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Stability and agility: biped running over varied and unknown terrain

Yang YI,Zhi-yun LIN

Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 4,   Pages 283-292 doi: 10.1631/FITEE.1400284

Abstract: We tackle the problem of a biped running over varied and unknown terrain.moving fast, but it increases the challenge of dynamic balance, especially when a biped is running on variedterrain without terrain information (due to the difficulty and cost of obtaining the terrain informationThen to ensure a small state jump at touchdown on the unknown terrain, the velocity of the swing footIt is able to run over upward and downward terrain with a height difference of 0.15 m, which shows the

Keywords： Underactuated running biped     Dynamic balance     Varied and unknown terrain    

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Analysis of load and adaptability of disc cutters during shield tunneling in soft–hard varied strata

Frontiers of Structural and Civil Engineering 2023, Volume 17, Issue 4,   Pages 533-545 doi: 10.1007/s11709-023-0946-1

Abstract: cutters of shield machines exhibit unsatisfactory adaptability and performance during the soft–hard variedrotation state, cutting performance, and adaptability of disc cutters during shield tunneling in soft–hard varied

Keywords： shield tunneling     disc cutter load     laboratory excavation test     numerical calculation     soft–hard varied    

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Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment

LIU Hongyi, WANG Fei, WANG Lei

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2,   Pages 168-174 doi: 10.1007/s11465-007-0028-4

Abstract: To precisely implement the force control of robot manipulators in an unknown environment, a control strategyThe influences of unknown parameters of the environment on the contact force are analyzed based on experimentaltrajectory in the impedance model is predicted exactly and rapidly in the cases that the contact surface is unknown, the contact stiffness changes, and the fuzzy force control algorithm has high adaptability to the unknown

Keywords： predictive     tracking     corresponding     stiffness     algorithm    

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Enhancing the terrain adaptability of a multirobot cooperative transportation system via novel connectors

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0754-2

Abstract: Given limited terrain adaptability, most existing multirobot cooperative transportation systems (MRCTSsThis study proposes a novel MRCTS based on tracked mobile robots (TMRs) to improve terrain adaptability

Keywords： multirobot system     cooperative transportation     terrain adaptability     trajectory tracking     collaborative    

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Footholds optimization for legged robots walking on complex terrain

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0742-y

Abstract: The algorithm can efficiently run onboard and online by using terrain perception information to protecttripping on the edge of obstacles, and to improve its stability and safety when walking on complex terrainBy relying on the depth camera installed on the robot and obtaining the terrain heightmap, the algorithmthe algorithm on a hexapod robot, and verified its feasibility in a walking experiment on a complex terrain

Keywords： footholds optimization     legged robot     complex terrain adapting     hexapod robot     locomotion control    

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A robot fuzzy motion planning approach in unknown environments

FU Yi-li, JIN Bao, LI Han, WANG Shu-guo

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 3,   Pages 336-340 doi: 10.1007/s11465-006-0033-z

Abstract: A fuzzy robot motion planning approach is proposed in unknown environments for three-degree industrial

Keywords： manipulator     repelling influence     manipulator configuration     three-degree industrial     simulation    

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Contact detection with multi-information fusion for quadruped robot locomotion under unstructured terrain

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0760-4

Abstract: Compared with the body orientation under the time-based control method regardless of terrain, the root

Keywords： multi-information fusion     contact detection     quadruped robot     probabilistic contact model     unstructured terrain    

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A biofilter model for simultaneous simulation of toluene removal and bed pressure drop under varied inlet

Jinying XI,Insun KANG,Hongying HU,Xian ZHANG

Frontiers of Environmental Science & Engineering 2015, Volume 9, Issue 3,   Pages 554-562 doi: 10.1007/s11783-014-0671-z

Abstract: simultaneously predict the Volatile Organic Compounds (VOCs) removal and filter bed pressure drop under variedcalculated toluene removal efficiency and bed pressure drop satisfactorily fit the experimental data under varied

Keywords： Volatile Organic Compounds (VOCs)     biofilters     modelling     biomass accumulation     pressure drop    

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Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 2,   Pages 271-284 doi: 10.1007/s11465-020-0623-1

Abstract: A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposedFirst, a force-based terrain classification method is suggested.is developed to control the robot, and the parameters of active compliance control change with the terrain

Keywords： terrain classification     hexapod robot     legged robot     adaptive locomotion     gait control    

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Electromagnetic induction mapping at varied soil moisture reveals field-scale soil textural patterns

Hiruy ABDU, David A. ROBINSON, Janis BOETTINGER, Scott B. JONES

Frontiers of Agricultural Science and Engineering 2017, Volume 4, Issue 2,   Pages 135-145 doi: 10.15302/J-FASE-2017143

Abstract: were taken using a ground conductivity meter on six different days where volumetric water content ( ) varied

Keywords： soil electrical conductivity     soil texture mapping     temporal stability analysis    

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Integration of current identity-based district-varied health insurance schemes in China: implications

Hai-Qiang Wang, Zhi-Heng Liu, Yong-Zhao Zhang, Zhuo-Jing Luo

Frontiers of Medicine 2012, Volume 6, Issue 1,   Pages 79-84 doi: 10.1007/s11684-012-0179-5

Abstract: Despite their phasic success, these substantially identity-based, district-varied health insurance schemes

Keywords： health insurance     urban employee basic health insurance scheme     urban-resident scheme     new rural cooperative medical system    

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The problems about the theory of “Known for unknown”

Zhu Xun

Strategic Study of CAE 2015, Volume 17, Issue 2,   Pages 35-39

Abstract:

“Known for unknown” is an important guiding ideology and prospecting method in mineral“Known for unknown” discuss relative to the prospecting for new working target，mainly inspace layout and the difference between the point and the surface and the unknown regions and known oredeposits，and put forward prospecting method to analysis of development theory in “Known for unknownAnd then promote and determine “Known for unknown” theory in ore prospecting work in practical

Keywords： Known for unknown； theory； prospecting； method； practice    

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Experimental research on micro-terrain exploring technology based on deep-ocean cobalt-rich crusts exploitation

Luo Bowen,Xia Yimin,Wang Tao,Bai Hongfeng,Wang Kezhi

Strategic Study of CAE 2010, Volume 12, Issue 9,   Pages 78-83

Abstract: A single-beam swing ultrasonic micro-terrain detection method was proposed based on occurrence of cobalt

Keywords： cobalt-rich crusts     ultrasonic     micro-terrain     windowed     support vector    

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High-order moment methods for LRFD including random variables with unknown probability distributions

Zhao-Hui LU, Yan-Gang ZHAO, Zhi-Wu YU

Frontiers of Structural and Civil Engineering 2013, Volume 7, Issue 3,   Pages 288-295 doi: 10.1007/s11709-013-0210-1

Abstract: However, in reality, the probability distributions of some of the basic random variables are often unknownIn this paper, the high-order moment methods for LRFD including random variables with unknown probabilityfactors can be determined even when the probability distributions of the basic random variables are unknown

Keywords： high-order moment methods     applicable range     load and resistance factors     target mean resistance    

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3D Digital Terrain Modeling and Analysis in Water Resources and Hydropower Engineering

Zhong Denghua,Li Mingchao,Wang Gang,Guo Xiang,Wu Kangxin

Strategic Study of CAE 2005, Volume 7, Issue 7,   Pages 65-70

Abstract:

Due to the extensive terrain region and complicated irregular topographic form, great difficultiesWith the development of modern hydropower engineering, 3D digital terrain models have obtained wide applications, such as dynamic fill and dig of terrain, site layout, cruising of general construction layout, andof digital terrain, multiresolution model, terrain simplification and terrain reality.requirements of 3D geological models, the NURBS technique was introduced to rebuild the simplified terrain

Keywords： digital terrain model     triangulated irregular network     level of details     NURBS technique     water resources    

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Title Author Date Type Operation

Stability and agility: biped running over varied and unknown terrain

Yang YI,Zhi-yun LIN

Journal Article

Analysis of load and adaptability of disc cutters during shield tunneling in soft–hard varied strata

Journal Article

Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment

LIU Hongyi, WANG Fei, WANG Lei

Journal Article

Enhancing the terrain adaptability of a multirobot cooperative transportation system via novel connectors

Journal Article

Footholds optimization for legged robots walking on complex terrain

Journal Article

A robot fuzzy motion planning approach in unknown environments

FU Yi-li, JIN Bao, LI Han, WANG Shu-guo

Journal Article

Contact detection with multi-information fusion for quadruped robot locomotion under unstructured terrain

Journal Article

A biofilter model for simultaneous simulation of toluene removal and bed pressure drop under varied inlet

Jinying XI,Insun KANG,Hongying HU,Xian ZHANG

Journal Article

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Journal Article

Electromagnetic induction mapping at varied soil moisture reveals field-scale soil textural patterns

Hiruy ABDU, David A. ROBINSON, Janis BOETTINGER, Scott B. JONES

Journal Article

Integration of current identity-based district-varied health insurance schemes in China: implications

Hai-Qiang Wang, Zhi-Heng Liu, Yong-Zhao Zhang, Zhuo-Jing Luo

Journal Article

The problems about the theory of “Known for unknown”

Zhu Xun

Journal Article

Experimental research on micro-terrain exploring technology based on deep-ocean cobalt-rich crusts exploitation

Luo Bowen,Xia Yimin,Wang Tao,Bai Hongfeng,Wang Kezhi

Journal Article

High-order moment methods for LRFD including random variables with unknown probability distributions

Zhao-Hui LU, Yan-Gang ZHAO, Zhi-Wu YU

Journal Article

3D Digital Terrain Modeling and Analysis in Water Resources and Hydropower Engineering

Zhong Denghua,Li Mingchao,Wang Gang,Guo Xiang,Wu Kangxin

Journal Article