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| 1 | A Trot and Flying Trot Control Method for Quadruped Robot Based on Optimal Foot Force Distribution显示文摘In order to enhance the dynamic motion capability of the bionic quadruped robot,a flying trot gait control method based on full-scale virtual model and optimal plantar force distribution is proposed.A stable flying trot gait is accomplished by mapping the robot torso motion to the foot trajectory.The force distribution calculated by the torso virtual model is converted into a quadratic optimization problem and solved in real time by the open source library Gurobi.The transition between the trot gait and the flying trot gait is achieved by coordinating leg motion phases.The results of the dynamic simulation verify that the proposed method can realize the 3D stable flying trot gait.Compared against the trot gait,the flying trot gait can improve the speed of the quadruped robot.Combine the trot gait and the flying trot gait,the quadruped robot can move efficiently and adapt to complex terrains. | Teng Chen Xiaobo Sun Ze Xu Yibin Li Xuewen Rong Lelai Zhou | 2019 | Journal of Bionic Engineering2019，16，4： | 4 |
| 2 | An Energy Efficient Motion Controller Based on SLCP for the Electrically Actuated Quadruped Robot显示文摘Energy efficiency has been the focus of quadruped robot research.Decreasing the energy loss caused by the DC motor can contribute to the walking efficiency of electrically actuated quadruped robots.Most works have focused on the quadruped mechanisms or actuations such as the Series Elastic Actuation(SEA).This work proposes a better efficient controller to perform the stable 5 m·s-1 movements of quadruped robots.The dynamic model of the electrically actuated leg is established by Lagrangian formulation.The energy efficiency of the DC motors in the electrically actuated quadruped robot is formulated as an optimization problem.The Stochastic Linear Complementarity Problem(SLCP)and sinusoidal pulse force are proposed to reduce the energy consumption at the contact.The Bemstein polynomials are used for planning a quasi-elliptic foot motion trajectory.The stability and energy efficiency of the proposed controller are verified with computer simulation and an actual single leg robot prototype.Compared with other works,the proposed controller performs the optimal Cost of Transport(COT). | Tianfa Li Lelai Zhou Yibin Li Hui Chai Kun Yang | 2020 | Journal of Bionic Engineering2020，17，2： | 3 |
| 3 | Dynamic regulation of Pdxl enhancers by Foxal and Foxa2 is essential for pancreas development显示文摘 | Gao N LeLay J Vatamaniuk MZ | | 0，，24： | 1 |
| 4 | Bias-dependent imaging of the In-terminated InAs(001) (4×2)/c(8×2) surface by STM: Reconstruction and transitional defect显示文摘 | Kendrick C Lelay G Kahn A | 1996 | Phys Rev B1996，54，17： | 1 |
| 5 | β-Amino acids-syntheses,occurrence in natural products,and components of β-peptides1,2显示文摘 | LELAIS G SEEBACH D | 2004 | Biopolymers2004，76，3： | 1 |
| 6 | Silicon nano-ribbons on Ag(110): a?computational investigation显示文摘 | Abdelkader Kara Sébastien Vizzini Cristel Leandri Benedicte Ealet Hamid Oughaddou Bernard Aufray Guy LeLay | 2010 | Journal of Physics: Condensed Matter2010，，： | 1 |
| 7 | Panmictic structure of Helicobacter pylori demonstrated by the comparative study of six genetic markers 显示文摘 | Salaun L Audibert C LeLay G | 1998 | FEMS Microbiol Lett1998，161，2： | 1 |
| 8 | Caveolinproteins:Newplayersinthecaveolaefield显示文摘 | BriandN DugailI LelayS | 2011 | Biochimie2011，93，1： | 1 |
| 9 | An Efficient Gait-generating Method for Electrical Quadruped Robot Based on Humanoid Power Planning Approach显示文摘The research field of legged robots has always relied on the bionic robotic research,especially in locomotion regulating approaches,such as foot trajectory planning,body stability regulating and energy efficiency prompting.Minimizing energy consumption and keeping the stability of body are considered as two main characteristics of human walking.This work devotes to develop an energy-efficient gait control method for electrical quadruped robots with the inspiration of human walking pattern.Based on the mechanical power distribution trend,an efficient humanoid power redistribution approach is established for the electrical quadruped robot.Through studying the walking behavior acted by mankind,such as the foot trajectory and change of mechanical power,we believe that the proposed controller which includes the bionic foot movement trajectory and humanoid power redistribution method can be implemented on the electrical quadruped robot prototype.The stability and energy efficiency of the proposed controller are tested by the simulation and the single-leg prototype experiment.The results verify that the humanoid power planning approach can improve the energy efficiency of the electrical quadruped robots. | Lelai Zhou Tianfa Li Zaiyang Liu Yibin Li | 2021 | Journal of Bionic Engineering2021，18，6： | 0 |
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