Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《Journal of Beijing Information Science & Technology University》 2011-04
Add to Favorite Get Latest Update

Under-actuated bionic robot motion planning with spline approximation and curve fitting

LI Hong,ZHANG Tian(School of Automation,Beijing Information Science of University and Technology,Beijing 100192,China)  
The motion planning of under-actuated bionic robot which is named Rock Roll Robot(RRRobot) is studied.According to the dynamic equation of RRRobot,curve fitting and spline approximation technique combined with particle swarm optimization algorithm is proposed for optimizing the motion planning of RRRobot to minimize the energy loss.The simulation results show that the algorithm is effective in solving optimization of motion planning,and it improves the terminal configuration of the RRRobot error.
【Fund】: 国家自然科学基金项目(11072038);; 北京市自然科学基金重点项目(B类)(KZ201110772039)
【CateGory Index】: TP242
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
Chinese Journal Full-text Database 3 Hits
1 ZHANG Zi-guang~1,GE Xin-sheng~2(1.Department of Mechanical Engineering,Beijing Institute of Machinery,Beijing 100085,China;2.Division of Basic Courses,Beijing Institute of Machinery,Beijing 100085,China);Nonholonomic kinematic plan for RRRobot[J];Journal of Beijing Institute of Machinery;2006-04
2 LUAN Nan 1\ MING Ai guo 2\ ZHAO Xi fang 1\ CHEN Jian ping 1 (1.Research Institute of Robotics, Shanghai Jiaotong University, 200030; 2.University of Electron Communication, Japan);LEARNING CONTROL FOR ROBOT WITH UNACTUATED JOINTS[J];Robot;2002-02
3 CHEN Wei, YU Yue-qing, ZHANG Xu-ping (College of Mechanical Engineering & Applied Electonics Technology, Bejing University of Technology,Beijing 100022,China);A Survey on the Underactuated Robots[J];Machine Design and Research;2005-04
Chinese Journal Full-text Database 10 Hits
1 LIU Yun-hui,LUO Si-wei,LI Ai-jun,YU Han-bin (School of Computer and Information Technology, Beijing Jiaotong University, Beijing 100044,China);Research of Neural Network Learning Based on the View of Convex Programming[J];Journal of Northern Jiaotong University;2004-05
2 XU Hong~1,MA Jian-jun~2,LONG Jian-cheng~1,YANG Hao~1,LONG Zhao~1(1.School of Traffic and Transportation,Beijing Jiaotong University,Beijing 100044,China;2.Administration Office of Information Technology of MOR,Beijing 100844,China);Study on Model and Method of Train Working Diagram of Urban Rail Transit[J];Journal of Beijing Jiaotong University;2006-03
3 FENG Ming-qin1, SUN Zheng-shun2 (1. Dept. of Electrical & Information Engineering, Panzhihua University, Panzhihua 617000, China; 2. Dept. of Automation, Tsinghua University, Beijing 100084, China);Modeling and Stable State Optimal Control for FCC Process[J];Ordnace Industry Automation;2002-04
4 YIN Chun,WANG Zhi-quan(School of Automation,Nanjing University of Science and Technology,Nanjing 210094,Jiangsu,China);On Control of Opportunity Awaiting Time Optimization with Constraints of Controller Gain and Average Residence Time[J];Acta Armamentarii;2010-02
5 HUANG Yuanzhi\ WANG Enzhi\ SUN Yi\ DENG Xudong (Hydraulic Engineering Department of Tsinghua University,Beijing,100084);Application Research of Nonlinear Programming on the Feedback Analysis of Seepage in Fractured Rock Mass[J];ACTA SCICENTIARUM NATURALUM UNIVERSITIS PEKINESIS;2000-05
6 ZHAO Xiao-hua, CHEN Yang-zhou College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100022, China;Traffic Light Control Method for a Single Intersection Based on Hybrid Systems Theory[J];Journal of Beijing Polytechnic University;2004-04
7 TANG Ji ye HUANG Hai XIA Ren wei HUANG Hai bo (Beijing University of Aeronautics and Astronautics,School of Astronautics);Static Shape Control of Adaptive Structure Using Composite Laminated Piezoelectric Element[J];JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS;2000-02
8 Xiao Lianghua\ Zhao Yu\ Huang Min(Dept. of System Engineering of Engineering Technology, Beijing University of Aeronautics and Astronautics, Beijing 100083, China);Three-parameter Weibull process of using position element and point estimation[J];Journal of Beijing University of Aeronautics and Astronautics;2004-09
9 Yang Zhen Ding Wei(School of Telecommunication and Network Technology, Beijing University of Posts and Telecommunications, Beijing 100876, China);Flow control algorithm based on ECN probabilistic marking[J];Journal of Beijing University of Aeronautics and Astronautics;2004-11
10 Xu Baochang Chen Zhe Zhao Long (School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China);Improved least-squares scene matching algorithm[J];Journal of Beijing University of Aeronautics and Astronautics;2005-08
China Proceedings of conference Full-text Database 10 Hits
1 Liu Yuandong Yin Yihui Yu Shaorong (Institute of Structural Mechanics,China Academy of Engineering Physics,Mianyang,Sichuan 621900 China);Structural Optimization of A Bolt-Flange Structure Based on Response Surface Design Method[A];[C];2009
2 Feng Wu,Chenyang Yang,Yafei Tian and Shiyi Mao (School of Electronics Engineering,Beihang University,Beijing 100083 China);Iterative Algorithms For LCMP Auxiliary-Vector Filter[A];[C];2003
3 YUAN Wei,SHI Gong-tao,JIANG Yong-mei (School of Electronic Science and Engineering,National University of Defense Technology,Hunan Changsha,410073;);A SAR image registration technique based on ROEWA operator and GA-Powell algorithm[A];[C];2009
4 LIU Fu-ping,YANG Chang-chun (Institute of Geology and Geophysics,Chinese Academy of Sciences,Beijing 100101,China);Numerical Calculation of Sensitivity Coefficients to the Porosity[A];[C];2003
5 ;A New Algorithm to Solve Linear Programming Problems with Coupled Multi-Blocks[A];[C];2005
6 Sun Yuhua Department of Mathematics and Mechanics, USTB,Beijing,100083,China;Sensitivity analysis under perturbations of both objective function coefficient and constrained matrix[A];[C];2010
7 Zhu Shengjia,Ren Haipeng (School of Information and Control Engineering,Xi'an University of Technology,Xi'an 710048);On Two-dimensional Sound Source Location Algorithm Based On a Chaotic Conjugate Gradient Method[A];[C];2010
8 Ding Weiyu , Wan Qilin , Yan jinghua , Meng Weiguang and Chen Zitong ( Guangzhou Institute of Tropical and Marine Meteorology,CMA,Guangzhou 510080,China);Variational Assimilation of Automatic Weather Stations Rainfall in Convective Systems and its Impact on Rain Forecast[A];[C];2005
9 Yin Chun,Wang Zhiquan,Dai Yuewei (School of Automation,Nanjing University of Science and Technology,Nanjing,210094);ON CONTROL OF OPPORTUNITY AWAITING TIME OPTIMIZATION WITH CONTRAINT ON CONTROLLER GAIN[A];[C];2009
10 LI Hong,ZHANG Tian,LIU Lihua Beijing Information Science & Technology University,Beijing 100192,P.R.China;Research of Improved PSO Based on Genetic Operator in the Motion Planning of RRobot[A];[C];2011
【Secondary Citations】
Chinese Journal Full-text Database 6 Hits
1 LIU Dian-tong, YI Jian-qiang, TAN Min (Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China);Fuzzy sliding mode control of uncertain underactuated nonlinear systems[J];Electric Machines and Control;2003-03
2 HE Guang ping 1\ LU Zhen 1\ WANG Feng xiang 2 (1. Beijing Hua Yu Robot Technology Development Company of Launch Vehicle Academy of China; 2.Beijing University of Aeronautics and Astronauts);INVERSE KINEMATICS OF PASSIVE REDUNDANCY SPACE ROBOTS[J];Robot;2000-06
4 HE Guangping; LU Zhen; WANG Fengxiang (Academy of Launch Vehicle Technology Institute of China) (Beijing University of Aeronautics & Astronauts);DYNAMIC CONTROL SMCE-ROBOT ARM WITH PASSIVE JOINTS[J];Chinese Journal of Space Science;2001-01
5 MA Bao-li (The Seventh Research Division, Beijing University of Aeronautics and Astronautics, Beijing 100083,China);Stabilization of a class of second-order nonholonomic systems[J];Control Theory & Applications;2003-04
6 LUAN Nan 1, MING Ai guo 2, ZHAO Xi fang 1, CHEN Jian ping 1 (1.Research Inst. of Robotics, Shanghai Jiaotong Univ., Shanghai 200030, China; 2.Univ. of Electron Communication, Tokyo 182—8585, Japan);Generation and Realization of Optimal Trajectory for Under-Actuated Robot[J];Journal of Shanghai Jiaotong University;2002-10
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved