Posture adjustment and robust microinjection of zebrafish larval heart

2022 ◽  
Vol 93 (1) ◽  
pp. 014101
Author(s):  
Qigao Fan ◽  
Hai Zhang ◽  
Juntian Qu ◽  
Linbo Xie ◽  
Wentao Huang ◽  
...  
Keyword(s):  
Posture Adjustment

scholarly journals Effect of meal posture adjustment management on tongue movements during mastication

2019 ◽  
Vol 25 (2) ◽  
pp. 124-125
Author(s):  
S Matsuo ◽  
M Kakudo ◽  
A Imai ◽  
J Tanaka ◽  
M Tanaka
Keyword(s):  
Tongue Movements ◽  
Posture Adjustment

scholarly journals Research on the Posture Control Method of Hexapod Robot for Rugged Terrain

2020 ◽  
Vol 10 (19) ◽  
pp. 6725
Author(s):  
Yubin Liu ◽  
Chunbo Wang ◽  
He Zhang ◽  
Jie Zhao
Keyword(s):  
Control Method ◽  
Posture Control ◽  
Rough Terrain ◽  
Maintenance Strategy ◽  
Hexapod Robot ◽  
Rugged Terrain ◽  
Foot Force ◽  
Adjustment Strategy ◽  
Posture Maintenance ◽  
Posture Adjustment

This paper proposes a hexapod robot posture control method for rugged terrain to solve the problem of difficulty in realizing the posture control of a foot robot in rough terrain. The walking gait and original position of a six-legged robot is planned, and the Layer Identification of Tracking (LIT) strategy is developed to enable the robot to distinguish mild rugged terrain and severe rugged terrains automatically. The virtual suspension dynamic model is established. In mild rugged terrain, the posture maintenance strategy is adopted to keep the stability of the torso. In severe rugged terrain, the posture adjustment strategy is adopted to ensure the leg workspace and make it more widely adapt to the changing terrain, and a gravity center position adjustment method based on foot force distribution is designed to use foot force as feedback to control the position and attitude. The experiment of posture control in rough terrain and climbing experiment in the ladder terrain shows that the hexapod robot has good posture maintenance and posture adjustment effects when traversing complex terrain through the posture maintenance strategy and the posture adjustment strategy. Combined with the terrain identification method based on LIT, the hexapod robot can successfully climb the ladder terrain through the identification of the changing ladder terrain, and the movement of the posture adjustment process is stable.

A STANDING ASSISTANCE FOR BOTH VOLUNTARY MOVEMENT AND POSTURE ADJUSTMENT

2016 ◽  
pp. 18-25
Author(s):  
D. CHUGO ◽  
S. KAWAZOE ◽  
S. MURAMATSU ◽  
S. YOKOTA ◽  
H. HASHIMOTO
Keyword(s):  
Voluntary Movement ◽  
Posture Adjustment

scholarly journals Position-Posture Control of Multilegged Walking Robot Based on Kinematic Correction

2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Liang Zhang ◽  
Yaguang Zhu ◽  
Feifei Zhang ◽  
Shuangjie Zhou
Keyword(s):  
Position Control ◽  
Body Position ◽  
Control Process ◽  
The Body ◽  
Posture Control ◽  
Effective Control ◽  
Adjustment Process ◽  
Multilegged Walking Robot ◽  
Posture Adjustment ◽  
Robot Platform

Posture-position control is the fundamental technology among multilegged robots as it is hard to get an effective control on rough terrain. These robots need to constantly adjust the position-posture of its body to move stalely and flexibly. However, the actual footholds of the robot constantly changing cause serious errors during the position-posture control process because their foot-ends are basically in nonpoint contact with the ground. Therefore, a position-posture control algorithm for multilegged robots based on kinematic correction is proposed in this paper. Position-posture adjustment is divided into two independent motion processes: robot body position adjustment and posture adjustment. First, for the two separate adjustment processes, the positions of the footholds relative to the body are obtained and their positions relative to the body get through motion synthesis. Then, according to the modified inverse kinematics solution, the joint angles of the robot are worked out. Unlike the traditional complex closed-loop position-posture control of the robot, the algorithm proposed in this paper can achieve the purpose of reducing errors in the position-posture adjustment process of the leg-foot robot through a simple and general kinematic modification. Finally, this method is applied in the motion control of a bionic hexapod robot platform with a hemispherical foot-end. A comparison experiment of linear position-posture change on the flat ground shows that this method can reduce the attitude errors, especially the heading error reduced by 55.46%.

2P2-E08 Studies on Self Transfer Assist Robot : 9th Report:Study of Posture Adjustment Function by User(Welfare Robotics and Mechatronics(2))

2011 ◽  
Vol 2011 (0) ◽  
pp. _2P2-E08_1-_2P2-E08_4
Author(s):  
Junpei MARUO ◽  
Toshihiko YASUDA ◽  
Hirofumi ISHIDA ◽  
Yuichi TORAYA ◽  
Kimiwa ITAMI
Keyword(s):  
Posture Adjustment

Inverse kinematics and workspace analysis of the metamorphic hand

2014 ◽  
Vol 229 (5) ◽  
pp. 965-975 ◽  
Author(s):  
Zhiguang Gao ◽  
Guowu Wei ◽  
Jian S Dai
Keyword(s):  
Inverse Kinematics ◽  
Constraint Equation ◽  
Geometric Constraints ◽  
Forward Kinematics ◽  
Significant Feature ◽  
Robotic Hands ◽  
Hybrid Mechanism ◽  
Workspace Analysis ◽  
First Time ◽  
Posture Adjustment

This paper investigates for the first time inverse kinematics of a four-fingered metamorphic hand. Compared with the current existing robotic hands, the most significant feature of the metamorphic hand is the introduction of a foldable and reconfigurable palm and its function of metamorphism, which greatly improves the ability of posture adjustment and inter-coordination between fingers. Geometric constraints of the palm are analyzed by using geometric method and constraint equation method, on the basis of which, kinematics of the metamorphic hand are transformed from a hybrid mechanism into serial mechanisms and forward kinematics can be obtained directly. To avoid the complexity of inverse kinematics of the thumb, a method taking advantage of geometric constraints of the palm is introduced to simplify the inverse kinematics of the metamorphic hand and analytical solutions are obtained in a concise form. The workspace of the metamorphic hand is decomposed into palm workspace and finger workspace. A triangle determined by the mounting points is introduced to measure the palm workspace and the simulation of the finger workspace augmented by the palm reveals that the reconfigurable palm contributes tremendously to the flexibility and versatility of the metamorphic hand.

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