{“状态”:“确定”,“消息类型”:“工作”,“信息版本”:“1.0.0”,“邮件”:{“索引”:{“日期-部件”:[[2024,6,17]],“日期-时间”:“2024-06-17T04:36:26Z”,“时间戳”:1718598986681},“引用-计数”:30,“发布者”:“SAGE出版物”,“问题”:“12-14”,“许可证”:[{“开始”:{'日期-部件“:[[2021,8,12]],“时间”:“2021-08-12T00:00:00Z”,“时间戳”:1628726400000},“content-version”:“tdm”,“delay-in-days”:0,“URL”:“http://\/journals.sagepub.com/page\/policys\/text-and-data-mining-license”}],“content-domain”:{“domain”:[“journals/sagepub.com”],“crossmark-restriction”:true},”shortcontainer-title“:[“The International Journal of Robotics Research”],”published-print“:{”date-parts“:[2021,12]},“摘要”:“侧绕是某些蛇执行的一种运动形式,已在无肢体机器人中重建;步态是有益的,因为它在不同的陆地环境中是有效的。侧绕步态是由人体起伏的水平和垂直行波协调产生的:水平波在很大程度上决定了侧绕相对于人体骨架的方向,而垂直行波则决定了人体与环境之间的接触模式。当运动者\u2019s的质心离开由接触模式形成的支撑多边形时,可能会发生不希望发生的运动行为(例如身体不必要的转动或不稳定的摆动)。在本文中,我们开发了一种通过调制垂直波来生成所需平移和转弯的方法。这些调制改变了人体\u2013环境接触贴片的分布,并可以稳定以前静态不稳定的配置。该方法首先识别垂直波的空间频率,该垂直波静态稳定给定水平波的运动。然后,使用几何力学工具,我们设计体波之间的协调,从而产生所需的平移或旋转。我们在数值模拟和一个16关节无肢体机器人在平坦坚硬地面上移动的实验中证明了我们的技术的有效性。我们的方案拓宽了侧绕式低速运动者的运动和行为范围,从而使无肢体系统能够稳定和/或快速穿越不同的地形<\/jats:p>“,”DOI“:”10.1177\/02783649211037715“,”type“:”journal-article“,”created“:{”date-parts“:[2021,8,12],”date-time“:”2021-08-12T10:07:22Z“,”timestamp“:1628762842000},”page“:is-referenced-by-count“:17,”标题“:[”体波频率调制以提高侧绕机器人的性能“],”前缀“:”10.1177“,”卷“:”40“,”作者“:[{”ORCID“:”http://\/ORCID.org\/0000-0002-6187-4911“,”authenticated-ORCID“:false,”给定“:”Baxi“,“family”:“Chong”,“sequence”:“first”,“affiliation”:[{“name”:“佐治亚理工学院,美国佐治亚州亚特兰大”}]},{“ORCID”:“http://\/orcid.org\/00000-0001-9012-838X“,”authenticated-orcid“:false,”given“:”Tianyu“,”family“:”Wang“,”sequence“:”additional“,”affiliation“:[{”name“:”Georgia 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