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- 저자 : Yingyuan Liu (검색결과 2 건)
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Energetic walking gaits studied by a simple actuated inverted pendulum model
Kang An,Yingyuan Liu,Yiran Li,Yunxia Zhang,Chengju Liu 대한기계학회 2018 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.32 No.5
The mechanical structure and the joint torques configuration are the important parts in the biped robot design. Meanwhile, different walking speed and step length should be chosen to achieve efficient gait according to different need of walking environment. Therefore, this paper investigates the energetic walking gaits using a simple actuated inverted pendulum model. Joint torques and push-off impulse are both added in the model. The walking gaits with different joint torques configuration and with different combination of walking speeds and step lengths are analyzed. The results show that hip velocity direction is changed by the push-off impulse just before the heelstrike, which reduces the energy consumption of each step. The walking gait with minimal energy consumption is the walking pattern only with push-off, the energy cost of which is 1/4 of the walking pattern only with joint torque during the swing phase. The cost of transport (COT) and the push-off impulse of the walking gait is increasing with the increase of walking speed and step length. Using same value of push-off impulse, the walking with long step length and slow speed is more efficient. The paper can provide suggestions for designing advanced legged robot systems with high energy efficiency and various gaits. For example, the consideration of push-off mechanism can be used in the biped robots design.
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Wang Yongpeng,Wang Heng,Zhang Qingwen,Zhang Yingyuan,Yan Pengtao,Liu Mengzhu,Zhang Haibo 한국화학공학회 2023 Korean Journal of Chemical Engineering Vol.40 No.8
Multi-walked carbon nanotube (MWCNT)/poly(aryl ether ketone) networks cross-linked by Diels-Alder cycloaddition possess outstanding mechanical and rheological properties. Poly(aryl ether ketone) containing pendant furan (PAEK-Fu) was synthesized, which had excellent thermal and mechanical properties, and a series of cross-linked materials with reversible covalent cross-linked crosslinking network were synthesized through a furan/MWCNTs Diels-Alder (D-A) reaction between PAEK-Fu and MWCNTs. Thermal and mechanical properties for MWCNT/PAEK-Fu composites were studied, and after crosslinking, MWCNT/PAEK-Fu composites exhibited good flexibility and resistance against organic solvents. After heating to 180 °C, the cross-linked MWCNT/PAEK-Fu composite membranes could be dissolved in NMP. This work demonstrates that the poly(aryl ether ketone)s can be made into recyclable thermoset materials using the concept of associative dynamic bonding. Given the dramatically increasing interest in environmentally sustainable materials, this MWCNT/poly(aryl ether ketone) interaction mode provides a robust approach to high performance engineering plastics with improved performance compared with the thermoplastic counterparts.
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