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RISGravity-Compensated Model Predictive Control and Whole-Body Optimization for Humanoid Locomotion
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Abstract. Achieving stable and coordinated locomotion in high-dimensional humanoid robots remains challenging, particularly considering variations in support phases, model uncertainties, and redundancy arising from ...
Design and Autonomous Obstacle-Crossing Strategy of a Reconfigurable Closed-Chain Legged Robot
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A closed-chain legged robot with a reconfigurable trunk is designed, and its continuous and collision-free obstacle-crossing strategy is presented to enhance terrain adaptability and intelligence, ultimately enabling ...
Design and Autonomous Obstacle-Crossing Strategy of a Reconfigurable Closed-Chain Legged Robot
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A closed-chain legged robot with a reconfigurable trunk is designed, and its continuous and collision-free obstacle-crossing strategy is presented to enhance terrain adaptability and intelligence, ultimately enabling ...
Design and Implementation of a Closed-Chain Flapping-Wing Mechanism for Bionic Compound Motion With Active Torsion
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Abstract. Inspired by the structural features, kinematic differences, and functional distinctions between the arm wings and hand wings of birds, we propose a design method for a two-loop closed-chain flapping-wing mechanism. ...
Design and Analysis of a Sixteen-Legged Vehicle With Reconfigurable Close-Chain Leg Mechanisms
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: In order to exert the advantages of simplified control and integral rigidity, a novel 16-legged walking vehicle is proposed as a carrying platform based on closed-chain mechanisms. Considering the demand for mobility of ...