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Bio-inspired Leg Design for a Heavy-Duty Hexapod Robot

Journal of Bionic Engineering 2022年第4期19卷 975-990页

作者： Haoyuan Yi zhenyu Xu Xueting Xin Liming zhou Xin Luo State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China Research Institute Inner Mongolia First Machinery Group Co.LtdBaotou 014030China

The leg structure is crucial to the legged robot's motion *** the size and load of the legged robot increasing,the difficulty of leg design increases *** by biomechanics,this paper proposes a leg design approach based on effective mechanical advantage(EMA)for developing the heavy-duty legged *** bio-inspired design approach can reduce the demand for joint actuation forces during walking by optimizing the ratio relationship between the joint driving force and ground contact force.A dimensionless EMA model of the leg for the heavy-duty legged robot is constructed in this *** dimensions and hinge point locations are optimized according to the EMA and energy-optimal *** on the optimal leg structure,an electrically driven tri-segmented leg prototype is *** leg's joint hinge points are located near the main support line,and the load-to-weight ratio is 15:*** leg can realize a swing frequency of 0.63 Hz at the stride length of 0.8 m,and the maximum stride length can reach 1.5 m.

关键词： Legged robot EMA Heavy-duty Bio-inspired

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Motion planning and tracking control of a four-wheel independently driven steered mobile robot with multiple maneuvering modes

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Frontiers of Mechanical Engineering 2021年第3期16卷 504-527页

作者： Xiaolong zHANG Yu HUANG Shuting WANG Gen LI Yuanlong XIE Wei MENG School of Mechanical Science and Engineering Huazhong University of Science and TechnologyWuhan 430074China School of Information Engineering Wuhan University of TechnologyWuhan 430070China

Safe and effective autonomous navigation in dynamic environments is challenging for four-wheel independently driven steered mobile robots(FWIDSMRs)due to the flexible allocation of multiple maneuver *** address this problem,this study proposes a novel multiple mode-based navigation system,which can achieve efficient motion planning and accurate tracking *** reduce the calculation burden and obtain a comprehensive optimized global path,a kinodynamic interior-exterior cell exploration planning method,which leverages the hybrid space of available modes with an incorporated exploration guiding algorithm,is *** utilizing the sampled subgoals and the constructed global path,local planning is then performed to avoid unexpected obstacles and potential *** the desired profile curvature and preselected mode,a fuzzy adaptive receding horizon control is proposed such that the online updating of the predictive horizon is realized to enhance the trajectory-following *** tracking controller design is achieved using the quadratic programming(QP)technique,and the primal-dual neural network optimization technique is used to solve the QP *** results on a real-time FWIDSMR validate that the proposed method shows superior features over some existing methods in terms of efficiency and accuracy.

关键词： mobile robot multiple maneuvering mode motion planning tracking control receding horizon control

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Prediction of protected band edge states and dielectric tunable quasiparticle and excitonic properties of monolayer MoSi_(2)N_(4)

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npj Computational Materials 2022年第1期8卷 1216-1222页

作者： Yabei Wu zhao Tang Weiyi Xia Weiwei Gao Fanhao Jia Yubo zhang Wenguang zhu Wenqing zhang Peihong zhang Department of Materials Science and Engineering and Shenzhen Institute for Quantum Science&engineering Southern University of Science and TechnologyShenzhenGuangdong518055China Guangdong Provincial Key Lab for Computational Science and Materials Design and Shenzhen Municipal Key Lab for Advanced Quantum Materials and DevicesSouthern University of Science and TechnologyShenzhenGuangdong518055China ICQD Hefei National Laboratory for Physical Science at the MicroscaleKey Laboratory of Strongly-Coupled Quantum Matter PhysicsChinese Academy of SciencesDepartment of Physicsand Synergetic Innovation Center of Quantum Information and Quantum PhysicsUniversity of Science and Technology of ChinaHefeiAnhui230026China Department of Physics University at BuffaloState University of New YorkBuffaloNY14260USA Department of Physics Dalian University of TechnologyDalianLiaoning116024China International Centre for Quantum and Molecular Structures Materials Genome InstituteDepartment of PhysicsShanghai University99 Shangda RoadShanghai200444China

The electronic structure of two-dimensional(2D)materials are inherently prone to environmental perturbations,which may pose significant challenges to their applications in electronic or optoelectronic devices.A 2D material couples with its environment through two mechanisms:local chemical coupling and nonlocal dielectric screening *** local chemical coupling is often difficult to predict or control *** dielectric screening,on the other hand,can be tuned by choosing the substrates or layer thickness in a controllable ***,a compelling 2D electronic material should offer band edge states that are robust against local chemical coupling *** it is demonstrated that the recently synthesized MoSi_(2)N_(4)is an ideal 2D semiconductor with robust band edge states protected from capricious environmental chemical coupling *** many-body perturbation theory calculations are carried out to illustrate how the band edge states of MoSi_(2)N_(4)are shielded from the direct chemical coupling effects,but its quasiparticle and excitonic properties can be modulated through the nonlocal dielectric screening *** unique property,together with the moderate band gap and the thermodynamic and mechanical stability of this material,paves the way for a range of applications of MoSi_(2)N_(4)in areas including energy,2D electronics,and optoelectronics.

关键词： dielectric protected quasi

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