In this paper, a compound biped locomotion algorithm for a humanoid robot under development is presented. This paper is organized in two main parts. In the first part, it mainly focuses on the structural design for th...In this paper, a compound biped locomotion algorithm for a humanoid robot under development is presented. This paper is organized in two main parts. In the first part, it mainly focuses on the structural design for the humanoid. In the second part, the compound biped locomotion algorithm is presented based on the reference motion and reference Zero Moment Point （ZMP）. This novel algorithm includes calculation of the upper body motion and trajectory of the Center of Gravity （COG） of the robot. First, disturbances from the environment are eliminated by the compensational movement of the upper body; then based on the error between a reference ZMP and the real ZMP as well as the relation between ZMP and CoG, the CoG error is calculated, thus leading to the CoG trajectory. Then, the motion of the robot converges to its reference motion, generating stable biped walking. Because the calculation of upper body motion and trajectory of CoG both depend on the reference motion, they can work in parallel, thus providing double insurances against the robot＇s collapse. Finally, the algorithm is validated by different kinds of simulation experiments.展开更多
We have performed sequential studies on new types of soft rubber for their application as artificial skin in robots and haptic sensors. Based on a proposed electrolytic polymerization method and novel adhesion techniq...We have performed sequential studies on new types of soft rubber for their application as artificial skin in robots and haptic sensors. Based on a proposed electrolytic polymerization method and novel adhesion technique for rubber and a metal that utilizes a metal complex hydrate, we have developed an MCF rubber sensor. This sensor uses a magnetic compound fluid (MCF), natural rubber (NR-latex) or chloroprene rubber latex (CR-latex), and requires the application of a magnetic field. The potential application of the developed sensor in various engineering scenarios and our daily lives is significant. In this regard, we investigated the effects of γ-irradiation, infrared radiation, microwaves, and a thermal source on the MCF rubber sensor. We established that the MCF rubber is effective enough to be used for power generation of broadband electro-magnetic waves from γ-rays to microwaves, including the range of the solar spectrum, which is the typical characteristic obtained in the present investigation. The remarkable attribute is that the MCF rubber sensor dose is not degraded by γ-irradiation. We also demonstrated the effectiveness of the MCF rubber sensor in energy harvesting.展开更多
基金supported by the National Natural Science Foundation of China (No.60375031)General Administration of Civil Aviation of China(No.60776816)the Natural Science Foundation of Guangdong Province (No.8251064101000005)
文摘In this paper, a compound biped locomotion algorithm for a humanoid robot under development is presented. This paper is organized in two main parts. In the first part, it mainly focuses on the structural design for the humanoid. In the second part, the compound biped locomotion algorithm is presented based on the reference motion and reference Zero Moment Point （ZMP）. This novel algorithm includes calculation of the upper body motion and trajectory of the Center of Gravity （COG） of the robot. First, disturbances from the environment are eliminated by the compensational movement of the upper body; then based on the error between a reference ZMP and the real ZMP as well as the relation between ZMP and CoG, the CoG error is calculated, thus leading to the CoG trajectory. Then, the motion of the robot converges to its reference motion, generating stable biped walking. Because the calculation of upper body motion and trajectory of CoG both depend on the reference motion, they can work in parallel, thus providing double insurances against the robot＇s collapse. Finally, the algorithm is validated by different kinds of simulation experiments.
文摘We have performed sequential studies on new types of soft rubber for their application as artificial skin in robots and haptic sensors. Based on a proposed electrolytic polymerization method and novel adhesion technique for rubber and a metal that utilizes a metal complex hydrate, we have developed an MCF rubber sensor. This sensor uses a magnetic compound fluid (MCF), natural rubber (NR-latex) or chloroprene rubber latex (CR-latex), and requires the application of a magnetic field. The potential application of the developed sensor in various engineering scenarios and our daily lives is significant. In this regard, we investigated the effects of γ-irradiation, infrared radiation, microwaves, and a thermal source on the MCF rubber sensor. We established that the MCF rubber is effective enough to be used for power generation of broadband electro-magnetic waves from γ-rays to microwaves, including the range of the solar spectrum, which is the typical characteristic obtained in the present investigation. The remarkable attribute is that the MCF rubber sensor dose is not degraded by γ-irradiation. We also demonstrated the effectiveness of the MCF rubber sensor in energy harvesting.
