被动无边轮辐运动特性的Adams仿真分析

对双足被动机器人最初模型——二维无边轮辐进行了研究,建立了其动力学模型,并通过Adams分析了其运动过程中的特点,逐一分析了轮辐初速度、质量、足半径、辐条数量、辐条长度、转动惯量以及斜面坡度对无边轮辐运动的影响.结果表明:合适的初速度和斜面坡度,以及较大的质量、较大的足半径、较多的辐条数量、较短的辐条长度、较大的转动惯量会使无边轮辐形成快速而平稳的周期运动.     

Biomimetic Experimental Research on Hexapod Robot's Locomotion Planning

To provide hexapod robots with strategies of locomotion planning, observation experiments were operated on a kind of ant with the use of high speed digital photography and computer assistant analysis. Through digitalization of original analog video, locomotion characters of ants were obtained, the biomimetic foundation was laid for polynomial trajectory planning of multi-legged robots, which was deduced with mathematics method. In addition, five rules were concluded, which apply to hexapod robots marching locomotion planning. The first one is the fundamental strategy of multi-legged robots’ leg trajectory planning. The second one helps to enhance the static and dynamic stability of multi-legged robots. The third one can improve the validity and feasibility of legs’ falling points. The last two give criterions of multi-legged robots’ toe trajectory figures and practical recommendatory constraints. These five rules give a good method for marching locomotion planning of multi-legged robots, and can be expended to turning planning and any other special locomotion.     

Rocking, Tapping and Stepping: A Prelude to Dance

Dancing to a rhythm, as humans do, is a complex process, andformulation of its dynamics and control are very difficult. Rhythmicexchange of the support surfaces and stability of the overall systemare not well understood. To produce a dancing movement, simplermovements such as rocking, tapping, and stepping can be combined. Therhythm of dancing is usually driven by a music beat. A method thatextracts beats from a wide variety of music in real time ispresented. Work is being done to couple the extracted rhythm of themusic to a dancing biped. The seven degree of freedom sagittal bipedwith sixteen actuators is controlled to move in a rocking, tapping,and stepping fashion. A pattern generator is described which takes amusical beat and generates oscillations. The oscillations are usedto select a finite sequence of predefined desired states, and todrive the system from the current desired state to the next. Thesenext desired states allow derivation of neural excitation inputs tothe sixteen muscle-like actuators. Simulations show the feasibilityof the control strategy moving the biped from desired state todesired state as it traverses the trajectories of these three simplermovements of rocking, tapping, and stepping. In a final simulation,the three movements of rocking, stepping, and tapping are combined ina three-step up and down dancing movement.     

二足步行机器人三维动步行的单脚支持期的理论解析及仿真

本文以二足步行机器人的三维动步行的实现为目的,对单脚支持期的10自由度二足步行运动提出了一种 S 平面和 F 平面非分离的运动学和逆动力学解析方法,并在计算机上进行了过程仿真。证明了该方法的有效性.     

Knockdown of a β-Adrenergic-Like Octopamine Receptor Affects Locomotion and Reproduction of Tribolium castaneum

The neurohormone octopamine regulates many crucial physiological processes in insects and exerts its activity via typical G-protein coupled receptors. The roles of octopamine receptors in regulating behavior and physiology in Coleoptera (beetles) need better understanding. We used the red flour beetle, Tribolium castaneum, as a model species to study the contribution of the octopamine receptor to behavior and physiology. We cloned the cDNA of a β-adrenergic-like octopamine receptor (TcOctβ2R). This was heterologously expressed in human embryonic kidney (HEK) 293 cells and was demonstrated to be functional using an in vitro cyclic AMP assay. In an RNAi assay, injection of dsRNA demonstrated that TcOctβ2R modulates beetle locomotion, mating duration, and fertility. These data present some roles of the octopaminergic signaling system in T. castaneum. Our findings will also help to elucidate the potential functions of individual octopamine receptors in other insects.     

Control of biped walking robot for human living environment

This paper introduces biped robot adaptation to human living environment from viewpoints of battery operation time extension and environmental recognition. These issues are important when robots actually work at home. First, in order to extend battery operation time, we propose energy-saving bipedal locomotion gait. The problem is formulated as an optimal control problem, which is conventionally hard to solve when a target system is complicated. In this paper, partial derivatives appeared in optimal control problem are implicitly represented by using automatic differentiation technique. This approach enables complicated optimal control problem solvable. In combination with receding horizon control, its computation cost is also reduced. Second, we introduce the biped walk tracking based on the camera image mounted on the walking robot, and the visual servoing by the posture change for the purpose of the target image tracking in the camera frame. We propose a new control law to track the rotated target object using the characteristic of the walking, which considered the interference between translational motion and rotational motion. The decoupling is realized by simulations and experiments. As a result, the walking robot tracked the translated and rotated target object without a practical issue. Copyright © 2009 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Genetic analysis of locomotion and associated conformation traits of Holstein-Friesian dairy cows managed in different housing systems

The objectives of this study were to determine the influence of housing on lameness-related linear and composite traits, and to estimate heritabilities of the traits and correlations among them. Data comprised 156,770 national type evaluation records of pedigreed first-lactation Holstein-Friesian cows that calved from 2000 through 2006 and were classified in different housing systems—cubicles, straw yards, slatted or loafing yards, and on pasture. Locomotion score (LOCO), rear leg, side view (RLS), foot angle (FA), bone quality (BO-NEQ), legs and feet (L&F), and mammary composite (MAMM) were the traits measured. Data were analyzed by REML, using an animal model. In general, cows in grazing systems had better locomotion, straighter RLS, steeper FA, flat and more refined bones, better L&F, and better mammary systems compared with cows housed in other systems. Estimates of heritability ranged from 0.11 for LOCO to 0.31 for MAMM. Bone quality had the highest heritability (0.23) of the traits associated with L&F. Genetic associations between BO-NEQ and LOCO, L&F, and MAMM were moderate to high (0.30 to 0.50), but estimates between BONEQ and RLS and FA were not significantly different from zero. Locomotion score had a very high genetic (0.98) and phenotypic (0.78) correlation with L&F, indicating that both traits are genetically the same. On the basis of the genetic parameters, including BONEQ in a selection index as a predictor of longevity is promising, but further information on its association with longevity is required.     

The effect of out-wintering pad design on hoof health and locomotion score of dairy cows

This study compared locomotion, hoof health, and lameness of dairy cows confined in either indoor free stalls (FS) or 1 of 3 out-wintering pad (OWP) designs. Out-wintering pad treatments were 1) uncovered OWP with a concrete feed apron (UP); 2) covered OWP with a concrete feed apron (CO); and 3) uncovered OWP on top of which grass was ensiled so that the cows could self-feed (SP). Cows were assigned to treatment at drying off using a randomized complete block design. They remained on treatment until calving, when they were turned out to pasture. Sole lesions, heel erosion, dermatitis, and claw hardness on both hind feet were scored according to severity at assignment to treatment, at calving, and 9 and 14 wk postpartum. Locomotion score was recorded weekly after calving for 14 wk. Incidence of clinical lameness was recorded during the treatment period and in the subsequent lactation. Treatment had no effect on sole lesion score, but scores increased over time (calving = 5.5 ± 1.3, wk 9 = 10.8 ± 1.3, wk 14 = 14.2 ± 1.3, mean ± SE). Self-fed cows had higher heel erosion scores (6.4 ± 0.4) than FS and CO cows (4.7 ± 0.4 and 4.7 ± 0.4, respectively) at calving. Cows on SP had the highest dermatitis scores [1.14 (0-2) mean (interquartile range)] and FS cows the lowest [0.51 (0-0)]. Hooves were hardest at assignment to treatment (43.9 ± 0.6) with a significant reduction in hardness at calving (40.0 ± 0.6). The hooves of CO cows were harder than those of SP and UP cows (CO = 43.3 ± 0.7, SP = 41.7 ± 0.7, UP = 41.7 ± 0.7, Shore D scale). There was no treatment effect on locomotion scores or lameness incidence. Higher dermatitis scores and heel erosion in SP may be due to exposure to excreta and moisture, because the SP treatment had no manure removal system at the feed face. In FS, the alleys and the feed face were cleaned regularly by automatic scraper, explaining the lower dermatitis scores recorded indoors. Providing shelter for OWP likely reduced exposure to environmental moisture. This ensured that the hooves of CO cows remained as hard as those of FS cows. Low correlations between hardness and pathologies indicate that other factors are involved in the development of hoof pathologies. Confining dry dairy cows on OWP does not increase locomotion scores or lameness incidence.     

Lameness and lying behavior in grazing dairy cows

Lameness is a serious welfare issue for dairy cows. To date, the majority of studies have focused on its effect on health and behavior at the herd level. The objectives of this study were to identify (1) between-cow and (2) within-cow changes in lying behavior associated with consistent and changing lameness status in grazing dairy cows. Previous studies of lying behavior in grazing dairy cows have not considered the effect of precipitation, so a third aim was to determine the effect of precipitation on lying behavior. A total of 252 dairy cows from 6 pasture-based farms in southern Brazil were gait scored weekly to assess lameness using a 5-point scale [1–5, numerical rating score (NRS)] for 4 consecutive weeks. Cows were considered to have consistent lameness if they were scored as lame (NRS ≥3) on each of the 4 visits and considered to have a changing lameness status if scored as being nonlame (NRS <3) on at least 1 of the 4 visits. Cows classified as having a changing lameness status were further classified as developed, recovered, or inconsistent. Lying behavior (daily lying time, mean lying bout duration, and daily number of lying bouts) was recorded continuously for 3 wk using leg-mounted accelerometers. Cow-level variables included parity, days in milk, and body condition score. Regional precipitation and temperature were recorded hourly. Because only 1 primiparous cow was identified as lame at each of the 4 visits, the between-cow analysis of lameness was run on multiparous cows only. The overall prevalence of clinical lameness on the first visit was 39%, with development and recovery rates of 16 and 10% over the 4 visits, respectively. The between-cow effect of consistent lameness status on daily lying time and number of lying bouts was dependent on precipitation; consistently lame cows had reduced lying time and lying bouts on days with rain compared with days without rain. There was no within-cow effect of changing lameness status on any of the lying behaviors. Precipitation was associated with decreased daily lying time, increased mean lying bout duration, and decreased daily number of lying bouts. The results of this research provide the first evidence that the effect of consistent lameness status on lying behavior is associated with rainfall in grazing dairy cows. Future work measuring lying behavior of grazing dairy cows should include precipitation as a covariate.     

六足仿生步行机器人系统节能技术的研究

针对采用电池供电的六足仿生步行机器人其工作时间受限的情况,提出了将动态电源管理、实时任务调度和运动策略规划等方法,综合运用于其控制系统,且更为全面地考虑了机器人系统的能耗等级.这种方法对于降低机器人的系统能耗起到了实质性的作用,其整体思路与技术途径可为降低其它类似的多足步行机器人的系统能耗,提供参考与借鉴.