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WEI Q S . Research on design and motion control simulation of quadruped robot [D ] . Harb in:Harbin Institute of Technology, 2020 . (in Chinese)

闫曈 , 许威 , 苏波 . 基于ZMP的四足仿生机器人反应式行为控制策略研究 [J ] . 车辆与动力技术 , 2021 ( 1 ): 1 - 7 .

YAN T , XU W , SU B . Research on reactive behavior control strategy of quadruped bionic robot based on ZMP [J ] . Vehicle & Power Technology , 2021 ( 1 ): 1 - 7 . (in Chinese)

许威 , 苏波 , 江磊 , 等 . 足式越野机器人集群系统关键技术与应用展望 [J ] . 兵工学报 , 2023 , 44 ( 9 ): 2568 - 2579 . DOI: 10.12382/bgxb.2023.0445 http://doi.org/10.12382/bgxb.2023.0445 足式机器人作为典型的地面移动机器人之一,其越野能力和智能水平不断提升,将足式越野技术与集群技术深入融合,是未来无人化装备发展的重要趋势之一。首先分析了群体仿生学机理、单体足式越野机器人、集群感知与协作和集成演示与应用等方面的研究现状,提出了足式越野机器人集群系统面临的技术挑战和科学问题,从足式越野机器人高机动越野、群体自组织机理与集群协作决策控制、群体协同态势感知和通讯自组网与应用验证四个方面深入剖析了亟待解决的核心关键技术,最后对足式越野机器人集群在军民领域的发展前景提出了设想和建议。

XU W , SU B , JIANG L , et al. Key technologies and application prospects of legged off-road robot cluster system [J ] . Acta Armamentarii , 2023 , 44 ( 9 ): 2568 - 2579 . (in Chinese)

苏波 , 闫曈 , 许威 , 等 . 四足机器人高机动越野技术研究 [J ] . 中国科学: 技术科学 , 2023 , 53 ( 9 ): 1574 - 1588 .

SU B , YAN T , XU W , et al. High agility off-road locomotion technology of the quadruped robot [J ] . Scientia Sinica Technologica , 2023 , 53 ( 9 ): 1574 - 1588 . (in Chinese)

安国鹏 . 基于五杆机构四足机器人结构设计与步态实验研究 [D ] . 重庆 : 重庆大学 , 2020 .

AN G P . Structural design and gait experimental research of the quadruped robot based on five-bar mechanism [D ] . Chongqing : Chongqing University , 2020 . (in Chinese)

廖绍辉 . 基于零力矩点的四足轮腿机器人运动轨迹规划研究 [D ] . 成都 : 电子科技大学 , 2022 .

LIAO S H . Research on trajectory planning of quadruped wheel-legged Robot based on ZMP [D ] . Chengdu : University of Electronic Science and Technology of China , 2022 . (in Chinese)

BJELONIC M . Planning and control for hybrid locomotion of wheeled-legged robots [D ] . Zurich , Switzerland : ETH Zurich , 2021 .

KANG T . Tencent unveils max, its first in-house developed quadruped robot [EB/OL ] .( 2021-03-02 )[ 2023-08-20 ] . https://cntechpost.com/2021/03/02/tencent-unveils-max-its-first-in-house-developed-quadruped-robot/ https://cntechpost.com/2021/03/02/tencent-unveils-max-its-first-in-house-developed-quadruped-robot/ https://cntechpost.com/2021/03/02/tencent-unveils-max-its-first-in-house-developed-quadruped-robot/.

PASZKOWIAK W , BARTKOWIAK T , PELIC M . Kinematic model of multiple trailers on a tractor system for production logistics applications [J ] . Archives of Mechanical Technology and Materials , 2019 , 39 ( 1 ): 16 - 25 . DOI: 10.2478/amtm-2019-0004 http://doi.org/10.2478/amtm-2019-0004 https://www.sciendo.com/article/10.2478/amtm-2019-0004 https://www.sciendo.com/article/10.2478/amtm-2019-0004 This paper demonstrates kinematic analysis of multiple trailers on a tractor system for production logistics. The analysis concerned three different steering systems of the trailers: virtual clutch and drawbar system, conventional clutch and drawbar system, double Ackermann steering system. Designed kinematic models contain various variants of paths: turning at a constant value of the steering angle, changing the steering angle as a result of an approaching collision. Each of these variants also included driving in a straight line after a 90° turn. The validation of the developed kinematic model was done by using a real logistic train, which path was registered via aerial drone. For each of the developed kinematic models, a visualization of drive through the 90° turn was created.

PASZKOWIAK W , BARTKOWIAK T , PELIC M . Kinematic model of a logistic train with a double Ackermann steering system [J ] . International Journal of Simulation Modelling , 2021 , 20 ( 2 ): 243 - 254 . DOI: 10.2507/IJSIMM http://doi.org/10.2507/IJSIMM http://www.ijsimm.com/ http://www.ijsimm.com/

LEI G N , ZHENG Y L . Research on cooperative trajectory planning algorithm based on tractor-trailer wheeled robot [J ] . IEEE Access , 2021 , 10 : 64209 - 64221 . DOI: 10.1109/ACCESS.2021.3062392 http://doi.org/10.1109/ACCESS.2021.3062392 https://ieeexplore.ieee.org/document/9363899/ https://ieeexplore.ieee.org/document/9363899/

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Gazebo: tutorial: physics parametersthe gazebo robot simulation [EB/OL ] .( 2020-04-24 )[ 2023-08-18 ] . http://gazebosim.org/tutorials?tut=physics_params&cat=physics http://gazebosim.org/tutorials?tut=physics_params&cat=physics http://gazebosim.org/tutorials?tut=physics_params & cat=physics.

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李韶华 , 周军魏 , 张志达 . 轮胎三向动态特性试验及非线性建模 [J ] . 机械工程学报 , 2018 , 54 ( 18 ): 85 - 96 . DOI: 10.3901/JME.2018.18.085 http://doi.org/10.3901/JME.2018.18.085 轮胎的刚度和阻尼特性对汽车操纵稳定性、乘坐舒适性及噪声等产生显著影响。目前对轮胎刚度和阻尼的试验及建模研究主要集中在径向或侧偏特性，对轮胎三向动态特性的研究尚不多见。设计制作一种新型轮胎三向动态特性试验机，对重型子午线轮胎进行三向动态刚度及阻尼的测试，分别建立了轮胎侧向、纵向和径向刚度、阻尼非线性模型，分析胎压及激励频率对轮胎性能的影响。研究表明，轮胎三向动刚度随激励频率增加而降低，随胎压升高而增大；轮胎阻尼随激励频率的增加而迅速下降，随胎压的升高而缓慢增大。在此基础上，进一步提出一种统一的四次非线性数学模型，可以描述轮胎侧向、纵向和径向滞迟非线性特性。该模型形式简单，易于参数识别，并且仿真结果与试验数据吻合良好，对于整车动力学分析和轮胎路面相互作用研究具有参考价值。

LI S H , ZHOU J W , ZHANG Z D . Experiment and nonlinear modeling on tire dynamic characteristics of three directional [J ] . Journal of Mechanical Engineering , 2018 , 54 ( 18 ): 85 - 96 . (in Chinese) DOI: 10.3901/JME.2018.18.085 http://doi.org/10.3901/JME.2018.18.085 The stiffness and damping characteristics of the tire have significant influence on vehicle handling stability, ride comfort and noise. At present, the experimental modeling on tire stiffness and damping mainly focus on radial stiffness, but the research on tire dynamic characteristics in three directions is relatively few. In this work, an innovative three-directional dynamic characteristic experiment equipment is designed and manufactured, and dynamic test of the three-directional stiffness and damping of a heavy-duty radial tire 10.00R20 is carried out. Based on test data, the effects of tire pressure, excitation frequency and amplitude on tire dynamic property are analyzed in detail. It is revealed that the three-directional tire dynamic stiffness decreases with the increase of excitation frequency and increases as the tire pressure increases. The tire damping decreases rapidly with the rise of excitation frequency and increases slowly as the tire pressure increases. Moreover, a universal quartic nonlinear model is proposed to describe tire vertical, lateral and longitudinal stiffness and damping. The expression of model is simple and the parameters are easily identified. It is found that the simulation result of this model is in good agreement with experiment result. The model will be beneficial to vehicle dynamics analysis and tire-road interaction research.

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