With the target at simplicity like facilitating the mechanical system,the quadruped robots usually have limited degrees of freedom per leg.Addressing the robot whose legs have only two degrees of freedom,this paper ex...With the target at simplicity like facilitating the mechanical system,the quadruped robots usually have limited degrees of freedom per leg.Addressing the robot whose legs have only two degrees of freedom,this paper explores several turning strategies including altering the median value,changing the phase difference,and modifying the amplitude.The insights of the proposed methods are that we break down the symmetries which exist during the process of the robot locomotion and rebuild them.Since we probe into the turning feasibility from the points of the median value,phase difference and amplitude in the sine functions,these turning methods are feature of universality.In order to evaluate these methods,this paper presents a new way to weigh the stability,which can be easily applied to practical robots.Experiments demonstrate that the quadruped turns around with little effort and endeavor.展开更多
The paper considers the asymptotic solution of two-point boundary value problems εy” + A(x)y’ = 0, 0 ≤ x ≤ 1, when 0 1, A(x) is smooth with isolated zeros, y(0) = 0 and y(1) = 1. By using perturbation method, the...The paper considers the asymptotic solution of two-point boundary value problems εy” + A(x)y’ = 0, 0 ≤ x ≤ 1, when 0 1, A(x) is smooth with isolated zeros, y(0) = 0 and y(1) = 1. By using perturbation method, the limit asymptotic solutions of various cases are obtained. We provide a reliable and direct method for solving similar problems. The limiting solutions are constants in this paper, except in narrow boundary and interior layers of nonuniform convergence. These provide simple examples of boundary layer resonance.展开更多
文摘With the target at simplicity like facilitating the mechanical system,the quadruped robots usually have limited degrees of freedom per leg.Addressing the robot whose legs have only two degrees of freedom,this paper explores several turning strategies including altering the median value,changing the phase difference,and modifying the amplitude.The insights of the proposed methods are that we break down the symmetries which exist during the process of the robot locomotion and rebuild them.Since we probe into the turning feasibility from the points of the median value,phase difference and amplitude in the sine functions,these turning methods are feature of universality.In order to evaluate these methods,this paper presents a new way to weigh the stability,which can be easily applied to practical robots.Experiments demonstrate that the quadruped turns around with little effort and endeavor.
文摘The paper considers the asymptotic solution of two-point boundary value problems εy” + A(x)y’ = 0, 0 ≤ x ≤ 1, when 0 1, A(x) is smooth with isolated zeros, y(0) = 0 and y(1) = 1. By using perturbation method, the limit asymptotic solutions of various cases are obtained. We provide a reliable and direct method for solving similar problems. The limiting solutions are constants in this paper, except in narrow boundary and interior layers of nonuniform convergence. These provide simple examples of boundary layer resonance.
