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国家高技术研究发展计划(2007AA04Z201)

作品数:14 被引量:96H指数:7
相关作者:戴振东张昊孙久荣郭东杰李宏凯更多>>
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发文基金:国家高技术研究发展计划国家自然科学基金江苏省自然科学基金更多>>
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Adhesive Contact in Animal: Morphology, Mechanism and Bio-Inspired Application被引量:14
2011年
Many animals possess adhesive pads on their feet, which are able tO attach to various substrates while controlling adhesive forces during locomotion. This review article studies the morphology of adhesive devices in animals, and the physical mechanisms of wet adhesion and dry adhesion. The adhesive pads are either 'smooth' or densely covered with special adhesive setae. Smooth pads adhere by wet adhesion, which is facilitated by fluid secreted from the pads, whereas hairy pads can adhere by dry adhesion or wet adhesion. Contact area, distance between pad and substrate, viscosity and surface tension of the liquid filling the gap between pad and substrate are the most important factors which determine the wet adhesion. Dry adhesion was found only in hairy pads, which occurs in geckos and spiders. It was demonstrated that van der Waals interaction is the dominant adhesive force in geckos' adhesion. The bio-inspired applications derived from adhesive pads are also reviewed.
Aihong JiLongbao HanZhendong Dai
关键词:ADHESIONANIMALMORPHOLOGYMECHANISM
4足机器人及其运动协调的仿生研究和研制
2014年
亿万年的演化和进化,多数陆上哺乳动物选择了腿足(杆机构)运动机构。杆式运动机构具有轮式运动机构所不具备的优点:地面状态适应性好、越障能力强,可实现多种方式的运动(如走、跑、跳等),运动系统的鲁棒性强(如4足动物在1腿受伤时仍可运动)。通过对杆机构机器人在机构设计和分析、驱动与动力学、运动协调与控制等方面的探索研究,实现杆式机器人的某些关键技术的突破。因而是军用、搜救和外空探测等非结构环境用机器人运动机构的首选。
关键词:机器人仿生哺乳动物非结构环境
蛇腹鳞的结构特点及其摩擦行为被引量:4
2008年
仿蛇机器人可望用于搜救等领域,但已研制的蛇型机器人均存在驱动效率低和越障能力不足等问题。文中用多功能摩擦实验机研究了驱动蛇运动的腹部及腹侧部鳞片的摩擦特性及摩擦行为,并结合体视显微镜等方法研究其表面几何结构特征。结果表明,腹鳞和侧鳞使蛇向后运动时表现的摩擦因数比向前运动要高60%,具有各向异性特性,这种不对称性与鳞片的结构特点和神经信号对腹鳞状态的调节存在直接的关系。生物蛇的腹鳞所表现的高驱动摩擦性能和低摩擦阻力为蛇型机器人仿生"皮肤"的设计提供几何仿生依据。
张昊戴振东杨松祥
关键词:仿生学各向异性
仿壁虎微纳米刚毛阵列的研究进展被引量:9
2010年
壁虎的超级黏附力源于分布于脚趾的数十万细长刚毛和接触面间的范德华力.仿壁虎刚毛的研制是实现机器人三维无障碍运动的关键技术之一.近年来,许多国内外学者致力于研制仿壁虎脚掌刚毛结构的倾斜、末端分支、膨大的微纳米黏附阵列,以得到高黏附性能、可自由调控吸附脱附的仿壁虎脚掌,对已有文献进行总结、比较,并展望其进一步的发展方向.
张昊郭东杰戴振东
关键词:仿生壁虎刚毛
大壁虎在垂直面和水平面上小跑和行走的关节角度观测被引量:9
2008年
大壁虎优异的爬壁和运动协调能力为仿壁虎机器人的研制提供了很好的仿生模型.用三维运动观测系统测定了大壁虎在水平面小跑(337.1mm·s-1)和行走(66.7mm·s-1)以及垂直面上小跑(241.5mm·s-1)和行走(30.6mm·s-1)时前后肢的关节角度变化.在水平面上,当运动速度增大时,关节转动角速度增大,前肢摆动角前摆的幅度几乎保持在59°不变,而后摆幅度由72°增大到79.2°.在垂直面上,壁虎运动时前肢提升角始终大于零以使质心贴近运动平面,随速度的增加前肢摆动角前摆的幅度由33.7°增大到36.7°,而后摆的幅度几乎在87.5°不变.无论在水平面还是在垂直面上运动,步态的变化对后肢摆动角的范围影响不大。
李宏凯戴振东石爱菊张昊孙久荣
关键词:大壁虎
倾斜仿生刚毛的设计、制备及黏附性能研究被引量:14
2009年
依据JKR理论,从几何仿生角度出发设计并制备了2种具有斜截面的倾斜人工刚毛.理论计算表明:刚毛支杆倾斜20°,斜截面为45°时,刚毛具有较为理想的黏附性能,且具有这种结构的刚毛可便利地调控吸附和脱附.利用微摩擦试验机测试了人工刚毛表面的黏附性能,结果表明:在无滑移的平面接触下,刚毛阵列的黏附力随法向载荷增加而增大,当法向载荷超过一定值后,黏附力增加缓慢并趋于饱和;法向载荷为30mN时,刚毛无滑移卸载所产生黏附强度约为2.4kPa,略高于逆向滑移后卸载所产生的黏附强度2.2kPa,而正向滑移后卸载所产生的最大黏附强度较逆向滑移后卸载有明显增加,达3.1kPa,增加了近41%;短距离的滑移可增加黏附力,但随着滑移距离加大,黏附力随之下降.
刘彬张昊郭东杰戴振东
关键词:刚毛各向异性注模
动物运动指令的中枢模式发生器对机器人运动控制的启示被引量:12
2008年
动物运动指令的中枢模式发生器(central pattern generator,CPG)在动物的节律运动中发挥着重要的作用,对机器人的仿生控制方法研究具有借鉴意义.首先介绍了CPG的神经环路和控制机制,然后分析了组成CPG的非线性振荡器的典型数学模型,接着介绍了利用CPG进行机器人运动控制在国内外的发展现状,最后展望了其应用前景.
李宏凯孙久荣戴振东
关键词:中枢模式发生器机器人节律运动运动控制
Locomotion behavior and dynamics of geckos freely moving on the ceiling被引量:5
2010年
To understand the mechanical interactions when geckos move on ceiling and to obtain an inspiration on the controlling strategy of gecko-like robot,we measured the ceiling reaction force(CRF) of freely moving geckos on ceiling substrate by a 3-dimensional force measuring array and simultaneously recorded the locomotion behaviors by a high speed camera.CRF and the preload force(FP) generated by the geckos were obtained and the functions and the differences between forces generated by fore-and hind-feet were discussed.The results showed that the speed of gecko moving on the ceiling was 0.17-0.48 m/s,all of the fore-and hind-legs pulled toward the body center.When geckos attached on the ceiling incipiently,the feet generated a very small incipient FP and this fine FP could bring about enough adhesive normal force and tangential force to make the gecko moving on ceiling safely.The FP of the fore-feet is larger than that of the hind-feet.The lateral CRF of the fore-feet is almost the same as that of the hind-feet's.The fore-aft CRF generated by the fore-feet directed to the motion direction and drove their locomotion,but the force generated by the hind-feet directed against the motion direction.The normal CRF of fore-and hind-feet accounted for 73.4% and 60.6% of the body weight respectively.Measurements show that the fore-aft CRF is obviously lager than the lateral and normal CRF and plays a major role in promoting the fore-feet,while the hind-feet of the main role are to provide a smooth movement.The results indicate that due to the differences of the locomotion function of each foot between different surfaces,the gecko can freely move on ceiling surfaces,which inspires the structure designing,gait planning and control developing for gecko-like robot.
WANG ZhouYiWANG JinTongJI AiHongDAI ZhenDong
关键词:动力学行为壁虎慢性肾功能衰竭
电刺激大壁虎(Gekko gecko)中脑诱导转向运动的研究被引量:12
2008年
为探索大壁虎运动行为脑功能基础和人工诱导的可能性,用不锈钢微电极对头部固定状态下浅麻醉的大壁虎(Gekko gecko,n=20)中脑脑区施以生理范围内的电刺激.发现中脑被盖区域在电刺激下可诱导出大壁虎脊柱侧弯和四肢动(外伸、内收、抬腿迈步等动作)等一系列多肌群参与的复杂运动行为;根据急性实验结果,通过在中脑被盖特定脑区植入金属微电极对术后恢复一周的清醒状态下的大壁虎(n=20)脑区施加电刺激信号,可成功地诱导出左、右转向的运动行为.该结果发现大壁虎中脑与运动行为密切相关,而且通过刺激脑内相关的核团可能实现对大壁虎部分运动行为的人工诱导.这为大壁虎运动的人工制导提供了有益的信息.
王文波戴振东郭策谭华蔡雷孙久荣
关键词:电刺激中脑
Angular observation of joints of geckos moving on horizontal and vertical surfaces被引量:14
2009年
Because of their outstanding climbing and motor coordination ability, geckos have provided the basis for a peculiar bionic model leading to the development of a geckorobot. A three-dimensional locomotion observation system was constructed to measure angular orientations of joints while geckos trotted (337.1 mm/s) and walked (66.7 mm/s) on horizontal surfaces, and trotted (241.5mm/s) and walked (30.6mm/s) on vertical surfaces. Moving over horizontal surfaces, the joints rotated more quickly the greater the speed, and the swinging scope of forelimbs stayed nearly at 59 degrees when swinging forward, but extended from 72 degrees to 79.2 degrees when swinging backward. The lifting angle of forelimbs was always positive to keep the center of mass close to the surface when moving up vertical surfaces, the scope of the forward swinging forelimbs forward extended from 33.7 degrees to 36.7 degrees with increasing speed, while the scope of backward swinging forelimbs remained almost the same at 87.5 degrees. Alternative gaits had little effect on the swing angle of hindlimbs of the geckos moving on both horizontal and vertical surfaces.
LI HongKaiDAI ZhenDongSHI AiJuZHANG HaoSUN JiuRong
关键词:壁虎
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