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相关概念视频

Planar Rigid-Body Motion01:22

Planar Rigid-Body Motion

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Understanding the movement of a rigid body in planar motion involves recognizing that every particle within this body is traversing a path that maintains a consistent distance from a specific plane. This concept is fundamental in the study of physics and mechanical engineering, and it allows us to comprehend better how objects move in space.
Planar motion is typically divided into three distinct categories. The first is rectilinear translation, demonstrated by a subway train that moves along...
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Kinematic Equations: Problem Solving01:15

Kinematic Equations: Problem Solving

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When analyzing one-dimensional motion with constant acceleration, the problem-solving strategy involves identifying the known quantities and choosing the appropriate kinematic equations to solve for the unknowns. Either one or two kinematic equations are needed to solve for the unknowns, depending on the known and unknown quantities. Generally, the number of equations required is the same as the number of unknown quantities in the given example. Two-body pursuit problems always require two...
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Absolute Motion Analysis- General Plane Motion01:24

Absolute Motion Analysis- General Plane Motion

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Visualize a drone, with its propellers spinning rapidly, hovering mid-air. The fascinating movements and operations of this drone can be comprehended by applying the principle of general plane motion.
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the...
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One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

466
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
466
Equation of Motion: General Plane motion - Problem Solving01:16

Equation of Motion: General Plane motion - Problem Solving

173
Consider a lawn roller with a mass of 100 kg, a radius of 0.2 meters, and a radius of gyration of 0.15 meters. A force of 200 N is applied to this roller, angled at 60 degrees from the horizontal plane. What will be the angular acceleration of the lawn roller?
The friction between the roller and the ground is characterized by two coefficients. The static friction coefficient is 0.15, while the kinetic friction coefficient is 0.1. These values are crucial in understanding the interaction between...
173
Rolling Resistance: Problem Solving01:17

Rolling Resistance: Problem Solving

301
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...
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相关实验视频

Updated: Jun 11, 2025

Subject-specific Musculoskeletal Model for Studying Bone Strain During Dynamic Motion
09:32

Subject-specific Musculoskeletal Model for Studying Bone Strain During Dynamic Motion

Published on: April 11, 2018

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具有动态特征的有腿机器人运动计划.

Xu Liu1, Limin Yang1, Zhijun Chen1

  • 1State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China.

Sensors (Basel, Switzerland)
|September 28, 2024
PubMed
概括

这项研究介绍了一种新的运动计划器,用于足球机器人,使动态滴球和射击无需停下来. 该系统使用滚动模型进行球预测,并使用基于优化的循环计划器进行连续的步态调整.

关键词:
动态足球技巧 动态足球技巧步态调度器 步态调度器步行周期规划 步行周期规划腿部控制器 腿部控制器有腿的足球机器人足球机器人运动规划 运动规划

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 人工智能的人工智能
  • 控制系统 控制系统

背景情况:

  • 有腿的足球机器人面临着整合感知,操纵和动态运动的挑战.
  • 现有的方法通常依赖于外部感知或静态方法,限制机器人的能力.

研究的目的:

  • 为足球开发一个动态且不受束的双腿机器人.
  • 为了实现高级功能,如动态射击和滴球.

主要方法:

  • 一个集成感知的运动计划器,用于球预测的滚动模型,以及基于优化的循环计划器.
  • 一个步态调度器分配每个腿的角色 (姿势,摇摆,前,).
  • 定制的腿部控制器用于脚尖的轨迹规划和控制.

主要成果:

  • 成功的现实世界点球试验 (5/12).
  • 在周期调整测试中的高成功率 (11/12).
  • 证明了动态滴球能力.

结论:

  • 有腿的机器人可以克服机载限制,实现动态移动和操纵.
  • 拟议的运动计划器显著提高了足球机器人的性能.