Search | Engineering

Subscribe Submit

Home Journals Focus Achievement Fronts About Us 中文版

Resource Type

Journal Article 112

Conference Videos 16

Year

2023 14

2022 27

2021 9

2020 12

2019 12

2018 7

2017 4

2016 4

2015 9

2014 2

2013 5

2012 3

2011 3

2010 1

2009 2

2008 4

2007 3

2006 5

2005 1

2003 1

open ︾

Keywords

parallel robot 6

mobile robot 5

Mobile robot 4

quadruped robot 4

Exoskeleton 3

Home service robot 2

Human-robot interaction 2

Human–robot collaboration 2

bionic robot 2

cable-driven 2

manipulator 2

motion planning 2

navigation 2

3D scanning 1

in-situ machining 1

Accuracy evaluation 1

Adaptive control 1

Adaptive network fuzzy inference system 1

Additive white Gaussian noise 1

open ︾

Search scope:

排序： Display mode:

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: This paper proposes a novel continuous footholds optimization method for legged robots to expand theiralgorithm can efficiently run onboard and online by using terrain perception information to protect the robotBy relying on the depth camera installed on the robot and obtaining the terrain heightmap, the algorithmThen, it constructs an optimization function combined with the robot’s state information to select thenext footholds and generate the motion trajectory to control the robot’s locomotion.

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

HTML PDF Collect

Landing control method of a lightweight four-legged landing and walking robot

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 4, doi: 10.1007/s11465-022-0707-1

Abstract: A lightweight four-legged landing and walking robot called “FLLWR” is designed in this study.The robot integrates the functions of a lander and a rover, including folding, deploying, repetitive

Keywords： landing and walking robot lunar exploration buffer landing compliance control

HTML PDF Collect

A novel six-legged walking machine tool for

Jimu LIU, Yuan TIAN, Feng GAO

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 3, Pages 351-364 doi: 10.1007/s11465-020-0594-2

Abstract: This study proposes a novel six-legged walking machine tool consisting of a legged mobile robot and aA hierarchical motion planning scheme is proposed to take advantage of the large workspace of the legged

Keywords： legged robot parallel mechanism mobile machine tool in-situ machining

HTML PDF Collect

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: Legged robots have potential advantages in mobility compared with wheeled robots in outdoor environmentslocomotion based on different surface materials plays an important role in improving the stability of leggedFinally, the method is integrated on a hexapod robot and tested by real experiments.Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam.The strategies and experimental results can be a valuable reference for other legged robots applied in

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

HTML PDF Collect

Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 2, Pages 193-208 doi: 10.1007/s11465-019-0569-3

Abstract: As a well-explored template that captures the essential dynamical behaviors of legged locomotion on sagittalthis study presents a novel two-layered sagittal SLIP-anchored (SSA) task space control for a monopode robotprediction accuracy, and a two-layered SSA task space controller is subsequently developed for the monopode robotThe lower layer enforces the monopode robot to reproduce a generated CoM movement by using a task spaceConsequently, an adaptive hopping behavior is exhibited by the robot when traversing irregular terrain

Keywords： legged robots spring-loaded inverted pendulum task space control apex return map deadbeat control irregular

HTML PDF Collect

Integrated design of legged mechatronic system

Chin-Yin CHEN, I-Ming CHEN, Chi-Cheng CHENG

Frontiers of Mechanical Engineering 2009, Volume 4, Issue 3, Pages 264-275 doi: 10.1007/s11465-009-0060-7

Abstract: paper presents a system based on the integrated design and experiment for a one degree-of-freedom (DOF) legged

Keywords： integrated design design for control legged mechatronic system computer aided rapid system integration

HTML PDF Collect

Untethered quadrupedal hopping and bounding on a trampoline

Boxing WANG, Chunlin ZHOU, Ziheng DUAN, Qichao ZHU, Jun WU, Rong XIONG

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 2, Pages 181-192 doi: 10.1007/s11465-019-0559-5

Abstract: In this study, we attempt to solve the problem of controller design with the help of a robot withoutany elastic mounted parts, in which the untethered robot is made to jump on a trampoline.Together with other motion generators based on kinematic law, the robot can perform translational and

Keywords： hopping and bounding gait compliant mechanism compliant contact balance control strategy legged locomotioncontrol quadruped robot

HTML PDF Collect

A total torque index for dynamic performance evaluation of a radial symmetric six-legged robot

Kejia LI, Xilun DING, Marco CECCARELL

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2, Pages 219-230 doi: 10.1007/s11465-012-0320-9

Abstract:

This article focuses on the dynamic index and performance of a radial symmetric six-legged robot.At first the structure of the robot is described in brief and its inverse kinematics is presented.leg’s structure and operation for consuming minimum power and avoiding unstable postures of the robotA characterization of the proposed six-legged robot is obtained by a parametric analysis of robot performance

Keywords： six-legged robots dynamic modeling performance index

HTML PDF Collect

Review of human–robot coordination control for rehabilitation based on motor function evaluation

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 2, doi: 10.1007/s11465-022-0684-4

Abstract: As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliaryOne of the main elements of such a human–robot coupling system is a control system to ensure human–robotThis review aims to summarise the development of human–robot coordination control and the associatedrehabilitation needs regarding lower limbs are analysed in detail, forming the basis for the human–robotThen, human–robot coordination is discussed in terms of three aspects: modelling, perception and control

Keywords： human–robot coupling lower limb rehabilitation exoskeleton robot motor assessment dynamical model

HTML PDF Collect

Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 4, doi: 10.1007/s11465-022-0687-1

Abstract: linear actuator (CDLA) capable of bidirectional motion is proposed in this study to design a masticatory robotThis work also exploits the proposed CDLA and designs a masticatory robot called Southeast Universitymasticatory robot (SMAR) to solve existing problems, such as bulky driving linkage and position changeChewing experiments are carried out on the developed masticatory robot to verify whether the CDLA can

Keywords： masticatory robot cable-driven linear actuator parallel robot stiffness analysis

HTML PDF Collect

Design and modeling of continuum robot based on virtual-center of motion mechanism

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0739-6

Abstract: Continuum robot has attracted extensive attention since its emergence.Thus, it is well suited for use as a continuum robot joint.Second, the VCM mechanism is combined to form a flexural joint suitable for the continuum robot.Furthermore, the motion performance of the designed continuum robot is evaluated.compressive strength is approximately 1915 N/mm, and the repeatable positioning accuracies of the continuum robot

Keywords： VCM mechanism continuum robot flexural joint pseudo-rigid body model cable-driven

HTML PDF Collect

Strategy for robot motion and path planning in robot taping

Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDÉN,Victor MALMGREN

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2, Pages 195-203 doi: 10.1007/s11465-016-0390-1

Abstract: We have introduced an automatic robot taping system consisting of a robot manipulator, a rotating platformA collision avoidance algorithm is introduced for the robot taping manipulation.

Keywords： robot taping path planning robot manipulation 3D scanning

HTML PDF Collect

A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm

Prases K. MOHANTY,Dayal R. PARHI

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 4, Pages 317-330 doi: 10.1007/s11465-014-0304-z

Abstract:

Planning of the shortest/optimal route is essential for efficient operation of autonomous mobile robotnew meta-heuristic algorithm, has been implemented for solving the path planning problem of mobile robotobjective function that satisfied the conditions of obstacle avoidance and target seeking behavior of robotDepending upon the value of objective function of each weed in colony, the robot avoids obstacles andThe optimal trajectory is generated with this navigational algorithm when robot reaches its destination

Keywords： mobile robot obstacle avoidance Invasive Weed Optimization navigation

HTML PDF Collect

An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2, Pages 197-200 doi: 10.1007/s11465-007-0033-7

Abstract: Using two micro-motors, a novel omni-direction miniature wheeled robot is designed on the basis of theThe robot takes advantage of the Bluetooth technology to wirelessly transmit data at a short distanceThe visual navigation and control system allow the robot to navigate and track the target and to accomplish

Keywords： measuring distance autonomous locomotion advantage navigation

HTML PDF Collect

Analytical dynamic solution of a flexible cable-suspended manipulator

Mahdi BAMDAD

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 4, Pages 350-359 doi: 10.1007/s11465-013-0271-9

Abstract:

Cable-suspended manipulators are used in large scale applications with, heavy in weight and long in span cables. It seems impractical to maintain cable assumptions of smaller robots for large scale manipulators. The interactions among the cables, platforms and actuators can fully evaluate the coupled dynamic analysis. The structural flexibility of the cables becomes more pronounced in large manipulators. In this paper, an analytic solution is provided to solve cable vibration. Also, a closed form solution can be adopted to improve the dynamic response to flexibility. The output is provided by the optimal torque generation subject to the actuator limitations in a mechatronic sense. Finally, the performance of the proposed algorithm is examined through simulations.

Keywords： parallel robot flexible cable suspended robot dynamic