ANALYZING ON THE VIBRATION CHARACTERISTICS OF A MICRO PIEZOELECTRIC ROBOT IN PIPELINE

IntroductionIt is very important to master the locomotionprinciple of a micro piezoelectric actuator for peo-ple to design a micro piezoelectric actuator or arobot. so far,experimental method has been theonly approach available to design a micro piezoelec-tric actuator or a robot[1～ 4 ] .As a result,itis diffi-cult to make a parameterized design or an optimaldesign for a micro piezoelectric robot. Therefore,it is in dire need to constitute the locomotion equa-tion of the robot. In the paper,t…     

两足机器人步态综合研究进展

把两足机器人步态综合方法分为参考轨迹法和自然动力学法两大技术流派.根据参考轨迹获得方法的不同,参考轨迹法又分为步行数据法、中枢模式发生器法和动力学模型法.自然动力学法也可分为被动动力学法和虚拟模型法.在总结两大流派研究进展的基础上,分析了它们各自的优势和不足,指出了今后工作的重点,即参考轨迹法需要提高步行效率和轨迹的生成速度,而自然动力学法需要增加功能.最后分析了强制学习技术在步态综合中应用的适应性和多自由度造成的组合爆炸问题.     

CONTROL AND SELECTION OF STRUCTURE PARAMETERS OF ADAPTIVE SUCKING DISK

ＣＯＮＴＲＯＬＡＮＤＳＥＬＥＣＴＩＯＮＯＦＳＴＲＵＣＴＵＲＥＰＡＲＡＭＥＴＥＲＳＯＦＡＤＡＰＴＩＶＥＳＵＣＫＩＮＧＤＩＳＫＭａＰｅｉｓｕｎ（马培荪）ＺｈｕＨａｉｈｏｎｇ（朱海鸿）（Ｄｅｐｔ．ｏｆＭｅｃｈａｎｉｃａｌＥｎｇｉｎｅｅｒｉｎｇ，Ｓｈａｎｇｈ...     

OPTIMIZATION OF THE BIPED ROBOT GAIT USING GENETIC ALGORITHM

IntroductionThe control of biped walking machines re-mains a challenge due to the high degree of com-plexity,organization,and efficiency required tomaintain balance[1,2 ] .Recently,realizing the dy-namic walking of the biped is of interest to manyresearchers and engineers.One method is to designa kind of gait,then use it as a reference trajectoryfor control. According to the deviation betweenthe Zero Moment Point(ZMP) and the center ofshape ofthe supporting area,a kind of optimal gaithas be…     

RESEARCH ON THE DOF DISPOSITION AND MECHANISMS DESIGN OF HUMANOID ROBOT

IntroductionSome researchers[1～ 3] in Yugoslavia,Japan andAmerica have got many achievements in bipedrobot since the beginning of1 970 s.The bipedrobot can walk in static and dynamic gait and al-so can turn around and go up stairs.Recentlyhumanoid robot has become a hot researchingpoint[4,5 ] .Humanoid robot has body includinghead,neck,waist and hands.Biped robot is abasis of humanoid robot.Usually a humanoidrobot should have more than 2 0 DOF.All thetechnology problems in DOF planning,m…     

PERFORMANCE OF A KIND OF PERMANENT MAGNETIC SUCKERS USED IN WALL-CLIMBING ROBOTS

IntroductionWall- climbing robots with magnetic tracks arewidely used in the fields such as oil tank surfaceinspection,paints spraying shown in Fig.1 .Therobot attaches to the steel wall surface due to anumber of magnetic suckers on both tracks andis driven by the rear chain wheels. In order todecrease the robot's weight and improve its at-tractive ability on steel wall surface,the mag-netic suckers should be small in size,light inweight and powerful in attractive force.Theseare some of the i…