Humanoid Robot Cooperative Motion Control Based on Optimal Parameterization

The implementation of low-energy cooperative movements is one of the key technologies for the complex control of the movements of humanoid robots. A control method based on optimal parameters is adopted to optimize the energy consumption of the cooperative movements of two humanoid robots. A dynamic model that satisfies the cooperative movements is established, and the motion trajectory of two humanoid robots in the process of cooperative manipulation of objects is planned. By adopting the control method with optimal parameters, the parameters optimization of the energy consumption index function is performed and the stability judgment index of the robot in the movement process is satisfied. Finally, the effectiveness of the method is verified by simulations and experimentations.

Acid-Activated Motion Switching of DB24C8 between Two Discrete Platinum(II) Metallacycles

The precise operation of molecular motion for constructing complicated mechanically interlocked molecules has received considerable attention and is still an energetic field of supramolecular chemistry. Herein, we reported the construction of two tris[2]pseudorotaxanes metallacycles with acid–base controllable molecular motion through self-sorting strategy and host–guest interaction. Firstly, two hexagonal Pt(II) metallacycles M1 and M2 decorated with different host–guest recognition sites have been constructed via coordination-driven self-assembly strategy. The binding of metallacycles M1 and M2 with dibenzo-24-crown-8 (DB24C8) to form tris[2]pseudorotaxanes complexes TPRM1 and TPRM2 have been investigated. Furthermore, by taking advantage of the strong binding affinity between the protonated metallacycle M2 and DB24C8, the addition of trifluoroacetic acid (TFA) as a stimulus successfully induces an acid-activated motion switching of DB24C8 between the discrete metallacycles M1 and M2. This research not only affords a highly efficient way to construct stimuli-responsive smart supramolecular systems but also offers prospects for precisely control multicomponent cooperative motion.

The structure of polymer brushes near the transition from dilute to dense systems. A computer simulation study

Monodisperse polymer brushes were studied by means of Monte Carlo simulations. A coarse-grained model of a polymer brush was designed in order and the Cooperative Motion Algorithm was employed to...