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A heuristic control framework for heavy-duty hexapod robot over complex terrain

IET Cyber-Systems and Robotics 2022年第4期4卷 322-330页

作者： jinmian hou Hui Chai Yibin Li Yaxian Xin Wei Chen School of Control Science and Engineering Shandong UniversityJinanChina Engineering Research Center of Intelligent Unmanned System Ministry of EducationShandong UniversityJinanChina

The large and heavy-duty hexapod robot has strong motion stability and load capacity,which promises to have a wide range of application prospects in rescue and disaster ***-mode gait and static stability during walking make the hexapod robot adapt to more diverse terrains,while little research has been conducted on the motion control methods of heavy-duty hexapod robots in complex environments.A novel heuristic whole-body motion control framework for the heavy-duty hexapod robot to traverse complex terrain is *** splitting the legged locomotion into a single task,the whole-body motion could be planned in a reasonable *** terrain adaptation strategy is designed to improve the complex terrain *** reaction forces are then optimised based on single rigid-body dynamics with *** framework utilised simple but powerful heuristics to approximate complex dynamics and allows for a single set of parameters for all task *** results demonstrate the robustness and adaptability of the proposed framework.

关键词： legged locomotion robotics robots

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A survey of the development of quadruped robots: Joint configuration, dynamic locomotion control method and mobile manipulation approach

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Biomimetic Intelligence & Robotics 2022年第1期2卷 9-21页

作者： Hui Chai Yibin Li Rui Song Guoteng Zhang Qin Zhang Song Liu jinmian hou Yaxian Xin Ming Yuan Guoxuan Zhang Zhiyuan Yang School of Control Science and Enginering Shandong University Jinan 250061China Engineering Research Center of Ielligent Urumarned System Muristry of EducationrShandong UniversityJinan 250061China School of Elecrical Engineering.University of Jinan Jinan 250022China

Some quadruped robots developed recently show better dynamic performance and environmental adaptability than ever, and have been preliminarily applied in the field of emergency disposal, military reconnaissance and infrastructure construction. The development route, mechanisms design, control methods and mobile manipulating approaches of the quadruped robots are surveyed in this article. Firstly, the development route of the quadruped robot is combed, as the references of the forecast of the future work on quadruped robots. Then the bionic structure and the motion control method of the quadruped robot is summarized, the advantages and disadvantages are analyzed in aspects of gait switching, terrain adaption and disturbance resistance. Subsequently, aiming at the mobile manipulation of the quadruped robot, the representative leg-arm collaborative robots and the multi-task-oriented Whole-body Control (WBC) methods are introduced. Finally, the summary and future work of the quadruped robots is given.

关键词： Quadruped robot Joint configuration Dynamic locomotion control Mobile manipulation Hyper-bio-inspired mechanism design

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电动力液压驱动四足双臂机器人的设计与实现

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机器人 2022年第6期44卷 649-659页

作者：刘松柴汇李贻斌宋锐李剑荣学文付鹏刘建利侯晋冕胡加银山东大学控制科学与工程学院山东济南250061 山东大学机器人研究中心山东济南250061 公安部第一研究所北京100048

针对定基座机器人在复杂环境下作业能力不足的问题,研制出电动力液压四足双臂机器人,将浮动基座与双臂系统的优势有机结合,能够代替人员完成复杂环境下应急处置、工程作业等任务。详细阐述了四足双臂机器人的机械结构、机载电液动力系... 详细信息

针对定基座机器人在复杂环境下作业能力不足的问题,研制出电动力液压四足双臂机器人,将浮动基座与双臂系统的优势有机结合,能够代替人员完成复杂环境下应急处置、工程作业等任务。详细阐述了四足双臂机器人的机械结构、机载电液动力系统、分布式控制系统以及仿真与操作训练平台的设计与实现。提出基于全身虚拟模型的足底力分配方法与足臂协调运动规划方法,实现了躯干浮动基座与双臂系统的联动,大大提升了机器人的作业能力和效率。通过搭建的仿真与操作训练平台完成单臂作业以及双臂协同作业的仿真,验证了所提出控制方法的有效性,并对机器人操作员进行操作训练。在实际样机实验中,测试了单臂抓取以及双臂协同抓取的能力,证明了四足双臂机器人能够满足复杂环境下移动作业的需求。

关键词：四足机器人足臂协调电液动力源分布式控制浮动基座

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CEPC Technical Design Report

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Radiation Detection Technology and Methods 2024年第1期8卷 I0003-I0016,1-1091页

作者： Waleed Abdallah Tiago Carlos Adorno de Freitas Konstantin Afanaciev Shakeel Ahmad Ijaz Ahmed Xiaocong Ai Abid Aleem Wolfgang Altmannshofer Fabio Alves Weiming An Rui An Daniele Paolo Anderle Stefan Antusch Yasuo Arai Andrej Arbuzov Abdesslam Arhrib Mustafa Ashry Sha Bai Yu Bai Yang Bai Vipul Bairathi Csaba Balazs Philip Bambade Yong Ban Tripamo Bandyopadhyay Shou-Shan Bao Desmond P.Barber Ayse Bat Varvara Batozskaya Subash Chandra Behera Alexander Belyaev Michele Bertucci Xiao-Jun Bi Yuanjie Bi Tianjian Bian Fabrizio Bianchi Thomas Biekotter Michela Biglietti Shalva Bilanishvili Deng Binglin Denis Bodrov Anton Bogomyagkov Serge Bondarenko Stewart Boogert Maarten Boonekamp Marcello Borri Angelo Bosotti Vincent Boudry Mohammed Boukidi Igor Boyko Ivanka Bozovic Giuseppe Bozzi Jean-Claude Brient Anastasiia Budzinskaya Masroor Bukhari Vladimir Bytev Giacomo Cacciapaglia Hua Cai Wenyong Cai Wujun Cai Yijian Cai Yizhou Cai Yuchen Cai Haiying Cai Huacheng Cai Lorenzo Calibbi Junsong Cang Guofu Cao Jianshe Cao Antoine Chance Xuejun Chang Yue Chang Zhe Chang Xinyuan Chang Wei Chao Auttakit Chatrabhuti Yimin Che Yuzhi Che Bin Chen Danping Chen Fuqing Chen Fusan Chen Gang Chen Guoming Chen Hua-Xing Chen Huirun Chen Jinhui Chen Ji-Yuan Chen Kai Chen Mali Chen Mingjun Chen Mingshui Chen Ning Chen Shanhong Chen Shanzhen Chen Shao-Long Chen Shaomin Chen Shiqiang Chen Tianlu Chen Wei Chen Xiang Chen Xiaoyu Chen Xin Chen Xun Chen Xurong Chen Ye Chen Ying Chen Yukai Chen Zelin Chen Zilin Chen Gang Chen Boping Chen Chunhui Chen Hok Chuen Cheng Huajie Cheng Shan Cheng Tongguang Cheng Yunlong Chi Pietro Chimenti Wen Han Chiu Guk Cho Ming-Chung Chu Xiaotong Chu Ziliang Chu Guglielmo Coloretti Andreas Crivellin Hanhua Cui Xiaohao Cui Zhaoyuan Cui Brunella D'Anzi Ling-Yun Dai Xinchen Dai Xuwen Dai Antonio De Maria Nicola De Filippis Christophe De La Taille Francesca De Mori Chiara De Sio Elisa Del Core Shuangxue Deng Wei-Tian Deng Zhi Deng Ziyan Deng Bhupal Dev Tang Dewen Biagio Di Micco Ran Ding Siqin Dingl Yadong Ding Haiyi Dong Jianin AGH University of Science and Technology Faculty of Physics and Applied Computer ScienceKrakow Anhui University HefeiAnhui Applied Physics Department Federal Urdu University of ArtsScience and TechnologyIslamabad Banaras Hindu University Institute of ScienceVaranasi Bandirma Onyedi Eylul University Bandirma Beihang University Beijing Beijing Computational Science Research Center Beijing Beijing Conveyi LTD Beijing Beijing Glass Research Institute Co. LtdBeijing Beijing Institute of Technology Beijing Beijing Normal University Beijing Brown University ProvidenceRI Budker Institute of Nuclear Physics Novosibirsk Cadi Ayyad University Laboratory of Fundamental and Applied PhysicsPolydisciplinary FacultyMarrakech Cairo University Giza Center for Theory and Computation National Tsing Hua UniversityHsinchu Central China Normal University WuhanHubei Central South University ChangshaHunan Centro de Fisica Teorica de Particulas Universidade Tecnica de LisboaLisboa Chengdu KaitengSifang Digital Radio&TV Equipment Co. LtdChengduSichuan China academy of engineering physics MianyangSichuan China building materials academy Beijing China Center of Advanced Science and Technology Beijing China Institute of Atomic Energy Beijing China Jiliang University HangzhouZhejiang China Nuclear Instrument CO. LTDBeijing China University of Geosciences Beijing China University of Geosciences WuhanHubei China University of Mining and Technology XuzhouJiangsu China West Normal University NanchongSichuan Chongqing University Department of PhysicsChongqing Chulalongkorn University Bangkok City University of Hong Kong Department of PhysicsHong Kong Cockcroft Institute Daresbury Cornell University IthacaNY CPPM(AMU/IPhU&CNRS/INP) Marseille Dalian Minzu University DalianLiaoning Dalian University of Technology Department of PhysicsDalian Deutsches Elektronen-Synchrotron DESY Hamburg Dzhelepov Laboratory of Nuclear Problems of Joint Institute for Nuclear Research(DLNP JINR) Dubna East China University Of Science And Technol

The Circular Electron Positron Collider(CEPC)is a large scientific project initiated and hosted by China,fostered through extensive collaboration with international *** complex comprises four accelerators:a 30 GeV Linac,a 1.1 GeV Damping Ring,a Booster capable of achieving energies up to 180 GeV,and a Collider operating at varying energy modes(Z,W,H,and tt).The Linac and Damping Ring are situated on the surface,while the subterranean Booster and Collider are housed in a 100 km circumference underground tunnel,strategically accommodating future expansion with provisions for a potential Super Proton Proton Collider(SPPC).The CEPC primarily serves as a Higgs *** its baseline design with synchrotron radiation(SR)power of 30 MW per beam,it can achieve a luminosity of 5×10^(34)cm^(-2)s^(-1)per interaction point(IP),resulting in an integrated luminosity of 13 ab^(-1)for two IPs over a decade,producing 2.6 million Higgs *** the SR power to 50 MW per beam expands the CEPC's capability to generate 4.3 million Higgs bosons,facilitating precise measurements of Higgs coupling at sub-percent levels,exceeding the precision expected from the HL-LHC by an order of *** Technical Design Report(TDR)follows the Preliminary Conceptual Design Report(Pre-CDR,2015)and the Conceptual Design Report(CDR,2018),comprehensively detailing the machine's layout,performance metrics,physical design and analysis,technical systems design,R&D and prototyping efforts,and associated civil engineering ***,it includes a cost estimate and a preliminary construction timeline,establishing a framework for forthcoming engineering design phase and site selection *** is anticipated to begin around 2027-2028,pending government approval,with an estimated duration of 8 *** commencement of experiments and data collection could potentially be initiated in the mid-2030s.

关键词： initiated exceeding precise

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