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Undulatory gait planning method of multi-legged robot with passive-spine

Biomimetic Intelligence & Robotics 2022年第1期2卷 1-8页

作者： Yongchen Tang Guoteng Zhang Dingxin Ge Chao Ren Shugen Ma School of Itelligence and Information Engineering tangshan University Tangshan 063000China Schoo of control Science and Engineering Shandong University Jinan 250061China tangshan shinh ieligent techuology co.itd Tangshan 063000China School of Electrical and Information Engineering Tianjin University Tianjin 300072China Departnent of Robotics Ritsumeikan University Shiga 5258577Japan

In this paper,we propose a new gait planning method for a multi-legged robot which has only 1 degree-of-freedom in each leg and has a passive body joint between two body *** firstly introduce the Finite State Machine(FSM)to the undulatory gait planning method of the 2n-legged ***,the undulatory gait sequence for straight line motion is achieved by undulations *** idea that legged locomotion is achievable by less actuation of 2n-legged robot as well as the gait planning methods are verified finally by simulations and experiments.

关键词： Multi-legged robot Undulatory gait FSM Gait planning Passive-spine

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DNA Barcoding:An Effective Tool for Species Identification of Lepidopteran Oak Pests

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Animal Husbandry and Feed Science 2018年第2期10卷 103-108页

作者： Yang Ruisheng Zhang Junyi Chen Yubo Wang Yong Jiang Yiren Shi Shenglin Qin Li college of Bioscience and Biotechnology Shenyang Agricultural UnirersityLiaoning Engineering and Techuology Research Center for Insect Resource

[Objective] The paper was to improve the efficiency and accuracy of early forecast of Lepidopteran oak-infesting pests.[Method] DNA barcoding technique was established for quick species identification using mitochondrial cytochrome C oxidase subunit Ⅰ（coⅠ） as the standard *** barcoding technique was used to amplify and sequence genomic DNA samples from eggs and pupae of 11 species of Lepidopteran pests collected from oak.[Result] The DNA barcoding standard genes of 594-708 bp were determined from eggs and pupae of Lepidopteran *** were differences of 0-2 bases in DNA barcode sequences between conspecific eggs and pupae,with the sequence identity of 99.7%-100%.The average content of A,T,G and C of DNA barcode sequences from Lepidopteran insects were 30.7%,38.5%,14.9% and 15.9%,*** obtained DNA barcode sequences had 91.4%-100% identity and 0-8.6% difference degree with GenBank-deposited DNA barcode sequences from organisms of the genetically-closest *** them,DNA barcode sequences from egg and pupa samples of 10 Lepidopteran insects（No.1-20） had 99%-100% identity and 0-1.0% difference degree with homologous sequences in GenBank database,while the remaining samples（No.21-22） had high difference degree（8.6%） with homologous sequences.[conclusion] The established DNA barcoding technique is an effeetive tool for species identification of Lepidopteran pests using genomic DNA from eggs and pupae of Lepidopteran insects.

关键词： DNA bareode Oak pest Lepidopteran insects Molecular identification Cytochrome co Ⅰ

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