To cope with the low energy efficiency issue caused by load difference between multiple
actuators in the load sensing (LS) system, a hybrid distributed-centralized load sensing …

本文对四足机器人姿态控制方法下的trot 步态行走进行研究. 首先, 对机器人的运动学模型进行
分析, 利用改进型的DH 坐标法建立了正运动学模型, 并使用MATLAB 机器人工具箱对正运动学 …

Hydraulic swing actuators hold significant potential for legged robots due to their ability to
deliver high torque directly to joints. However, their practical implementation is hindered by …

Reliable foot-to-ground contact state detection is crucial for the locomotion control of
quadruped robots in unstructured environments. To improve the reliability and accuracy of …

Abstract Design and manufacturing play pivotal roles in hydraulic-driven robotic
development. However, previous studies have emphasized mainly results and performance …

Load-carrying horses, climbing mountain goats, and galloping cheetahs all exhibit
impressive locomotion abilities, prompting the development of quadruped robots. Among …

The attainable control performance of the linear time-invariant (LTI) system, controlled using
the linear active disturbance rejection control (LADRC) technique, relies on its design …

针对当前海量数据的结构和特征较为复杂, 对其分类时很难确保较高的精准度与效率的问题,
提出了改进决策树算法的大数据分类优化方法. 构建模糊决策函数检测大数据的序列特征 …

Background In recent years, observers have been crucial for controlling quadruped crawling
robots, especially for feed-forward compensation in complex terrains. However, their …

To solve the problem that the walking jitter of quadruped robots leads to the degradation of
clarity of visual imaging, a quadruped robot visual imaging jitter compensation algorithm …