{"id":26397,"date":"2024-02-25T14:24:30","date_gmt":"2024-02-25T15:24:30","guid":{"rendered":"https:\/\/express24.ir\/d\/product\/%d9%85%d9%82%d8%a7%d9%84%d9%87-%d9%85%d8%af%d9%84-ult-%d8%a8%d9%87-%d8%b3%d9%85%d8%aa-%d9%85%d8%af%d9%84-%d8%a7%d9%84%da%af%d9%88%db%8c-%d8%ad%d8%b1%da%a9%d8%aa-%db%8c%da%a9%d9%be%d8%a7%d8%b1%da%86\/"},"modified":"2024-02-25T14:24:30","modified_gmt":"2024-02-25T15:24:30","slug":"%d9%85%d9%82%d8%a7%d9%84%d9%87-%d9%85%d8%af%d9%84-ult-%d8%a8%d9%87-%d8%b3%d9%85%d8%aa-%d9%85%d8%af%d9%84-%d8%a7%d9%84%da%af%d9%88%db%8c-%d8%ad%d8%b1%da%a9%d8%aa-%db%8c%da%a9%d9%be%d8%a7%d8%b1%da%86","status":"publish","type":"product","link":"https:\/\/express24.ir\/d\/product\/%d9%85%d9%82%d8%a7%d9%84%d9%87-%d9%85%d8%af%d9%84-ult-%d8%a8%d9%87-%d8%b3%d9%85%d8%aa-%d9%85%d8%af%d9%84-%d8%a7%d9%84%da%af%d9%88%db%8c-%d8%ad%d8%b1%da%a9%d8%aa-%db%8c%da%a9%d9%be%d8%a7%d8%b1%da%86\/","title":{"rendered":"\u0645\u0642\u0627\u0644\u0647 \u0645\u062f\u0644 ULT: \u0628\u0647 \u0633\u0645\u062a \u0645\u062f\u0644 \u0627\u0644\u06af\u0648\u06cc \u062d\u0631\u06a9\u062a \u06cc\u06a9\u067e\u0627\u0631\u0686\u0647 \u06cc\u06a9 \u067e\u0627 \u0628\u0631\u0627\u06cc \u067e\u0631\u0634 \u0628\u0647 \u062c\u0644\u0648 \u0628\u0627 \u062a\u0646\u0647 \u0639\u0645\u0648\u062f\u06cc"},"content":{"rendered":"\n\n\n\n\n\n\n\n\n\n\n
\u0639\u0646\u0648\u0627\u0646 \u0645\u0642\u0627\u0644\u0647 \u0628\u0647 \u0627\u0646\u06af\u0644\u06cc\u0633\u06cc <\/td>\nULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk<\/td>\n<\/tr>\n
\u0639\u0646\u0648\u0627\u0646 \u0645\u0642\u0627\u0644\u0647 \u0628\u0647 \u0641\u0627\u0631\u0633\u06cc <\/td>\n\u0645\u0642\u0627\u0644\u0647 Ult-Model: \u0628\u0647 \u0633\u0645\u062a \u06cc\u06a9 \u0645\u062f\u0644 \u0627\u0644\u06af\u0648\u06cc \u06cc\u06a9\u067e\u0627\u0631\u0686\u0647 \u06cc\u06a9\u067e\u0627\u0631\u0686\u0647 \u06cc\u06a9 \u067e\u0627\u0633<\/td>\n<\/tr>\n
\u0646\u0648\u06cc\u0633\u0646\u062f\u06af\u0627\u0646 <\/td>\nDennis Ossadnik, Elisabeth Jensen, Sami Haddadin<\/td>\n<\/tr>\n
\u0632\u0628\u0627\u0646 \u0645\u0642\u0627\u0644\u0647 <\/td>\n\u0627\u0646\u06af\u0644\u06cc\u0633\u06cc<\/td>\n<\/tr>\n
\u0641\u0631\u0645\u062a \u0645\u0642\u0627\u0644\u0647: <\/td>\nPDF<\/td>\n<\/tr>\n
\u062a\u0639\u062f\u0627\u062f \u0635\u0641\u062d\u0627\u062a<\/td>\n7<\/td>\n<\/tr>\n
\u062f\u0633\u062a\u0647 \u0628\u0646\u062f\u06cc \u0645\u0648\u0636\u0648\u0639\u0627\u062a <\/td>\nRobotics,Systems and Control,\u0631\u0648\u0628\u0627\u062a\u06cc\u06a9 , \u0633\u06cc\u0633\u062a\u0645 \u0648 \u06a9\u0646\u062a\u0631\u0644 ,<\/td>\n<\/tr>\n
\u062a\u0648\u0636\u06cc\u062d\u0627\u062a <\/td>\nSubmitted 16 January, 2024; originally announced January 2024. , Comments: 7 pages, 10 figures , Journal ref: 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), May 31 – June 4, 2021, Xi’an, China, pp. 3040-3046<\/td>\n<\/tr>\n
\u062a\u0648\u0636\u06cc\u062d\u0627\u062a \u0628\u0647 \u0641\u0627\u0631\u0633\u06cc <\/td>\n16 \u0698\u0627\u0646\u0648\u06cc\u0647 2024 \u0627\u0631\u0633\u0627\u0644 \u0634\u062f.\u062f\u0631 \u0627\u0628\u062a\u062f\u0627 \u0698\u0627\u0646\u0648\u06cc\u0647 2024 \u0627\u0639\u0644\u0627\u0645 \u0634\u062f \u060c \u0646\u0638\u0631\u0627\u062a: 7 \u0635\u0641\u062d\u0647 \u060c 10 \u0634\u06a9\u0644 \u060c \u0645\u062c\u0644\u0647 Ref: 2021 \u06a9\u0646\u0641\u0631\u0627\u0646\u0633 \u0628\u06cc\u0646 \u0627\u0644\u0645\u0644\u0644\u06cc IEEE \u062f\u0631 \u0645\u0648\u0631\u062f \u0631\u0648\u0628\u0627\u062a\u06cc\u06a9 \u0648 \u0627\u062a\u0648\u0645\u0627\u0633\u06cc\u0648\u0646 (ICRA 2021) \u060c 31 \u0645\u0647 – 4 \u0698\u0648\u0626\u0646 2021 \u060c \u0634\u06cc\u0627\u0646 \u060c \u0686\u06cc\u0646 \u060c \u0635\u0635 3040-3046<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u0686\u06a9\u06cc\u062f\u0647<\/h2>\n

While many advancements have been made in the development of template models for describing upright-trunk locomotion, the majority of the effort has been focused on the stance phase. In this paper, we develop a new compact dynamic model as a first step toward a fully unified locomotion template model (ULT-model) of an upright-trunk forward hopping system, which will also require a unified control law in the next step. We demonstrate that all locomotion subfunctions are enabled by adding just a point foot mass and a parallel leg actuator to the well-known trunk SLIP model and that a stable limit cycle can be achieved. This brings us closer toward the ultimate goal of enabling closed-loop dynamics for anchor matching and thus achieving simple, efficient, robust and stable upright-trunk gait control, as observed in biological systems.<\/p>\n

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\r\n\t\u062a\u0648\u062c\u0647 \u06a9\u0646\u06cc\u062f \u0627\u06cc\u0646 \u0645\u0642\u0627\u0644\u0647 \u0628\u0647 \u0632\u0628\u0627\u0646 \u0627\u0646\u06af\u0644\u06cc\u0633\u06cc \u0627\u0633\u062a.\r\n\t<\/td>\r\n<\/tr>\r\n\t\r\n
\r\n \u0628\u0631\u0627\u06cc \u0633\u0641\u0627\u0631\u0634 \u062a\u0631\u062c\u0645\u0647 \u0627\u06cc\u0646 \u0645\u0642\u0627\u0644\u0647 \u0645\u06cc \u062a\u0648\u0627\u0646\u06cc\u062f \u0628\u0647 \u06cc\u06a9\u06cc \u0627\u0632 \u0631\u0648\u0634 \u0647\u0627\u06cc \u062a\u0645\u0627\u0633\u060c \u067e\u06cc\u0627\u0645\u06a9\u060c \u062a\u0644\u06af\u0631\u0627\u0645 \u0648 \u06cc\u0627 \u0648\u0627\u062a\u0633 \u0627\u067e \u0628\u0627 \u0634\u0645\u0627\u0631\u0647 \u0632\u06cc\u0631 \u062a\u0645\u0627\u0633 \u0628\u06af\u06cc\u0631\u06cc\u062f:\r\n\t

\r\n\t09395106248\r\n\t\t\r\n\t\t\r\n\t

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  • \r\n\t\t\u0642\u06cc\u0645\u062a \u0647\u0631 \u0635\u0641\u062d\u0647 \u062a\u0631\u062c\u0645\u0647 \u062f\u0631 \u062d\u0627\u0644 \u062d\u0627\u0636\u0631 40 \u0647\u0632\u0627\u0631 \u062a\u0648\u0645\u0627\u0646 \u0645\u06cc \u0628\u0627\u0634\u062f. \r\n\t\t<\/li>\r\n\t\t
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  • \r\n\t\t\u06a9\u06cc\u0641\u06cc\u062a \u062a\u0631\u062c\u0645\u0647 \u0628\u0633\u06cc\u0627\u0631 \u0628\u0627\u0644\u0627 \u0645\u06cc \u0628\u0627\u0634\u062f. \u0645\u0642\u0627\u0644\u0647 \u0641\u0642\u0637 \u062a\u0648\u0633\u0637 \u0645\u062a\u0631\u062c\u0645\u06cc\u0646 \u0628\u0627 \u0645\u062f\u0631\u06a9 \u062f\u0627\u0646\u0634\u06af\u0627\u0647\u06cc \u0645\u062a\u0631\u062c\u0645\u06cc \u062a\u0631\u062c\u0645\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f.\r\n\t\t<\/li>\r\n\t\t
  • \r\n\t\t\u06a9\u0644\u06cc\u0647 \u062c\u062f\u0627\u0648\u0644 \u0648 \u0641\u0631\u0645\u0648\u0644 \u0647\u0627 \u0646\u06cc\u0632 \u062f\u0631 \u0641\u0627\u06cc\u0644 \u062a\u062d\u0648\u06cc\u0644\u06cc \u0648\u0631\u062f \u062f\u0631\u062c \u0645\u06cc\u200c\u0634\u0648\u0646\u062f.\r\n\t\t<\/li>\r\n\t<\/td>\r\n\t\r\n\t\r\n<\/tr>\r\n<\/table>\r\n\r\n\r\n\n","protected":false},"excerpt":{"rendered":"

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