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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: novel continuous footholds optimization method for legged robots to expand their walking ability on complexslipping or tripping on the edge of obstacles, and to improve its stability and safety when walking on complexterrain.implemented the algorithm on a hexapod robot, and verified its feasibility in a walking experiment on a complexterrain.

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

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Dynamic motion of quadrupedal robots on challenging terrain: a kinodynamic optimization approach

Frontiers of Mechanical Engineering 2024, Volume 19, Issue 3, doi: 10.1007/s11465-024-0791-5

Abstract: The dynamic motion of quadrupedal robots on challenging terrain generally requires elaborate spatial–temporalkinodynamic motion planning and accurate control at higher refresh rate in comparison with regular terrainusually generate relatively coarse planning and employ motion replanning or reactive strategies to handle terrainThe resultant complex and computation-intensive controller may lead to nonoptimal motions or the breakingobjective function; and explicitly represent feasible foothold region and friction constraints based on terrain

Keywords： quadrupedal robot kinodynamic planning nonlinear optimization challenging terrain whole-body control

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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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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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Adapting to Climate Change: What Might Be Needed?

Ula Chrobak

Engineering 2020, Volume 6, Issue 11, Pages 1214-1216 doi: 10.1016/j.eng.2020.09.004

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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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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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GID complex regulates the differentiation of neural stem cells by destabilizing TET2

Frontiers of Medicine 2023, Volume 17, Issue 6, Pages 1204-1218 doi: 10.1007/s11684-023-1007-9

Abstract: interacts with the core subunits of the glucose-induced degradation-deficient (GID) ubiquitin ligase complex, an evolutionarily conserved ubiquitin ligase complex and is ubiquitinated by itself.The protein levels of GID complex subunits increased reciprocally with TET2 level upon NSC differentiationThe silencing of the core subunits of the GID complex, including WDR26 and ARMC8, attenuated the ubiquitinationOur results illustrated that the GID complex negatively regulates TET2 protein stability, further modulates

Keywords： TET2 GID complex neural stem cells differentiation of neurons

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Unraveling the complex roles of macrophages in obese adipose tissue: an overview

Frontiers of Medicine 2024, Volume 18, Issue 2, Pages 205-236 doi: 10.1007/s11684-023-1033-7

Abstract: Unraveling the complex roles of macrophages in obese adipose tissue: an overview

Keywords： roles macrophages adipose

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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.fast, but it increases the challenge of dynamic balance, especially when a biped is running on varied terrainwithout terrain information (due to the difficulty and cost of obtaining the terrain information inThen 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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Special issue: Reliability management of complex system

Frontiers of Engineering Management 2021, Volume 8, Issue 4, Pages 477-479 doi: 10.1007/s42524-021-0175-z

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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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Redox reactions of iron and manganese oxides in complex systems

Jianzhi Huang, Huichun Zhang

Frontiers of Environmental Science & Engineering 2020, Volume 14, Issue 5, doi: 10.1007/s11783-020-1255-8

Abstract: . • Oxidative reactions of Mn- and Fe-oxides in complex systems were reviewed. • Reductive reaction ofFe(II)/iron oxides in complex systems was examined. • Future research on examining the redox reactivityin complex systems was suggested.Due to experimental and analytical challenges associated with complex environments, there has been aTo bridge the gap between simple model systems and complex environmental systems, it is necessary to

Keywords： Iron oxides manganese oxides reduction oxidation complex systems reaction kinetics and mechanisms

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Independent cover meshless particle method for complex geotechnical engineering

Jianqiu WU, Yongchang CAI

Frontiers of Structural and Civil Engineering 2018, Volume 12, Issue 4, Pages 515-526 doi: 10.1007/s11709-017-0428-4

Abstract: A new Independent Cover Meshless Particle (ICMP) method is proposed for the analysis of complex geotechnicalsimple formulation and a low computational cost, and is easy for the numerical analysis and modeling of complex

Keywords： meshless method particle method independent cover CTM geotechnical engineering