25 research outputs found
Electrochemical Determination of Carbendazim in Water Base on Carbon Dots Modified Glassy Carbon Electrode
No full text
Design and implementation of online bookstore based on ASP. net and data mining technology
No full text
Robust Locomotion Exploiting Multiple Balance Strategies: An Observer-Based Cascaded Model Predictive Control Approach
No full textRobust locomotion is a challenging task for humanoid robots, especially when considering dynamic disturbances. This article proposes a disturbance observer-based cascaded model predictive control (MPC) approach for bipedal locomotion, with the capability of exploiting ankle, stepping, hip and height variation strategies. Specifically, based on the variable-height inverted pendulum model, a nonlinear MPC that is run at a low frequency is built for 3-D locomotion (i.e., with height variation) while accounting for the footstep modulation as well. Differing from previous works, the nonlinear MPC is formulated as a convex optimization problem by semidefinite relaxation. Subsequently, assuming a flywheel at the pelvis center, a linear MPC that is run at a high frequency is proposed to regulate angular momentum (e.g., through rotating the upper body), which is solved by convex quadratic programming. To run the cascaded MPC in a closed-loop manner, a high order sliding mode observer is designed to estimate system states and dynamic disturbances simultaneously. Simulation and hardware experiments demonstrate the walking robustness in real-world scenarios, including 3-D walking with varying speeds, walking across non-coplanar terrains and push recovery.Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.Learning & Autonomous Contro
Notice of Retraction: Structural-acoustic coupling and external sound pressure of a plate-ended cylindrical shell based on analytic method
No full textDiscussion on cultural relies conservation planning of old building and “revolutionary former site”
No full textNotice of Retraction: Ammonia oxidation in integrated powdered activated carbon and microfiltration process
No full textCluster and principal component analysis based on SSR markers of Amomum tsao-ko in Jinping County of Yunnan Province
No full text
