NSTL国家科技图书文献中心

1. Advancing Closed-Chain Robot Control Through Model Predictive Techniques and Virtual Breakpoints NSTL国家科技图书文献中心

Jiayang Zhang | Huashan Feng ... - 《Social Robotics》 - International Conference on Social Robotics - 2025, - 1～10 - 共10页

摘要：This article introduces a model predictive control method for closed-chain robots. By utilizing virtual breakpoints, this method simplifies complex closed-chain structures into more easily controllabl...

关键词： Closed-chain | MPC | ILQR | Kinematic

2. Key Technologies of Cobots with High Payload-Reach to Weight Ratio: A Review NSTL国家科技图书文献中心

Huashan Feng | Jiayang Zhang ... - 《Social Robotics》 - International Conference on Social Robotics - 2025, - 29～40 - 共12页

摘要：As cobots play an increasingly important role in industrial applications, the trend and industry demand for high load capacity, long reach, and lightweight are inevitable. How to improve the payload a...

关键词： Cobot | Mechanism desigen | Optimized design | Lightweight | Stiffness

3. Design and Research of a New Quadruped Mechanical Single-leg Prototype NSTL国家科技图书文献中心

Yuhai Zhong | Huashan Feng ... - 《2022 5th International Conference on Robotics, Control and Automation Engineering: RCAE 2022, Changchun, China, 28-30 October 2022》 - International Conference on Robotics, Control and Automation Engineering - 2022, - 180～185 - 共6页

摘要：As an important and basic component of a quadruped robot interacting with the external environment, the mechanical leg determines the core application performance of a robot such as walking speed, loa...

关键词： Legged locomotion | Knee | Couplings | Wiring | Analytical models | Torque | Gears

4. Analysis and research of quadruped robot's legs: A comprehensive review SCOPUS Scopus数据库 SCIE Web of Science核心 EI 工程索引 NSTL国家科技图书文献中心

Yuhai Zhong | Runxiao Wang ... - 《International Journal of Advanced Robotic Systems》 - 2019,16(3) - 1729881419844148-1～1729881419844148-15 - 共15页 - 被引量：26

摘要：As an important basic component of quadruped robots, mechanical legs provide the robots with excellent maneuverability and versatility, which determine the core application performance such as job ada...

关键词： Quadruped robots | Mechanical legs | Cases analysis | Comparative analysis | Design research

5. Motion Control Study on Goat-like Three Segmented Mechanical Leg NSTL国家科技图书文献中心

Xiaoqun Tan | Huashan Feng ... - 《2016 IEEE International Conference on Information and Automation: ICIA 2016, Ningbo, China, 1-3 August 2016, pages 690-1375, [v.2]》 - IEEE International Conference on Information and Automation - 2016, - 1039～1043 - 共5页

摘要：Although three segmented mechanical leg is similar to animal limb morphology, it is difficult to solve inverse kinematic and dynamic equations due to the redundant degrees of freedom. Therefore, simpl...

关键词： Three segmented Mechanical Bionic Leg | Movement Mechanism | Dynamics

NSTL主题词： Goats | Motor Control | Leg | Mechanical

6. Motion control study on goat-like three segmented mechanical leg NSTL国家科技图书文献中心

Xiaoqun Tan | Huashan Feng ... - 《Proceedings of the IEEE International Conference on Information and Automation: IEEE International Conference on Information and Automation (ICIA), 1-3 Aug. 2016, Ningbo, China》 - IEEE International Conference on Information and Automation - 2016, - 1039～1043 - 共5页

摘要：Although three segmented mechanical leg is similar to animal limb morphology, it is difficult to solve inverse kinematic and dynamic equations due to the redundant degrees of freedom. Therefore, simpl...

关键词： Legged locomotion | Motion segmentation | Trajectory | Biological system modeling | Foot | Hip | Kinematics

NSTL主题词： Goats | Motor Control | Leg | Mechanical

7. A bionic micro sucker actuated by IPMC NSTL国家科技图书文献中心

Huashan Feng | Wenhao Dong ... - 《2014 IEEE International Conference on Orange Technologies: 2014 IEEE International Conference on Orange Technologies (ICOT), September 20-23, 2014, Xi an, China》 - IEEE International Conference on Orange Technologies - 2014, - 223～226 - 共4页

摘要：A bionic micro sucker was designed in this study based on the analyses of the structure and behavior of leech suckers. This sucker helps micro medical robot to adhere to the inner wall of the gastroin...

关键词： biocybernetics | electroactive polymer actuators | medical robotics | microrobots | IPMC | bionic microsucker | foveate plate | gastrointestinal tract | innocuous silicone rubber | leech suckers behavior...

NSTL主题词： IPMC | bionics | Catostomus | micro

8. Construction of Central Pattern Generator for Quadruped Locomotion Control NSTL国家科技图书文献中心

Huashan Feng | Runxiao Wang - 《2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Pages 949-1423》 - 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Pages 949-1423 - 2008, - 979～984 - 共6页

摘要：Central pattern generators (CPGs) inspired from neural system of animal are widely used for the control of locomotion in robots. Such systems present special characteristics like limit cycle behavior,...

摘要：This article introduces a model predictive control method for closed-chain robots. By utilizing virtual breakpoints, this method simplifies complex closed-chain structures into more easily controllabl...

关键词： Closed-chain | MPC | ILQR | Kinematic

摘要：As cobots play an increasingly important role in industrial applications, the trend and industry demand for high load capacity, long reach, and lightweight are inevitable. How to improve the payload a...

关键词： Cobot | Mechanism desigen | Optimized design | Lightweight | Stiffness

摘要：As an important and basic component of a quadruped robot interacting with the external environment, the mechanical leg determines the core application performance of a robot such as walking speed, loa...

关键词： Legged locomotion | Knee | Couplings | Wiring | Analytical models | Torque | Gears

摘要：As an important basic component of quadruped robots, mechanical legs provide the robots with excellent maneuverability and versatility, which determine the core application performance such as job ada...

关键词： Quadruped robots | Mechanical legs | Cases analysis | Comparative analysis | Design research

摘要：Although three segmented mechanical leg is similar to animal limb morphology, it is difficult to solve inverse kinematic and dynamic equations due to the redundant degrees of freedom. Therefore, simpl...

关键词： Three segmented Mechanical Bionic Leg | Movement Mechanism | Dynamics

NSTL主题词： Goats | Motor Control | Leg | Mechanical

摘要：Although three segmented mechanical leg is similar to animal limb morphology, it is difficult to solve inverse kinematic and dynamic equations due to the redundant degrees of freedom. Therefore, simpl...

关键词： Legged locomotion | Motion segmentation | Trajectory | Biological system modeling | Foot | Hip | Kinematics

NSTL主题词： Goats | Motor Control | Leg | Mechanical

摘要：A bionic micro sucker was designed in this study based on the analyses of the structure and behavior of leech suckers. This sucker helps micro medical robot to adhere to the inner wall of the gastroin...

关键词： biocybernetics | electroactive polymer actuators | medical robotics | microrobots | IPMC | bionic microsucker | foveate plate | gastrointestinal tract | innocuous silicone rubber | leech suckers behavior...

NSTL主题词： IPMC | bionics | Catostomus | micro

摘要：Central pattern generators (CPGs) inspired from neural system of animal are widely used for the control of locomotion in robots. Such systems present special characteristics like limit cycle behavior,...

关键词： Central pattern generator (CPG) | Stable limit cycles | Quadruped robot

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