将来有储备的日子会很棒

减肥吃兔子

该论文已发表在2017仿人机器人国际学术会议上并且我们期待在IROS2018见到最新的进展Asyoumayhavenoticed,.Thisoftenhappenswhentherobotsaretryingtotakeastep,becausesteppinginvolvesbalancingononefootwhilemoving.Allstepsaren’tequal,ofcourse—you’vegoteasysteps,whenyou’rewalkingslowlyacrossaflatsurface,andyou’vegothardsteps,whenyou’retryingtoavoidanobstaclebysteppingoveritoracrossit.Bothrobotsandhumansareconstrainedinthekindsofstepswe’reabletotakeby(amongotherthings)howfarwecanstickalegoutwithoutfallingover.Humansmitigatethistosomeextentbydynamicwalking,alsoknownasconstantlyfallingforward,butforlessdynamic(quasi-static)robots,steplengthputsasignificantlimitationonthekindsofobstaclestheycandealwith.Thefundamentalproblemhereisthatthelongerthestepyouwanttotake,themoreyourcenterofgravitymovesouttowardthelegyou’retakingthestepwith.Trytotaketoobigofastep,andyou’llfallforwardswhileextendingyourleg.Goon,tryit!*Solvingthisforaquasi-staticrobot(orhuman)canbedonebychangingthecenterofgravitysomehow,eitherbyreducingtheweightofthelegyou’restickingout,orincreasingtheweightofalloftherestofyou.AtGuangdongUniversityofTechnology’sinChinaroboticistsareexperimentingwithusingsmallductedfansembeddedinthefeetofabipedalrobot.Theideaistochangetherobot’scenterofgravitytohelpitbalanceasittakesgiantstepsoverawidegapthatitnormallywouldn’tbeabletocross.Photo:GuangdongUniversityofTechnologyTheductedfansonJet-HR1'sfeetallowtherobottostretchitslegsoutfartherwithoutfallingandtakebiggerstepsthanitnormallywouldbeableto.Therobot,calledJet-HR1,weighs6.5kilogramsandhasaheightof65centimeters.Ontheendofeachfootisaductedfanjetengine,whichweighsjust232gramsbutcanoutputupto2kgofthrust,nearlyathirdoftheweightoftheentirerobot.Inoneexperiment,Jet-HR1wastaskedwithsteppingoveragapingchasm37cmwide,whichrequiredasteplengthof80percentofitsleg.Tomakethiswork,therobotspooleduptheductedfanasitstuckitslegout,essentiallyholdingthelegupandpreventingtherobotfromtippingforwards.Oncetherobothasitsjetfootplantedonthefarsideofthegap,itrepeatstheprocedurewithitsbacklegtocompletethecrossing.Theentiremaneuvercanbecompletedinwellunderaminute,whichisprettyquick,asisappropriateforarobotwithtwojetenginesonit.Theresearcherssuggestthatthisgeneraltechniquecouldbeadaptedtomanymorechallengingsituations,byhelpingrobotscontroltheirbalancewhenfacinglargeobstaclesthattheyneedtostepover,orevenjustkeepingthemfromfallingoverwhenmanagingroughterrainingeneral.Sincethejetenginesallowtherobot没todynamicallyadjustitscenterofmasswithouttheneedforspecificgroundcontacts,youcanimagineallkindsofcrazythings(/automaton/robotics/humanoids/jet-powered-icubcould-be-the-first-flying-humanoid-robot)likerobotsthattiltthemselvessidewaysorevendothelimbotonavigatecomplexenvironments.FormoreaboutJet-HR1,wespokewithZhifengHuang,anassociateprofessoratGuangdongUniversityofTechnology,viaemail.IEEESpectrum:Howdidyougettheideatoputjetsonthefeetofarobotlikethis?ZhifengHuan:Weweremoreorlessinspiredbysciencefiction.Infact,weconsideredthisideatwoyearsago,whenwenoticedthemobilitylimitationofhumanoidrobotswhengoingthroughrubbleanddebrisinanearthquakeaftermathscenario(e.g.theDARPARoboticsChallenge).(/automaton/robotics/humanoids/darpar-robotics-challenge-monents-lessons-learned-whats-next).It’sdifficultforabipedalrobottostepoverlargeobstacles,sinceextendingthelegstoomuchwoulddisruptthestaticbalancecondition,whichrequirestherobot’scenterofmasstobeprojectedinsidethesupportareaofitsfoot.Somedynamicmotions,suchasjumping,mightbeconsideredasasolution.However,thismightnotbesuitableforirregularterrain,astheimpactoftherobotwhenitlandsmightcauseittofallover.That’swhywethinkanewmethodthatenablestherobottomaintainaquasi-staticbalanceandproducesalesssignificantimpactwhileitstepsoverobstaclesisnecessary.Andourideawasutilizingtheexternalforceofthejetstomaintainthebalanceoftherobot.Image:Photo:GuangdongUniversityofTechnologySchematicoftheducted-fanpropulsionsystemmountedoneachfoot.Howmuchofadifferencedidthejetsmaketotheperformanceoftherobot?Currently,inthequasi-staticcondition,thejetsmainlyimprovetherobot’sabilitytokeepitsbalanceundervariouspostures.Usingthethrustofthejet,thedistancethattherobot’sfootcanbeplacedextends.Ashowninthedemovideo,evenwithoutanupperbody,therobotwasabletocompletelystepoverabroadgapwith45cminwidth,upto97percentofitsleg’slength.Inpreviousstudies,onlyaround20percentwaspossible.Whatotherkindsofgaitsormaneuverscouldbenefitfromjetpropulsionassistance?Thejetpropulsionassistancecouldbenefitnotonly2Dgaitsbutalso3Dgaitsandsomedynamicmotions,suchasjumping.Itcouldalsomakesomespecial3Dgaitspossible.Forexample,withjustthrust,therobotmightbeabletorotateitsbodywhileonefootissupportingitselfandtheotherlegisswinging.Inaddition,thejetsarehelpfulinreducingimpactswhileperformingdynamicmotion.Doyouthinkthatasystemlikethiscouldbeapracticalwayforhumanoidrobotstomoveoverobstacles?Yes,currentresultsshowthatthesolutionisentirelyfeasible.Forarobotwhoseweightwaslowerthan15kg,thepropulsionsystemconsistsofelectricductedfans.Forahumanoidrobotwhoseweightislargerthan15kg,turbojetsmightbeconsidered.Botharematuretechnologies.Howcouldthissystembeimproved?Whatareyouworkingonnext?Weareworkingonsomepracticalapplicationsofthissystem.Currently,oneteaminmylaboratoryhasbeenworkingonthepowersource(e.g.highdensitybattery)andtheprecisionfeedbackcontrolofthethrust.Anotherteamisfocusingontherobot’slocomotionplanningandcontroller.Futurestudieswillfocusondynamicsteppingandsoft-landingtechniques,whichmayenablearobottostepoverobstaclesmorequicklyandwithlessimpact.Inaddition,somenew3Dgaitswiththehelpofthejetswillalsobeexplored.“Jet-HR1:Two-dimensionalBipedalRobotStepOverLargeObstacleBasedonaDucted-fanPropulsionSystem,”byZhifengHuang,BiaoLiu,JiapengWei,QingshengLin,JunOta,andYunZhangfromGuangdongUniversityofTechnologyinChina,waspresentedJet-HR1consistsofapairofrobotlegswithelectricductedfansonitsfeet.Forlargerrobots,theresearcherssaymorepowerfulturbojetsmightberequired.中国教育在线:广东工业大学学习贯彻习近平总书记在庆祝改革开放40周年大会上的重要讲话精神-广东工业大学新闻网中国教育在线讯12月20日,广东工业大学在大学城校区行政楼702会议室召开党委常委会,专题学习贯彻习近平总书记在庆祝改革开放40周年大会上的重要讲话精神或许,看到郭麒麟对师父于谦那么好,从德云社出走后多次指责原师父郭德纲的何云伟,怕是受了刺激吧?何云伟除了在文字内容里提到赵丽蓉,还发了一张赵丽蓉吃饭的旧照片看到何云伟提到赵丽蓉老师,有网友比较气愤地评论表示,别辱了我儿时的偶像当然,也有理性网友留言评论称,无论相声还是话剧,都要面向市场这句话说的也有一定道理,如今场场爆满、一票难求的德云社,在知名度不高的时候,郭德纲他们都得上街去拉观众来听相声郭德纲曾经就笑着回忆说:今天你觉得这是个笑话,当年呢,我们这是没地儿哭去

研究者建议说这种一般性的技术能适用于其他许多具有挑战性的情况,当机器人遇到它需要跨越的大尺度障碍物时,能够帮助其实现平衡控制,或者在一般不平整地面保持平衡不摔倒因为涵道引擎能够保证在于地面不发生接触的情况下动态调整机器人的质心,你可以设想各种脑洞大开的事,例如机器人在复杂环境中侧向倾斜行走为了更加了解Jet-HR1,我们通过邮件,对广东工业大学的黄之峰副教授进行了采访  培训会由叶跃棋主讲,他结合自身工作经历情况向媒体运行部的所有工作人员讲解了服务对象、工作职能、工作区域和工作流程,还列举了许多生动的真实例子,讲解在实操过程中可能遇到的问题和应对的办法,强调主管要带头考虑好各种应急预案他列举了世博会、亚田赛和奥运会的突发事件应急处理实例,并对于各区域可能出现的突发情况作了突发事件假设,对各个业务口主管进行提问,并对主管的回答进行了点评和总结他勉励工作人员,“要有吃苦耐劳的精神,主动提供优质的服务  穆向强在讲话中强调,工作人员既要清楚自身的职责,又要充分发挥团队精神,他指出,对媒体提供良好的服务对竞赛起着非常重要的作用他特地提出了南非世界杯的反面事例,说明了由媒体服务的缺陷而引起的对举办城市乃至举办国的负面影响