This paper reports the design methodology and control strategy in the development of a novel hexapod robot HITCR-II that is suitable for walking on unstructured terrain. First, the entire sensor system is designed to ...This paper reports the design methodology and control strategy in the development of a novel hexapod robot HITCR-II that is suitable for walking on unstructured terrain. First, the entire sensor system is designed to equip the robot with the perception of external environment and its internal states. The structure parameters are optimized for improving the dexterity of the robot. Second, a foot-force distribution model and a compensation model are built to achieve posture control. The two models are capable of effectively improving the stability of hexapod walking on unstructured terrain. Finally, the Posture Control strategy based on Force Distribution and Compensation （PCFDC） is applied to the HITCR-II hexapod robot. The experimental results show that the robot can effectively restrain the vibration of trunk and keep stable while walking and crossing over the un- structured terrains.展开更多
The results of design and experiment of a submerged semi-circular breakwater at the Yangtze estuary show that the submerged structure will be unsafe when the general empirical wave force formula for semi-circular brea...The results of design and experiment of a submerged semi-circular breakwater at the Yangtze estuary show that the submerged structure will be unsafe when the general empirical wave force formula for semi-circular breakwater is used in design. Therefore, a new calculation method for the wave forces acting on a submerged semi-circular structure is given in this paper, in which the wave force acting on the inside circumference of semi-circular arch is included, and the phase modification coefficient in the general empirical formula is adjusted as well. The new wave force calculation method has been Verified by the results of seven related physical model tests and adopted in the design of the south esturary jetty of the first stage project of Deep Channel Improvement Project of the Yangtze River Estuary, the total jetty length being 17.5 km.展开更多
基金Acknowledgment This work is supported by the National Natural Science Foundation （Grant No. 51105101）, and the Self-Planned Task of State Key Laboratory of Robotics and System （Grant Nos. SKLRS200901A01 and SKLRS200901A03.
文摘This paper reports the design methodology and control strategy in the development of a novel hexapod robot HITCR-II that is suitable for walking on unstructured terrain. First, the entire sensor system is designed to equip the robot with the perception of external environment and its internal states. The structure parameters are optimized for improving the dexterity of the robot. Second, a foot-force distribution model and a compensation model are built to achieve posture control. The two models are capable of effectively improving the stability of hexapod walking on unstructured terrain. Finally, the Posture Control strategy based on Force Distribution and Compensation （PCFDC） is applied to the HITCR-II hexapod robot. The experimental results show that the robot can effectively restrain the vibration of trunk and keep stable while walking and crossing over the un- structured terrains.
文摘The results of design and experiment of a submerged semi-circular breakwater at the Yangtze estuary show that the submerged structure will be unsafe when the general empirical wave force formula for semi-circular breakwater is used in design. Therefore, a new calculation method for the wave forces acting on a submerged semi-circular structure is given in this paper, in which the wave force acting on the inside circumference of semi-circular arch is included, and the phase modification coefficient in the general empirical formula is adjusted as well. The new wave force calculation method has been Verified by the results of seven related physical model tests and adopted in the design of the south esturary jetty of the first stage project of Deep Channel Improvement Project of the Yangtze River Estuary, the total jetty length being 17.5 km.
