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Bo Xu, Mingyu Jiao, Xianku Zhang and Dalong Zhang
This paper considers the tracking control of curved paths for an underwater snake robot, and investigates the methods used to improve energy efficiency. Combined with the path-planning method based on PCSI (parametric cubic-spline interpolation), an impr...
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Lianqing Yu, Yong Zhang, Na Feng, Tiandu Zhou, Xiaoshuang Xiong and Yujin Wang
To reveal the relationship between the center of mass (CoM) trajectory of a closed five-bow-shaped-bar linkage and its energy consumption, this paper presents a trajectory planning method based on the workspace of the CoM. Using different height points l...
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Milan Martínek, David Pánek, Tereza Nováková and Dagmar Pavlu
Vojta?s therapy is a widely used approach in both the prevention and therapy of musculoskeletal disorders. Changes in the musculoskeletal system have been described repeatedly, but the principles of the approach have not yet been clarified. The objective...
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Donglai Zhao, Wenjie Ge, Xiaojuan Mo, Yuzhu Li and Zhuo Wang
Due to the high power-to-weight ratio and robustness, hydraulic cylinders are widely used in the actuation area of the legged robot systems. Most of these applications are focused on the motion stability, gait planning, and impedance control. However, th...
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Yiqun Liu, Xuanxia Fan, Liang Ding, Jianfeng Wang, Tao Liu and Haibo Gao
This study investigated a new method to generate a fault-tolerant gait of a hexapod robot. The adjustment measure is put forward to improve the stability margin. As a gait generation method, the research of the robot on complex terrain can be completed i...
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Xuanqi Zeng, Songyuan Zhang, Hongji Zhang, Xu Li, Haitao Zhou and Yili Fu
In this paper, a single leg platform for quadruped robots is designed based on the motivation of high-speed locomotion. The leg is designed for lightweight and low inertia with a structure of three joints by imitating quadruped animals. Because high acce...
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Haifei Zhu, Shichao Gu, Li He, Yisheng Guan and Hong Zhang
Biped climbing robots are considered good assistants and (or) substitutes for human workers carrying out high-rise truss-associated routine tasks. Flexible locomotion on three-dimensional complex trusses is a fundamental skill for these robots. In partic...
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Xiong Yang, Haotian She, Haojian Lu, Toshio Fukuda and Yajing Shen
The bipedal robot is one of the most attractive robots types given its similarity to the locomotion of human beings and its ability to assist people to walk during rehabilitation. This review summarizes the chronological historical development of bipedal...
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McIsaac, K. A. Ostrowski, J. P.
Pág. 637 - 652
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Goodwine, B. Burdick, J. W.
Pág. 209 - 222
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