A multiple-legged robot is traditionally controlled by using its dynamic model.But the dynamic-model-based approach fails to acquire satisfactory performances when the robot faces rough terrains and unknown environmen...A multiple-legged robot is traditionally controlled by using its dynamic model.But the dynamic-model-based approach fails to acquire satisfactory performances when the robot faces rough terrains and unknown environments.Referring animals＇ neural control mechanisms,a control model is built for a quadruped robot walking adaptively.The basic rhythmic motion of the robot is controlled by a well-designed rhythmic motion controller（RMC） comprising a central pattern generator（CPG） for hip joints and a rhythmic coupler（RC） for knee joints.CPG and RC have relationships of motion-mapping and rhythmic couple.Multiple sensory-motor models,abstracted from the neural reflexes of a cat,are employed.These reflex models are organized and thus interact with the CPG in three layers,to meet different requirements of complexity and response time to the tasks.On the basis of the RMC and layered biological reflexes,a quadruped robot is constructed,which can clear obstacles and walk uphill and downhill autonomously,and make a turn voluntarily in uncertain environments,interacting with the environment in a way similar to that of an animal.The paper provides a biologically inspired architecture,with which a robot can walk adaptively in uncertain environments in a simple and effective way,and achieve better performances.展开更多
This paper is concerned with the design, optimization, and motion control of a radiocontrolled, multi-link, free-swimming biomimetic robotic fish based on an optimized kinematic and dynamic model of fish swimming. The...This paper is concerned with the design, optimization, and motion control of a radiocontrolled, multi-link, free-swimming biomimetic robotic fish based on an optimized kinematic and dynamic model of fish swimming. The performance of the robotic fish is determined by both the fish＇s morphological characteristics and kinematic parameters. By applying ichthyologic theories of propulsion, a design framework that takes into consideration both mechatronic constraints in physical realization and feasibility of control methods is presented, under which a multiple linked robotic fish that integrates both the carangiform and anguilliform swimming modes can be easily developed. Taking account of both theoretic hydrodynamic issues and practical problems in engineering realization, the optimal link-lengthratios are numerically calculated by an improved constrained cyclic variable method, which are successfully applied to a series of real robotic fishes. The rhythmic movements of swimming are driven by a central pattern generator （CPG） based on nonlinear oscillations, and up-and-down motion by regulating the rotating angle of pectoral fins. The experimental results verify that the presented scheme and method are effective in design and implementation.展开更多
By using the equations describing typhoons in the atmosphere, the steady three-dimensional stream fieldand the corresponding pressure and temperature fields are obtained. The three-dimensional velocity fields construc...By using the equations describing typhoons in the atmosphere, the steady three-dimensional stream fieldand the corresponding pressure and temperature fields are obtained. The three-dimensional velocity fields construct anonlinear autonomuos system in the physical space. It is shown that the center of typhoon is a local minimum pressurewith positive vertical vorticity and horizontal convergence in lower levels and a local maximum pressure with negativevertical vorticity and horizontal divergence in the upper levels. Because there exits two saddle-focus points in the autnomous system, there exist the spiral patterns, in which the winds blow spirally in and out of the center in the lowerand upper levels in the Northern Hemisphere and cause the ascending motion near the center and dascending motionnear the edge, respectively . All these are in fair conformity with the observations. It implies that the rotation of earthand the viscosity of air play an important role in the spiral structure of typhoons.展开更多
基金supported by National Natural Science Foundation of China (Grant No. 50905012)the Fundamental Research Funds for the Central Universities of China (Grant No. 2012JBM088)
文摘A multiple-legged robot is traditionally controlled by using its dynamic model.But the dynamic-model-based approach fails to acquire satisfactory performances when the robot faces rough terrains and unknown environments.Referring animals＇ neural control mechanisms,a control model is built for a quadruped robot walking adaptively.The basic rhythmic motion of the robot is controlled by a well-designed rhythmic motion controller（RMC） comprising a central pattern generator（CPG） for hip joints and a rhythmic coupler（RC） for knee joints.CPG and RC have relationships of motion-mapping and rhythmic couple.Multiple sensory-motor models,abstracted from the neural reflexes of a cat,are employed.These reflex models are organized and thus interact with the CPG in three layers,to meet different requirements of complexity and response time to the tasks.On the basis of the RMC and layered biological reflexes,a quadruped robot is constructed,which can clear obstacles and walk uphill and downhill autonomously,and make a turn voluntarily in uncertain environments,interacting with the environment in a way similar to that of an animal.The paper provides a biologically inspired architecture,with which a robot can walk adaptively in uncertain environments in a simple and effective way,and achieve better performances.
基金the National Natural Science Foundation of China (Grant Nos. 60505015, 60775053 and 60635010)"863" Program (Grant No. 2007AA04Z202)
文摘This paper is concerned with the design, optimization, and motion control of a radiocontrolled, multi-link, free-swimming biomimetic robotic fish based on an optimized kinematic and dynamic model of fish swimming. The performance of the robotic fish is determined by both the fish＇s morphological characteristics and kinematic parameters. By applying ichthyologic theories of propulsion, a design framework that takes into consideration both mechatronic constraints in physical realization and feasibility of control methods is presented, under which a multiple linked robotic fish that integrates both the carangiform and anguilliform swimming modes can be easily developed. Taking account of both theoretic hydrodynamic issues and practical problems in engineering realization, the optimal link-lengthratios are numerically calculated by an improved constrained cyclic variable method, which are successfully applied to a series of real robotic fishes. The rhythmic movements of swimming are driven by a central pattern generator （CPG） based on nonlinear oscillations, and up-and-down motion by regulating the rotating angle of pectoral fins. The experimental results verify that the presented scheme and method are effective in design and implementation.
文摘By using the equations describing typhoons in the atmosphere, the steady three-dimensional stream fieldand the corresponding pressure and temperature fields are obtained. The three-dimensional velocity fields construct anonlinear autonomuos system in the physical space. It is shown that the center of typhoon is a local minimum pressurewith positive vertical vorticity and horizontal convergence in lower levels and a local maximum pressure with negativevertical vorticity and horizontal divergence in the upper levels. Because there exits two saddle-focus points in the autnomous system, there exist the spiral patterns, in which the winds blow spirally in and out of the center in the lowerand upper levels in the Northern Hemisphere and cause the ascending motion near the center and dascending motionnear the edge, respectively . All these are in fair conformity with the observations. It implies that the rotation of earthand the viscosity of air play an important role in the spiral structure of typhoons.
