A model-based strategy for quadruped running with differentiated fore- and hind leg morphologies

This article introduces a model-based strategy for a quadruped robot with differentiated fore- and hind-leg ground reaction-force patterns to generate animal-like running behavior. The proposed model comprises a rigid body and two eSLIP legs with dampers. The eccentric-SLIP (eSLIP) model extends the traditional spring-loaded inverted pendulum (SLIP) model by adding a bar to offset the spring direction. The proposed two-leg eSLIP (TL-eSLIP) model’s fore- and hind legs were designed to have the same offset magnitude but in opposite offset directions, producing different braking and thrusting force patterns. The TL-eSLIP model’s reference leg trajectories were designed based on the fixed-point motion of the eSLIP model. Additionally, the legs were clock torque-controlled to modulate leg motion and stabilize the model to follow its natural dynamics. The model’s equations for motion were derived, and the model’s dynamic behavior was simulated and analyzed. The simulation results indicate that the model with leg offsets and in either trotting or pronking has differentiated leg force patterns, and it is more stable and has larger basins of attraction than the model without leg offsets. A quadruped robot was built for experimental validation. The experimental results demonstrate that the robot with differentiated legs ran with differentiated ground reaction force patterns and ran more stably than another robot with the same leg morphology.

Research on system modeling and motion control simulation of automatic power trowel

Aiming at the problems that the existing control researches on the power trowel are limited to the analysis of the motion principle and the open-loop control of some mechanisms, taking a hydraulically-driven ride-on power trowel as the research object, the closed-loop control method of the point-to-point motion of the power trowel is studied. After analyzing the motion principle of the power trowel, based on the assumption of elastic deformation of concrete, the dynamic model of a single trowel is established, and the relationship between the driving force, driving moment and hydraulic moment, velocity, and angular velocity of the trowel is obtained. The whole machine motion equation of the power trowel is deduced, the point-to-point state feedback control algorithm of the power trowel is studied, and a simulation model is built to verify the accuracy of the system model of the power trowel and the effectiveness of the control algorithm. This research can provide reference for the control method design of other complex motions of the power trowel.

Previously Unrecognized Source of Error in the Change in Maximum Total Point Motion to Determine Continuous Migration of Unstable Tibial Baseplates

In radiostereometric analysis (RSA), continuous migration denoted as ΔMTPM is the difference between maximum total point motion (MTPM) at 2 years relative to time zero and MTPM at 1 year relative to time zero. Continuous migration has been used to diagnose tibial baseplates as stable versus unstable when compared to a specified stability limit (i.e. value of ΔMTPM). If the same point experiences MTPM at 2 years and at 1 year (usually the case for marker-based RSA), then an implicit assumption is that the migration path between 2 years and 1 year is the same as the path between 1 year and time zero. This paper uses vector analysis to demonstrate a source of error in ΔMTPM not previously recognized and estimates the error magnitude based on the interplay of independent variables which affect the error. The two independent variables which affect the error are the angle between the two migration vectors (i.e., MTPM between time zero and 2 years and MTPM between time zero and 1 year) and the difference in magnitude of the two vectors. The relative error increased in an absolute sense as the angle between the vectors increased and decreased for larger differences in the magnitudes of the two vectors. For magnitude ratios ranging from 1.25 to 2, relative errors ranged from -21% to -3% at 10° and from -78% to -42% at 60°, respectively. Knowledge of these errors highlights a limitation in the use of ΔMTPM not previously recognized.

DETERMINATION OF THE FASTEST TRAJECTORIES OF MATERIAL POINT MOTION IN A HORIZONTAL VECTOR FIELD

The article proposes a solution to the well-known Zermelo navigation problem by classical variational methods. The classical Zermelo problem within the framework of optimal control theory is formulated as follows. The ship must pass through the region of strong currents, the magnitude and direction of the current velocity are set as functions of phase variables. In this case, the relative speed of the ship is set, the module of which remains constant during movement. It is necessary to find such an optimal control that ensures the arrival of the ship at a given point in the minimum time, i.e. control of the ship by fast-action should be determined. In this paper, we consider the brachistochronic motion of a material point in a plane vector field of a mobile fluid, for which the classical variational problem of finding extreme trajectories is formulated. The aim of the study is to obtain equations of extreme trajectories along which a material point moves from a given starting point to a given finish point in the least amount of time. The solution to the problem was carried out using the classical methods of the theory of the calculus of variations. For a given variant of the boundary conditions, algebraic equations of extremals of motion of a material point were established in the form of segments of a power series. A comparative analysis of the fast-action was carried out both along extreme trajectories and along an alternative path — along a straight line that connects two given start and finish points. Analysis of the results showed that the considered variational problem has two solutions, which differ only in sign. However, only one solution provides the minimum time for moving a material point between two given points. It was also found that the extreme trajectory of the brachistochronic motion of a point is not straight, but has an oscillatory character.

Maximum Total Point Motion of Five Points Versus All Points in Assessing Tibial Baseplate Stability

Maximum total point motion (MTPM), the point on a baseplate that migrates the most, has been used to assess the risk of tibial baseplate loosening using radiostereometric analysis (RSA). Two methods for determining MTPM for model-based RSA are to use either 5 points distributed around the perimeter of the baseplate or to use all points on the 3D model. The objectives were to quantify the mean difference in MTPM using 5 points vs. all points, compute the percent error relative to the 6-month stability limit for groups of patients, and to determine the dependency of differences in MTPM on baseplate size and shape. A dataset of 10,000 migration values was generated using the mean and standard deviation of migration in six degrees of freedom at 6 months from an RSA study. The dataset was used to simulate migration of 3D models (two baseplate shapes and two baseplate sizes) and calculate the difference in MTPM using 5 virtual points vs. all points and the percent error (i.e. difference in MTPM/stability limit) relative to the 6-month stability limit. The difference in MTPM was about 0.02 mm, or 4% percent relative to the 6-month stability limit, which is not clinically important. Furthermore, results were not affected by baseplate shape or size. Researchers can decide whether to use 5 points or all points when computing MTPM for model-based RSA. The authors recommend using 5 points to maintain consistency with marker-based RSA.

Intra-operative Clodronate Rinsing Improves the Integration of the Femoral Stem in a Prospective, Double-blinded, Randomized, Placebo-controlled Clinical RSA-study

Background: Periprosthetic bone loss after Total Hip Arthroplasty (THA), detected as an early migration of the prosthesis may predict later loosening of the implant. Objective: We hypothesized that intra-operative bisphosphonate rinsing would reduce bone resorption after THA. It might therefore be possible to achieve better early fixation of the implant. Methods: Nineteen patients suffering from arthrosis were recruited in a prospective, double-blinded, randomized, placebo-controlled clinical pilot trial. Patients were operated with an uncemented Bimetric stem using tantalum markers. The femoral proximal intramedullary canal was rinsed with 1mM clodronate in nine patients and with saline in 10 patients. These patients were followed for two years using radiostereometric analysis (RSA), dual energy x-ray absorptiometry (DXA) and the Harris Hip Score (HHS). Results: We did not found any significant differences between the study groups with regards to the primary output measures (maximum total point motion, MTPM). However, there was evidence that clodronate could affect periprosthetic bone quality; a beneficial effect in BMD in Gruen zone 3 during the two-year follow-up was observed, BMD decreased less in the clodronate group (p = 0.02). The maximal x-translation of the stem at 3-24 months was significantly two-fold, being higher in the placebo group (p = 0.02). The baseline BMD and the maximal total point motion (MTPM) at 3-24 months showed a positive correlation in the clodronate group and a negative correlation in the placebo group. Conclusion: In conclusion, further studies with larger patient groups and longer follow-up periods are needed to estimate the clinical importance of these findings and further to prove if an intraoperative clodronate rinsing prior to application of femoral stem during THA can prevent periprosthetic bone loss. Clinical Trial Registration No.: NCT03803839