%.Additionally,the module exhibited enhanced mechanical stability under various bending radii and improved light stability,marking a substantial advance toward the practical application of flexible perovskite solar modules.
