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ConspectusSustainable development cannot be achieved without substantial technological advancements. For instance, flexible electricity management requires smart power sourcing with advanced energy...

The characteristics of Hopf oscillator are analyzed, and the feasibility of its application in gait generation of quadruped robot is discussed. Two kinds of CPG control networks are constructed by using Hopf oscillator and the structures of the two networks are analyzed and modeled. These two CPG can produce stable gait with strict phase relationship. The robot simulation software Webots and MATLAB are used for co-simulation. According to the output control signal of CPG network, each joint of quadruped robot is controlled and trot gait planning is realized. The simulation results show that the CPG network constructed by Hopf oscillator can achieve good gait planning for quadruped robot, which has the advantages of simple model and clear thinking.

Multi-joint serial manipulator is highly nonlinear and strongly coupled system with multiple inputs and multiple outputs. In addition, there are some problems such as parameter perturbation, external interference and uncertainty are exist. The trajectory tracking control of manipulator has certain difficulties. As the most important part of manipulator system, the design of controller is related to the accuracy and robustness of manipulator to perform tasks. For hydraulically driven manipulators, it is reciprocate in working process, and has the characteristics of long delay time. Aiming at characteristics and problems of multi-joint series manipulator, this paper proposes a PD-type iterative learning control algorithm based on gain switching, it has the robust term, and the linearized residual is considered to realize the control of the mechanical system with uncertain dynamics equation and non-repetitive interference. The first two joints of the six degrees of freedom manipulator XIOPM, which developed by the research group are simulated by MATLAB/SIMULINK using this method. Compared with the traditional iterative learning control, the algorithm proposed in this paper can converge the actual output trajectory of the system to the desired output trajectory at a relatively fast speed with good tracking performance and high tracking accuracy.

In Infrared Search and Track System (IRTS), the single frame imaging field of view of the plane array infrared detector is very small, which can not meet the increasing demand for wide field of view applications. The optical galvanometer has a very high cost performance in the application of lowcost and small volume. At the same time, the application is very necessary in terms of improving performance. In this paper, In order to expand its functionality and applicability, a pure analog and high-precision optical galvanometer drive controller is designed, and the current loop, speed loop and position loop are specially processed, which has high reliabili clear image.

An image-based visual servo with omni-directional camera is proposed to reach the desired distance and bearing between leaders’ robot and followers’ robot. First, the model of the omni-directional vision system is given. Then the improved vision model is presented and used during the following controller design. Furthermore, a nonlinear feedback control method is proposed for stabling the desired distance and bearing between the two robots. And the control algorithm utilizes estimations of the external input term which is only relative to the leader’s translational and angular accelerations. Finally, some experimental results show that the proposed model and control approach can effectively realize the formation by using only omni-directional vision system.