Dynamical analysis and performance evaluation of a biped robot under multi-source random disturbances

During bipedal walking,it is critical to detect and adjust the robot postures by feedback control to maintain its normal state amidst multi-source random disturbances arising from some unavoidable uncertain factors.The radical basis function（RBF）neural network model of a five-link biped robot is established,and two certain disturbances and a randomly uncertain disturbance are then mixed with the optimal torques in the network model to study the performance of the biped robot by several evaluation indices and a specific Poincar′e map.In contrast with the simulations,the response varies as desired under optimal inputting while the output is fluctuating in the situation of disturbance driving.Simulation results from noise inputting also show that the dynamics of the robot is less sensitive to the disturbance of knee joint input of the swing leg than those of the other three joints,the response errors of the biped will be increasing with higher disturbance levels,and especially there are larger output fluctuations in the knee and hip joints of the swing leg.     

带缩放式腿的四足步行机器人的三足支撑步行的动力学分析

本文讨论带缩放式腿的四足步行机器人的三足支撑步行运动。采用半逆解法预先规定运动学补充条件进行运动学分析,应用达朗伯原理和若丹原理进行动力学分析,并附加优化条件解决“超静定性”困难。所分析的结果用于计算一个具体机器人的动力学问题。     

An Improved Walk Model for Train Movement on Railway Network

In this paper, we propose an improved walk model for simulating the train movement on railway network. In the proposed method, walkers represent trains. The improved walk model is a kind of the network-based simulation analysis model. Using some management rules for walker movement, walker can dynamically determine its departure and arrival times at stations. In order to test the proposed method, we simulate the train movement on a part of railway network. The numerical simulation and analytical results demonstrate that the improved model is an effective tool for simulating the train movement on railway network. Moreover, it can well capture the characteristic behaviors of train scheduling in railway traffic.     

基于信息熵权TOPSIS法的步行商业街业态竞争力及布局研究

近期,全国许多城市大刀阔斧地进行步行商业街建设来打造城市名片,其业态结构、规划布局和竞争力提升对其招商、建设和大旅游产业链的培育等具有深远意义.本研究选取杭州市内两条不同时期规划的步行商业街--河坊街和南宋御街为对象,采用实地调查和案例对比,对步行商业街的业态构建了竞争力评价的指标体系,并首次在商业街研究领域中采用了信息熵权TOPSIS法（逼近理想解排序法）,对两者业态的竞争力、空间布局进行了比较分析.研究发现：（1） 四种业态在两条街中最具竞争力,分别是服饰、餐饮、工艺品和食杂店.其中,无品牌的本土工艺品店、本土品牌的服饰店和食杂店的竞争力在河坊街排名前三,而在南宋御街排名前三的依次是本土品牌的餐饮店、国外品牌的餐饮店以及本土品牌服饰店.（2） 工艺品店竞争力的排名差异最大.在河坊街,无论国外还是本土的工艺品店,其排名都很靠前;而在南宋御街,其排名则全部垫底.（3） 百货店在两条街的业态竞争力排名中均处于倒数.此外,研究还发现了步行商业街业态的竞争力与其布局之间存在着协调一致性,并且,业态的空间集聚、分散现象与其竞争力强弱有着紧密联系.     

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简单回顾了被动行走的发展,建立了无量纲形式的平面直腿圆弧足被动行走动力学 模型,详细介绍了被动行走模型仿真的步骤. 并且采用胞胞映射计算得到该圆弧足模型的吸 引盆,发现该模型的吸引盆大于以前研究者研究的点状足模型的吸引盆. 这表明在初始状态 变量偏离不动点很大时,模型仿真仍可收敛到稳定的步态,即该模型具有较高的鲁棒性.     

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分析人体双足步行的动态稳定性以及跳跃运动的动力学过程. 讨论与竞走和跑步运动有关的 力学问题.