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Force Analytic Method for Rolling Gaits of Tensegrity Robots 期刊论文
IEEE/ASME Transactions on Mechatronics, 2016, 卷号: 21, 期号: 5, 页码: 2249-2259
Authors:  Du WJ(杜汶娟);  Ma SG(马书根);  Li B(李斌);  Wang MH(王明辉);  Hirai, Shinichi
Adobe PDF(1286Kb)  |  Favorite  |  View/Download:367/67  |  Submit date:2016/09/11
Driving Parameters  Force Analytic Method  Material Parameters  Rolling Directions  Tensegrity Robots  
轮手一体机器人群体构形的模块化动力学建模方法 期刊论文
机械工程学报, 2015, 卷号: 51, 期号: 1, 页码: 24-33
Authors:  胡亚南;  马书根;  李斌;  王明辉;  王越超
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轮手一体机器人  群体构形  动力学  无奇异  几何积分  
基于微分几何的蛇形机器人动力学与控制统一模型 期刊论文
中国科学:信息科学, 2015, 卷号: 45, 期号: 8, 页码: 1080-1094
Authors:  郭宪;  马书根;  李斌;  王明辉;  王越超
Adobe PDF(847Kb)  |  Favorite  |  View/Download:305/84  |  Submit date:2015/11/02
蛇形机器人  非完整约束  微分几何  动力学与控制  纤维丛  
Modeling and optimal torque control of a snake-like robot based on the fiber bundle theory 期刊论文
Science China Information Sciences, 2015, 卷号: 58, 期号: 3, 页码: 1-13
Authors:  Guo X(郭宪);  Ma SG(马书根);  Li B(李斌);  Wang MH(王明辉);  Wang YC(王越超)
Adobe PDF(837Kb)  |  Favorite  |  View/Download:433/73  |  Submit date:2015/03/17
Snake-like Robot  Redundant Torque  Fiber Bundle Theory  Nonholonomic  Optimal Control  
Reconfiguration planning for wheel-manipulator robots 会议论文
2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), Shenyang, China, June 8-12, 2015
Authors:  Hu YN(胡亚南);  Ma SG(马书根);  Li B(李斌);  Wang MH(王明辉);  Wang YC(王越超)
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Reconfiguration Planning  Wheel-manipulator Robot  Perfect Matching  
基于最小无穷范数的蛇形机器人最优力矩控制 期刊论文
机器人, 2014, 卷号: 36, 期号: 1, 页码: 8-13
Authors:  郭宪;  王明辉;  李斌;  马书根;  王越超
Adobe PDF(664Kb)  |  Favorite  |  View/Download:895/93  |  Submit date:2014/04/16
蛇形机器人  最优力矩控制  最小无穷范数  非完整约束动力学  
基于能量的蛇形机器人蜿蜒运动控制方法的仿真与实验研究 期刊论文
自动化学报, 2011, 卷号: 37, 期号: 5, 页码: 604-614
Authors:  王智锋;  马书根;  李斌;  王越超
Adobe PDF(6765Kb)  |  Favorite  |  View/Download:551/101  |  Submit date:2012/05/29
蛇形机器人  蜿蜒运动  能量平衡  适应性  运动测量系统  控制方法  仿真与实验  被动轮  关节力矩  交互作用  
基于微分几何的蛇形机器人移动与操作统一动力学模型研究 期刊论文
中国科学:信息科学, 2011, 卷号: 41, 期号: 2, 页码: 190-206
Authors:  王智锋;  马书根;  李斌;  王越超
Adobe PDF(1196Kb)  |  Favorite  |  View/Download:596/141  |  Submit date:2012/05/29
蛇形机器人  动力学建模  统一模型  微分几何  移动状态  操作臂  动力学模型  动力学方程  构形空间  操作状态  
Experimental study of passive creeping for a snake-like robot 会议论文
2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011, Harbin, China, May 22-25, 2011
Authors:  Wang ZF(王智锋);  Ma SG(马书根);  Li B(李斌);  Wang YC(王越超)
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Biomedical Engineering  Experiments  Serpentine  
A unified dynamic model for locomotion and manipulation of a snake-like robot based on differential geometry 期刊论文
SCIENCE CHINA-INFORMATION SCIENCES, 2011, 卷号: 54, 期号: 2, 页码: 318-333
Authors:  Wang ZF(王智锋);  Ma SG(马书根);  Li B(李斌);  Wang YC(王越超)
Adobe PDF(1119Kb)  |  Favorite  |  View/Download:832/138  |  Submit date:2012/05/29
Snake-like Robot  Dynamics  Unified Model  Differential Geometry  Locomotion  Manipulation