Jove
Visualize
联系我们
JoVE
x logofacebook logolinkedin logoyoutube logo
关于 JoVE
概览领导团队博客JoVE 帮助中心
作者
出版流程编辑委员会范围与政策同行评审常见问题投稿
图书馆员
用户评价订阅访问资源图书馆顾问委员会常见问题
研究
JoVE JournalMethods CollectionsJoVE Encyclopedia of Experiments存档
教育
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab Manual教师资源中心教师网站
使用条款与条件
隐私政策
政策

相关概念视频

One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

465
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...
465
Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

389
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
389

您也可能阅读

相关文章

通过共同作者、期刊和引用图与本文相关的文章。

排序
Same author

In reply to the Letter to Editor regarding "Comment on "Development and validation of a predictive model for profiling antibiotic resistance phenotypes of Acinetobacter baumannii strains via clinical MALDI-TOF mass spectra: A multicenter study".

International journal of antimicrobial agents·2026
Same author

<i>Dendrobium devonum</i> juice modulates aroma formation in coffee cherry husks processing: insights into key pathways and flavour enhancement.

Food additives & contaminants. Part A, Chemistry, analysis, control, exposure & risk assessment·2026
Same author

Retinal vascular features enhance short-term prediction of delivery in hypertensive disorders of pregnancy.

Journal of hypertension·2026
Same author

Multilayer microcapsules improved the tolerance to adverse conditions of Pseudomonas aeruginosa A14 and biocontrol effect against cabbage Fusarium wilt.

Pest management science·2026
Same author

Lipase-Catalyzed Enantioselective Resolution of Chiral Pesticides and Herbicides: Advances in Biocatalysis and Enzyme Engineering.

Journal of agricultural and food chemistry·2026
Same author

A National Survey on Critically Ill Obstetric Patients Care Centers.

Maternal-fetal medicine (Wolters Kluwer Health, Inc.)·2026

相关实验视频

Updated: Jun 9, 2025

Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb
08:24

Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb

Published on: August 30, 2016

10.2K

一个双脚机器人稳步行走,由中央模式生成器控制,使用多变量线性映射.

Yao Wu1, Biao Tang1,2, Jiawei Tang1

  • 1School of Mechatronic Engineering, Changsha University, Changsha 410022, China.

Biomimetics (Basel, Switzerland)
|October 25, 2024
PubMed
概括

一个新的中央模式生成器 (CPG) 模型使用多变量线性映射增强双脚机器人行走的稳定性. 这种简化的控制器确保了在各种地形上稳定的增速,为机器人机车提供了多功能解决方案.

关键词:
在CPG中,使用的是CPG.这是一个双脚机器人.多变量线性映射多变量线性映射这是周期的极限周期.

更多相关视频

Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis
11:16

Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis

Published on: July 22, 2014

16.2K
A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
06:58

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

Published on: November 6, 2015

9.4K

相关实验视频

Last Updated: Jun 9, 2025

Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb
08:24

Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb

Published on: August 30, 2016

10.2K
Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis
11:16

Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis

Published on: July 22, 2014

16.2K
A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
06:58

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

Published on: November 6, 2015

9.4K

科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 控制系统 控制系统
  • 生物力学 生物力学

背景情况:

  • 双脚机器人需要强大的步行控制器,以便在各种环境中保持稳定.
  • 现有的中央模式生成器 (CPG) 模型可能很复杂,阻碍了广泛应用.
  • 提高CPG模型的效率和稳定性对于先进的机器人机动车辆至关重要.

研究的目的:

  • 为两足机器人提出一个新的,简化的中央模式生成器 (CPG) 步行控制器.
  • 为了提高双脚行走在不同地形上的稳定性和多功能性.
  • 为了实际实施,减少CPG模型的计算复杂性.

主要方法:

  • 设计了一个下肢机械结构,并使用拉格朗日和角动量保护建立了一个混合动力模型.
  • 通过Poincaré映射和细胞映射确定被动步行初始值.
  • 开发了一种轻量级的CPG模型,使用基于Hopf振荡器的多变量线性映射.

主要成果:

  • 建立了一个新的CPG模型,并制定了一个初步的参数调整策略.
  • 在MATLAB和V-REP的联合模拟中,双脚机器人表现出稳定的周期性步态.
  • 控制器在平行和上坡行走的场景中都被证明是有效的.

结论:

  • 拟议的基于多变量线性映射的CPG控制器显著提高了双脚机器人的步行稳定性和多功能性.
  • 这种简化的CPG方法为机器人研究中CPG生成和调整提供了有价值的参考.
  • 该方法为更具适应性和高效的双脚机动系统提供了途径.