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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: The knowledge of various ground properties and adaptive locomotion based on different surface materialsA terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposedThen, an adaptive locomotion on different ground properties is proposed.The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters ofactive compliance control change with the terrain.

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

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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: with the robot’s state information to select the next footholds and generate the motion trajectory to controlthe robot’s locomotion.

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

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Design and locomotion analysis of two kinds of rolling expandable mobile linkages with a single degree

Yanlin HAO, Yaobin TIAN, Jianxu WU, Yezhuo LI, Yan-An YAO

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 3,   Pages 365-373 doi: 10.1007/s11465-020-0585-3

Abstract: A novel passive rolling locomotion is also developed, which enables the robots to roll and stand on aTo verify the design, two prototypes are manufactured, wherein the dynamic and passive rolling locomotion

Keywords： rolling locomotion     expandable mechanism     mechanism design     zero moment point (ZMP) analysis    

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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: with springy legs, a successful jump usually requires both suitable elastic parts and well-designed controlAn intuitive control law is proposed to balance foot contact forces; in this manner, excessive pitchExperiments are conducted to validate the effectiveness of the proposed control framework.

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

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Design of a cyclic inhibitory CPG controller for the locomotion of a snakelike robot

LU Zhen-li, MA Shu-gen, LI Bin, WANG Yue-chao

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 4,   Pages 396-402 doi: 10.1007/s11465-006-0046-7

Abstract: The rhythmic locomotion of a creature is a self-excitation behavior of the CPG (central pattern generatorBy implementing this control architecture to a simulator based on the mechanical dynamics of a real snake-likeparameter setting of the CPG controller to modulate the number of S shapes, the curve of the body shape, locomotionvelocity, and the curve of the locomotion trajectory for serpentine locomotion.Moreover, we demonstrated that Perambulator-I can successfully exhibit serpentine locomotion by using
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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: Reliable foot-to-ground contact state detection is crucial for the locomotion control of quadruped robotsMoreover, a relevant control strategy to address unexpected early and delayed contacts is planned.The control strategy for unexpected foot-to-ground contacts can correct the control actions of each legexperiments are conducted on the experimental prototype, and results validate the contact detection and controlCompared 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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An experimental analysis of human straight walking

Tao LI, Marco CECCARELLI

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 1,   Pages 95-103 doi: 10.1007/s11465-013-0357-4

Abstract:

In this paper, an experimental analysis of human straight walking has been presented. Experiments on human walking were carried out by using Cassino tracking system which is a passive cable-based measuring system. This system is adopted because it is capable of both pose and wrench measurements with fairly simple monitoring of operation. By using experimental results, trajectories of a human limb extremity and its posture have been analyzed; forces that are exerted against cables by the limb of a person under test have been measured by force sensors as well. Furthermore, by using experimental tests, modeling and characterization of the human straight walking gait have been proposed.

Keywords： human locomotion     walking gait     characterization     humanoid robot     biped robot    

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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: A control system is developed.The visual navigation and control system allow the robot to navigate and track the target and to accomplishautonomous locomotion.

Keywords： measuring     distance     autonomous locomotion     advantage     navigation    

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Dynamic compliance of energy-saving legged elastic parallel joints for quadruped robots: design and realization

Frontiers of Mechanical Engineering 2024, Volume 19, Issue 2, doi: 10.1007/s11465-024-0784-4

Abstract: Although recent predictive control methods based on single-rigid-body models can generate dynamic motionAddressing this issue necessitates a mechanical structure with energy storage and a dynamic control strategyA leg control model that incorporates motor loads is developed to validate the response and dynamic performancetorque to the knee joint, effectively reducing the robot’s energy consumption through active or passive control

Keywords： dynamic responsiveness     energy dissipation     legged locomotion     parallel joints     quadruped robot    

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WHEAT STRIPE RUST AND INTEGRATION OF SUSTAINABLE CONTROL STRATEGIES IN CHINA

Frontiers of Agricultural Science and Engineering 2022, Volume 9, Issue 1,   Pages 37-51 doi: 10.15302/J-FASE-2021405

Abstract: Growing resistant cultivars is the best strategy to control this disease but the pathogen can overcomeCurrent stripe rust control measures are based on many years of research including the underlying epidemiologystripe rust include negative regulatory gene editing, resistance gene overexpression and biological control

Keywords： sustainable disease control / integrated control Puccinia striiformis / Triticum aestivum    

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A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 2,   Pages 198-210 doi: 10.1007/s11465-015-0335-0

Abstract: productivity and accuracy in today’s robotic applications have highlighted an urge to replace classical controlstrategies with their modern control counterparts.Highlighting the authors’ research achievements in the domain of manipulator design and control, this paper presents a systematic and comprehensive review of the state-of-the-art control techniquesthree kinds of strategies, i.e., intelligent proportional-integral-derivative (PID) scheme, robust control

Keywords： robot control     robust and nonlinear control     adaptive control     intelligent control     industrial manipulators    

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Emerging contaminant control: From science to action

Frontiers of Environmental Science & Engineering 2022, Volume 16, Issue 6, doi: 10.1007/s11783-022-1559-y

Abstract: characteristics and environmental risk of ECs in typical regions of China, and establishment of EC controlContinuous progress in scientific research of ECs promoted China’s action on EC control.Although great efforts have been made, the EC control in China still faces tremendous challenges.such as engineering, policy management and public participation should be combinedly adopted for EC control

Keywords： Emerging contaminants     Priority pollutants     PPCPs     POPs     Control policy    

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An integrated approach for machine-learning-based system identification of dynamical systems under control: application towards the model predictive control of a highly nonlinear reactor system

Frontiers of Chemical Science and Engineering 2022, Volume 16, Issue 2,   Pages 237-250 doi: 10.1007/s11705-021-2058-6

Abstract: Advanced model-based control strategies, e.g., model predictive control, can offer superior control ofnonlinear continuous-time multiple-input multiple-output system models for nonlinear model predictive controlThis procedure successfully identified system models that enabled effective control in both servo andThis demonstration of how such system models could be identified for nonlinear model predictive controlwhich, in the face of process uncertainties or modelling limitations, allow rapid and stable control

Keywords： nonlinear model predictive control     black-box modeling     continuous-time system identification     machinelearning     industrial applications of process control    

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Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

Jianyong YAO

Frontiers of Mechanical Engineering 2018, Volume 13, Issue 2,   Pages 179-210 doi: 10.1007/s11465-018-0464-3

Abstract: >Hydraulic servo system plays a significant role in industries, and usually acts as a core point in controlAlthough linear theory-based control methods have been well established, advanced controller design methodsEssential nonlinearity is a unique feature and makes model-based nonlinear control more attractive, dueIn this paper, a discussion for challenges in model-based nonlinear control, latest developments andto handle various challenges, nonlinear solutions including parameter adaptation, nonlinear robust control

Keywords： hydraulic servo system     adaptive control     robust control     nonlinear friction     disturbance compensation     repetitivecontrol     noise alleviation     constraint control    

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Precision control system of two-DOF stage with linear ultrasonic motor

ZHANG Hanlei, SHI Yunlai, ZHAO Chunsheng

Frontiers of Mechanical Engineering 2008, Volume 3, Issue 4,   Pages 421-425 doi: 10.1007/s11465-008-0063-9

Abstract: Using an appropriate control method, linear ultrasonic motors can be used in applications requiring highIn this paper, a closed loop PI control system is designed to achieve high position accuracy during thecontrol of a two-DOF stage driven by linear ultrasonic motors.The PI control algorithm is used to increase the stability and accuracy of position control.Experimental results denote that the control strategy proposed in this paper appears to have high efficiency

Keywords： settling     position accuracy     PI control     control algorithm     orthogonal    

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Title Author Date Type Operation

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Journal Article

Footholds optimization for legged robots walking on complex terrain

Journal Article

Design and locomotion analysis of two kinds of rolling expandable mobile linkages with a single degree

Yanlin HAO, Yaobin TIAN, Jianxu WU, Yezhuo LI, Yan-An YAO

Journal Article

Untethered quadrupedal hopping and bounding on a trampoline

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

Journal Article

Design of a cyclic inhibitory CPG controller for the locomotion of a snakelike robot

LU Zhen-li, MA Shu-gen, LI Bin, WANG Yue-chao

Journal Article

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

Journal Article

An experimental analysis of human straight walking

Tao LI, Marco CECCARELLI

Journal Article

An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

Journal Article

Dynamic compliance of energy-saving legged elastic parallel joints for quadruped robots: design and realization

Journal Article

WHEAT STRIPE RUST AND INTEGRATION OF SUSTAINABLE CONTROL STRATEGIES IN CHINA

Journal Article

A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

Journal Article

Emerging contaminant control: From science to action

Journal Article

An integrated approach for machine-learning-based system identification of dynamical systems under control: application towards the model predictive control of a highly nonlinear reactor system

Journal Article

Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

Jianyong YAO

Journal Article

Precision control system of two-DOF stage with linear ultrasonic motor

ZHANG Hanlei, SHI Yunlai, ZHAO Chunsheng

Journal Article