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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: This paper presents a system based on the integrated design and experiment for a one degree-of-freedom(DOF) legged mechatronic system (LMTS).For system-based dynamic optimization, the design for control (DFC) approach is used to integrate theFinally, for a rapid 3D graphical based implementation of the system, high-level computer-aided rapidsystem integration (CARSI) technology is used to integrate the structure design, controller design,

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

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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 aThe kinematic model of the entire system is presented, and the workspace of different components, includingA 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    

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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: This paper proposes a novel continuous footholds optimization method for legged robots to expand their

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

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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.

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

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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.A characterization of the proposed six-legged robot is obtained by a parametric analysis of robot performance

Keywords： six-legged robots     dynamic modeling     performance index    

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Mechatronic design of a novel linear compliant positioning stage with large travel range and high out-of-plane

Hua LIU, Xin XIE, Ruoyu TAN, Lianchao ZHANG, Dapeng FAN

Frontiers of Mechanical Engineering 2017, Volume 12, Issue 2,   Pages 265-278 doi: 10.1007/s11465-017-0453-y

Abstract: In this study, a 2-degree-of-freedom linear compliant positioning stage (LCPS) is developed by mechatronicThe mechatronic model is established by matrix structural analysis for structural modeling and by Kirchhoff

Keywords： mechatronic design     linear compliant positioning stage     large travel range     high out-of-plane payload capacity    

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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: 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 leggedThe 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    

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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 sagittal

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

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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: For quadruped robots with springy legs, a successful jump usually requires both suitable elastic parts and well-designed control algorithms. However, these two problems are mutually restricted and hard to solve at the same time. In this study, we attempt to solve the problem of controller design with the help of a robot without any elastic mounted parts, in which the untethered robot is made to jump on a trampoline. The differences between jumping on hard surfaces with springy legs and jumping on springy surfaces with rigid legs are briefly discussed. An intuitive control law is proposed to balance foot contact forces; in this manner, excessive pitch oscillation during hopping or bounding can be avoided. Hopping height is controlled by tuning the time delay of the leg stretch. Together with other motion generators based on kinematic law, the robot can perform translational and rotational movements while hopping or bounding on the trampoline. Experiments are conducted to validate the effectiveness of the proposed control framework.

Keywords： hopping and bounding gait     compliant mechanism     compliant contact     balance control strategy     legged locomotion    

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Watt Linkage–Based Legged Deployable Landing Mechanism for Reusable Launch Vehicle: Principle, Prototype Article

Haitao Yu,Baolin Tian,Zhen Yan,Haibo Gao,Hongjian Zhang,Huiqiang Wu,Yingchao Wang,Yuhong Shi,Zongquan Deng

Engineering 2023, Volume 20, Issue 1,   Pages 120-133 doi: 10.1016/j.eng.2022.05.015

Abstract: This study proposes a novel legged deployable landing mechanism (LDLM) for RLV.

Keywords： Reusable launch vehicle (RLV)     Deployable mechanism     Optimization design    

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System reliability and system resilience

Frontiers of Engineering Management 2021, Volume 8, Issue 4,   Pages 615-619 doi: 10.1007/s42524-021-0176-y

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Engineering, Engineering System, Engineering System Theory, and System of Engineering Science

Wang Liancheng

Strategic Study of CAE 2001, Volume 3, Issue 6,   Pages 15-18

Abstract: of basic contents, nature and feature of engineering, this paper introduces concepts of engineering systemand engineering system theory, then discusses objects of study and research methods of engineering systemtheory using thinking of general system theory.Finally, it expounds meta-discipline standing of engineering system theory in system of engineering science

Keywords： engineering     system     system theory     discipline    

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Cyber–Physical Power System (CPPS): A review on measures and optimization methods of system resilience

Frontiers of Engineering Management 2021, Volume 8, Issue 4,   Pages 503-518 doi: 10.1007/s42524-021-0163-3

Abstract: The Cyber–Physical Power System (CPPS) is one of the most critical infrastructure systems in a country

Keywords： Cyber–Physical Power System     resilience assessment     resilience optimization     cascading failure modeling    

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Discussion on the System Optimization of the Energy Development Strategy and Plan

Da-di Zhou

Frontiers of Engineering Management 2014, Volume 1, Issue 2,   Pages 147-152 doi: 10.15302/J-FEM-2014022

Abstract: Due to the complexity of the energy system, the interactive relationship with economic and social development, and the enormous investment involved, the optimization of the energy system is of great significanceefforts to develop targets and specific approaches for the rational and optimal development of an energy system

Keywords： energy development strategy     planning system     system optimization    

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Distributed monitoring and diagnosis system for hydraulic system of construction machinery

Xiaohu CHEN, Wenfeng WU, Hangong WANG, Yongtao ZHOU,

Frontiers of Mechanical Engineering 2010, Volume 5, Issue 1,   Pages 106-110 doi: 10.1007/s11465-009-0089-7

Abstract: This paper mainly presents a distributed monitoring and diagnosis system for the hydraulic system ofThe hardware of the distributed condition monitoring and fault diagnosis system is designed.experiments and applications indicate that the distributed condition monitoring and fault diagnosis systemrealize its function of real-time online condition monitoring and fault diagnosis for the hydraulic system

Keywords： construction machinery     hydraulic system     distributed condition monitoring     controller area net (CAN) field    

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Title Author Date Type Operation

Integrated design of legged mechatronic system

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

Journal Article

A novel six-legged walking machine tool for

Jimu LIU, Yuan TIAN, Feng GAO

Journal Article

Footholds optimization for legged robots walking on complex terrain

Journal Article

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

Journal Article

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

Kejia LI, Xilun DING, Marco CECCARELL

Journal Article

Mechatronic design of a novel linear compliant positioning stage with large travel range and high out-of-plane

Hua LIU, Xin XIE, Ruoyu TAN, Lianchao ZHANG, Dapeng FAN

Journal Article

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Journal Article

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

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

Journal Article

Untethered quadrupedal hopping and bounding on a trampoline

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

Journal Article

Watt Linkage–Based Legged Deployable Landing Mechanism for Reusable Launch Vehicle: Principle, Prototype

Haitao Yu,Baolin Tian,Zhen Yan,Haibo Gao,Hongjian Zhang,Huiqiang Wu,Yingchao Wang,Yuhong Shi,Zongquan Deng

Journal Article

System reliability and system resilience

Journal Article

Engineering, Engineering System, Engineering System Theory, and System of Engineering Science

Wang Liancheng

Journal Article

Cyber–Physical Power System (CPPS): A review on measures and optimization methods of system resilience

Journal Article

Discussion on the System Optimization of the Energy Development Strategy and Plan

Da-di Zhou

Journal Article

Distributed monitoring and diagnosis system for hydraulic system of construction machinery

Xiaohu CHEN, Wenfeng WU, Hangong WANG, Yongtao ZHOU,

Journal Article