Design and control of a planar bipedal robot ERNIE with parallel knee compliance

This paper presents the development of the planar bipedal robot ERNIE as well as numerical and experimental studies of the influence of parallel knee joint compliance on the energetic efficiency of walking in ERNIE. ERNIE has 5 links—a torso, two femurs and two tibias—and is configured to walk on a treadmill so that it can walk indefinitely in a confined space. Springs can be attached across the knee joints in parallel with the knee actuators. The hybrid zero dynamics framework serves as the basis for control of ERNIE’s walking. In the investigation of the effects of compliance on the energetic efficiency of walking, four cases were studied: one without springs and three with springs of different stiffnesses and preloads. It was found that for low-speed walking, the addition of soft springs may be used to increase energetic efficiency, while stiffer springs decrease the energetic efficiency. For high-speed walking, the addition of either soft or stiff springs increases the energetic efficiency of walking, while stiffer springs improve the energetic efficiency more than do softer springs. Electronic Supplementary Material  The online version of this article () contains supplementary material, which is available to authorized users.

高职现代办公设备课程的教学体会

"现代办公设备"是一门操作性、实用性和应用性极强的课程,是高职计算机专业和计算机相关专业学生必修的一门课程。如何使学生掌握现代办公设备的操作技能启发学生的创造性思维,引导学生掌握核心的操作技巧。该文根据自己近几年的教学实践经验,谈谈在该课程教学过程中的几点体会。     

四腿机器人步态参数自动进化研究与实现

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基于ADAMS的双足机器人拟人行走动态仿真

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街道景观规划与城市记忆研究

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A new hybrid control technique for operation of DC microgrid under islanded operating mode

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浅谈现代教育技术在《高等数学》教学中的应用

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