Compliance motion and footstep adjustment are active balance control strategies from learning human subconscious behaviors.The force estimation without direct end-actuator force measurement and the optimal footsteps b...Compliance motion and footstep adjustment are active balance control strategies from learning human subconscious behaviors.The force estimation without direct end-actuator force measurement and the optimal footsteps based on complex analytical calculation are still challenging tasks for elementary and kid-size position-controlled robots.In this paper,an online compliant controller with Gravity Projection Observer(GPO),which can express the external force condition of perturbations by the estimated Projection of Gravity(PoG)with estimation covariance,is proposed for the realization of disturbance absorption,with which the robustness of the humanoid contact with environments can be maintained.The fuzzy footstep planner based on capturability analysis is proposed,and the Model Predictive Control(MPC)is applied to generate the desired steps.The fuzzification rules are well-designed and give the corresponding control output responding to complex and changeable external disturbances.To validate the presented methods,a series of experiments on a real humanoid robot are conducted.The results verify the effectiveness of the proposed balance control framework.展开更多
Ireland has become the latest European country to add its name to the list of recipients of financial aid from the EU and IMF and face protests concerning its austerity program. The country was given an 85-billion-eur...Ireland has become the latest European country to add its name to the list of recipients of financial aid from the EU and IMF and face protests concerning its austerity program. The country was given an 85-billion-euro ($113-billion)展开更多
Chinese paleontologists’ remarkable fossil findings buttress and expand Darwin’s theory Fossil discoveries across China are contributing, as well as offering new insights, to the ever-evolving theories presented by ...Chinese paleontologists’ remarkable fossil findings buttress and expand Darwin’s theory Fossil discoveries across China are contributing, as well as offering new insights, to the ever-evolving theories presented by English naturalist Charles Darwin a century and a half ago.展开更多
In the West Coast National Park in South Africa, about 100km north of CapeTown, are three footprints. At a glance, they look quite ordinary in size and shape,like those made by any modern woman walking through soft sa...In the West Coast National Park in South Africa, about 100km north of CapeTown, are three footprints. At a glance, they look quite ordinary in size and shape,like those made by any modern woman walking through soft sand. The difference展开更多
为了探讨多模态舞蹈锻炼对轻度认知障碍(MCI)老人认知功能及脚步准确性的干预作用,将MCI患者随机分为舞蹈组(Dance group DG)和控制组(Control group CG),DG组接受每周3次,每次1h、为期6个月的舞蹈训练,同时结合虚拟视频舞蹈游戏进行手...为了探讨多模态舞蹈锻炼对轻度认知障碍(MCI)老人认知功能及脚步准确性的干预作用,将MCI患者随机分为舞蹈组(Dance group DG)和控制组(Control group CG),DG组接受每周3次,每次1h、为期6个月的舞蹈训练,同时结合虚拟视频舞蹈游戏进行手脚协调及准确性训练.CG组无任何对应性训练,但保持定期社区健康宣教.6个月后,对两组干预者进行认知功能和脚步踩踏准确性评估.干预前,两组基线评估无显著性差异(P>0.05).6个月后,DG组简易智能精神状态量表(MMSE)和蒙特利尔认知能力评估(MoCA)评分、连线测试A-B(Trailmaking test A-B,TMT A-B)时间和脚步踩踏准确性与干预前相比有显著性差异(P<0.05);与CG组相比有显著性差异(P<0.05).与传统单一模式锻炼形式相比,组合式复杂训练对老年人行走能力具有积极影响,并且将复杂的身体训练和认知干预结合到临床实践中是有效且可行的.展开更多
基金supported by the National Natural Science Foundation of China under Grants 62173248,62073245.
文摘Compliance motion and footstep adjustment are active balance control strategies from learning human subconscious behaviors.The force estimation without direct end-actuator force measurement and the optimal footsteps based on complex analytical calculation are still challenging tasks for elementary and kid-size position-controlled robots.In this paper,an online compliant controller with Gravity Projection Observer(GPO),which can express the external force condition of perturbations by the estimated Projection of Gravity(PoG)with estimation covariance,is proposed for the realization of disturbance absorption,with which the robustness of the humanoid contact with environments can be maintained.The fuzzy footstep planner based on capturability analysis is proposed,and the Model Predictive Control(MPC)is applied to generate the desired steps.The fuzzification rules are well-designed and give the corresponding control output responding to complex and changeable external disturbances.To validate the presented methods,a series of experiments on a real humanoid robot are conducted.The results verify the effectiveness of the proposed balance control framework.
文摘Ireland has become the latest European country to add its name to the list of recipients of financial aid from the EU and IMF and face protests concerning its austerity program. The country was given an 85-billion-euro ($113-billion)
文摘Chinese paleontologists’ remarkable fossil findings buttress and expand Darwin’s theory Fossil discoveries across China are contributing, as well as offering new insights, to the ever-evolving theories presented by English naturalist Charles Darwin a century and a half ago.
文摘In the West Coast National Park in South Africa, about 100km north of CapeTown, are three footprints. At a glance, they look quite ordinary in size and shape,like those made by any modern woman walking through soft sand. The difference
文摘为了探讨多模态舞蹈锻炼对轻度认知障碍(MCI)老人认知功能及脚步准确性的干预作用,将MCI患者随机分为舞蹈组(Dance group DG)和控制组(Control group CG),DG组接受每周3次,每次1h、为期6个月的舞蹈训练,同时结合虚拟视频舞蹈游戏进行手脚协调及准确性训练.CG组无任何对应性训练,但保持定期社区健康宣教.6个月后,对两组干预者进行认知功能和脚步踩踏准确性评估.干预前,两组基线评估无显著性差异(P>0.05).6个月后,DG组简易智能精神状态量表(MMSE)和蒙特利尔认知能力评估(MoCA)评分、连线测试A-B(Trailmaking test A-B,TMT A-B)时间和脚步踩踏准确性与干预前相比有显著性差异(P<0.05);与CG组相比有显著性差异(P<0.05).与传统单一模式锻炼形式相比,组合式复杂训练对老年人行走能力具有积极影响,并且将复杂的身体训练和认知干预结合到临床实践中是有效且可行的.
