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Related Concept Videos

Rolling Resistance: Problem Solving01:17

Rolling Resistance: Problem Solving

Rolling resistance, also known as rolling friction, is the force that resists the motion of a rolling object, such as a wheel, tire, or ball, when it moves over a surface. It is caused by the deformation of the object and the surface in contact with each other, as well as other factors like internal friction, hysteresis, and energy losses within the materials. Rolling resistance opposes the object's motion, requiring additional energy to overcome it and maintain movement. In practical...
Direct Motor Pathways01:11

Direct Motor Pathways

The direct motor pathways, also known as the pyramidal tracts, are a group of neural pathways that originate in the brain and descend through the spinal cord. They control the voluntary movement of the body. There are two major direct motor pathways: the corticospinal and the corticobulbar tracts.
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Indirect Motor Pathways01:22

Indirect Motor Pathways

The indirect motor or extrapyramidal pathways originate in the brainstem, the lower portion of the brain that connects it to the spinal cord. They consist of several distinct tracts, each with specialized functions. The four main tracts of the indirect motor pathways are the vestibulospinal tract, the reticulospinal tract, the tectospinal tract, and the rubrospinal tract.
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Transformers in Distribution System01:27

Transformers in Distribution System

Transformers in distribution systems can be broadly categorized into distribution substation transformers and other distribution transformers. They are crucial for stepping down high transmission voltages to levels suitable for distribution and end-user applications.
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Transformers with Off-Nominal Turns Ratios01:25

Transformers with Off-Nominal Turns Ratios

In scenarios involving parallel transformers with disparate ratings, developing per-unit models requires accommodating off-nominal turns ratios. This situation arises when the selected base voltages are not proportional to the transformer’s voltage ratings. Consider a transformer where the rated voltages are related by the term a. If the chosen voltage bases satisfy a relationship involving term b, term c is defined as the ratio of these bases. This ratio is then substituted into the rated...
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Sequence Networks of Rotating Machines

A Y-connected synchronous generator, grounded through a neutral impedance, is designed to produce balanced internal phase voltages with only positive-sequence components. The generator's sequence networks include a source voltage that is exclusively in the positive-sequence network. The sequence components of line-to-ground voltages at the generator terminals illustrate this configuration.
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Related Experiment Video

Updated: Jul 23, 2026

Asymmetric Walkway: A Novel Behavioral Assay for Studying Asymmetric Locomotion
08:19

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Path Planning of Quadrupedal Robot Based on Improved RRT-Connect Algorithm.

Xiaohua Xu1, Peibo Li1, Jiangwu Zhou1

  • 1College of Mechanical Engineering, Donghua University, Shanghai 201620, China.

Sensors (Basel, Switzerland)
|April 26, 2025
PubMed
Summary

This study enhances robot path planning by combining RRT-connect and Informed RRT* algorithms. The new method improves efficiency and path quality for complex environments, demonstrated on a quadrupedal robot.

Keywords:
adaptive dynamic step sizepath smoothingquadrupedal robotrectangular limit samplingreverse greedy algorithm

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Motion Planning

Background:

  • Rapidly-exploring Random Trees (RRT) algorithms, including RRT-connect, face challenges with randomness, redundant nodes, and low efficiency in complex environments.
  • Existing path-planning methods often struggle to balance solution speed with path optimality.

Purpose of the Study:

  • To develop an improved path-planning method by integrating RRT-connect with Informed RRT*.
  • To enhance search efficiency, reduce path randomness, and optimize path quality for robotic applications.

Main Methods:

  • Combined RRT-connect and Informed RRT* algorithms, limiting sampling space to a rectangle.
  • Implemented dynamic step size for growth extension and a reverse greedy algorithm to remove redundant nodes.
  • Utilized cubic and quadratic spline curves for path smoothing and optimization.

Main Results:

  • Achieved reductions of over 11% in first solution time, 8.5% in total nodes, and 2.5% in initial path cost compared to RRT-connect.
  • Successfully verified the algorithm's performance in both simulation and real-world scenarios with a quadrupedal robot.

Conclusions:

  • The proposed hybrid path-planning algorithm offers significant improvements in efficiency and path quality over standard RRT-connect.
  • This method provides a robust solution for complex obstacle environments, particularly for legged robots.