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时间:2021-04-07   来源:欧冠预测manbetx2.0    作者:苹果如何打开万博体育
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孫春蘭主持召開國務院應對新型冠狀病毒感染的肺炎疫情聯防聯控工作機制會議時強調 切實落實責任 嚴格防控措施 堅決打贏疫情防控攻堅戰新華社北京1月24日電 中共中央政治局委員、國務院副總理孫春蘭20日、23日、24日連續召開國務院應對新型冠狀病毒感染的肺炎疫情聯防聯控工作機制會議,深入貫徹習近平總書記重要指示批示精神,認真落實李克強總理重要批示要求和國務院常務會議部署,分析研判疫情形勢,部署落實疫情防控各項工作。學校有6個學院,提供超過50個不同專業的學士及碩士學位。As you may have noticed,. This often happens when the robots are trying to take a step,because stepping involves balancing on one foot while moving. All steps aren’t equal, of course—you’ve got easy steps, when you’re walking slowly across a flat surface, and you’ve got hard steps, when you’re trying to avoid an obstacle by stepping over it or across it. Both robots and humans are constrained in the kinds of steps we’re able to take by (among other things) how far we can stick a leg out without falling over. Humans mitigate this to some extent by dynamic walking, also known as constantly falling forward, but for less dynamic (quasi-static) robots, step length puts a significant limitation on the kinds of obstacles they can deal with.The fundamental problem here is that the longer the step you want to take, the more your center of gravity moves out toward the leg you’re taking the step with. Try to take too big of a step, and you’ll fall forwards while extending your leg. Go on, try it!*Solving this for a quasi-static robot (or human) can be done by changing the center of gravity somehow, either by reducing the weight of the leg you’re sticking out, or increasing the weight of all of the rest of you. At Guangdong University of Technology’s in China roboticists are experimenting with using small ducted fans embedded in the feet of a bipedal robot. The idea is to change the robot’s center of gravity to help it balance as it takes giant steps over a wide gap that it normally wouldn’t be able to cross.Photo: Guangdong University of TechnologyThe ducted fans on Jet-HR1's feet allow the robot to stretch its legs outfarther without falling and take bigger steps than it normally would be able to.The robot, called Jet-HR1, weighs 6.5 kilograms and has a height of 65 centimeters. On the end of each foot is a ducted fan jet engine, which weighs just 232 grams but can output up to 2 kg of thrust, nearly a third of the weight of the entire robot.In one experiment, Jet-HR1 was tasked with stepping over a gaping chasm 37 cm wide, which required a step length of 80 percent of its leg. To make this work, the robot spooled up the ducted fan as it stuck its leg out, essentially holding the leg up and preventing the robot from tipping forwards. Once the robot has its jet foot planted on the far side of the gap, it repeats the procedure with its back leg to complete the crossing. The entire maneuver can be completed in well under a minute, which is pretty quick, as is appropriate for a robot with two jet engines on it.The researchers suggest that this general technique could be adapted to many more challenging situations, by helping robots control their balance when facing large obstacles that they need to step over, or even just keeping them from falling over when managing roughterrain in general. Since the jet engines allow the robot沒to dynamically adjust its center of mass without the need for specific ground contacts, you can imagine all kinds of crazy things(/automaton/robotics/humanoids/jet-powered-icubcould-be-the-first-flying-humanoid-robot)like robots that tilt themselves sideways or even do the limbo to navigate complex environments.For more about Jet-HR1, we spoke with Zhifeng Huang, an associate professor at Guangdong University of Technology, via email.IEEE Spectrum:How did you get the idea to put jets on the feet of a robot like this?ZhifengHuan:We were more or less inspired by science fiction. In fact, we considered this idea two years ago, when we noticed the mobility limitation of humanoid robots when going through rubble and debris in an earthquake aftermath scenario (e.g. the DARPA Robotics Challenge).(/automaton/robotics/humanoids/darpar-robotics-challenge-monents-lessons-learned-whats-next).It’s difficult for a bipedal robot to step over large obstacles, since extending the legs too much would disrupt the static balance condition, which requires the robot’s center of mass to be projected inside the support area of its foot. Some dynamic motions, such as jumping, might be considered as a solution. However, this might not be suitable for irregular terrain, as the impact of therobot when it lands might cause it to fall over.That’s why we think a new method that enables the robot to maintain a quasi-static balance and produces a less significant impact while it steps over obstacles is necessary. And our idea was utilizing the external force of the jets to maintain the balance of the robot.Image: Photo: Guangdong University of TechnologySchematic of the ducted-fan propulsion system mountedon each foot.How much of a difference did the jets make to the performance of the robot?Currently, in the quasi-static condition, the jets mainly improve the robot’s ability to keep its balance under various postures. Using the thrust of the jet, the distance that the robot’s foot can be placed extends. As hown in the demo video, even without an upper body, the robot was able to completely step over a broad gap with 45 cm in width, up to 97 percent of its leg’s length. In previous studies, only around 20 percent was possible.What other kinds of gaits or maneuvers could benefit from jet propulsion assistance?The jet propulsion assistance could benefit not only 2D gaits but also 3D gaits and some dynamic motions, such as jumping. It could also make some special 3Dgaits possible. For example, with just thrust, the robot might be able to rotate its body while one foot is supporting itself and the other leg is swinging. In addition, the jets are helpful in reducing impacts whileperforming dynamic motion.Do you think that a system like this could be apractical way for humanoid robots to move over obstacles?Yes, current results show that the solution is entirely feasible. For a robot whose weight was lower than 15 kg, the propulsion system consists of electric ductedfans. For a humanoid robot whose weight is larger than 15 kg, turbojets might be considered. Both are mature technologies.How could this system be improved? What are you working on next?We are working on some practical applications of this system. Currently, one team in my laboratory has been working on the power source (e.g. high density battery) and the precision feedback control of the thrust. Another team is focusing on the robot’s locomotion planning and controller. Future studies will focus on dynamic stepping and soft-landing techniques, which may enable a robot to step overobstacles more quickly and with less impact. In addition, some new 3D gaits with the help of the jets will also be explored.“Jet-HR1: Two-dimensional Bipedal Robot Step Over Large Obstacle Based on a Ducted-fan Propulsion System,” by Zhifeng Huang, Biao Liu, Jiapeng Wei, Qingsheng Lin, Jun Ota, and Yun Zhang from Guangdong University of Technology in China, was presentedJet-HR1 consists of a pair of robot legs with electricducted fans on its feet. For larger robots, theresearchers say more powerful turbojets might berequired.中國教育在線:廣東工業大學學習貫徹習近平總書記在慶祝改革開放40週年大會上的重要講話精神-廣東工業大學新聞網中國教育在線訊12月20日,廣東工業大學在大學城校區行政樓702會議室召開黨委常委會,專題學習貫徹習近平總書記在慶祝改革開放40週年大會上的重要講話精神。廣東工業大學黨委書記蘇一凡認爲,本屆“挑戰杯”開創了粵港聯辦、校校聯辦的歷史先河,賦予了兩校新的歷史使命——攜手一起挑戰青春、共創美好未來,走粵港合作、開放融合、協同發展的創新驅動之路。

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