ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

Dielectric electroactive polymers have wide application prospects in research field of biomimetic robots due to the advantages such as large strain, high efficiency, high energy density, etc. 1-DOF rotary joint was designed based on the actuation principle of bionic joint and the characteristic of cylinder actuator. The electromechanical coupling model of DEAP (Dielectric electroactive polymer) of actuator was constructed based on the large elastic deformation theory, then the nonlinear relationship between input voltage and output angle of joint could be obtained by solving the equations iteratively, but this process of computing was timeconsuming. To avoid the complicated calculation, CMAC (Cerebellar model articulation controller) neural network and PD controller were combined to realize the nonlinear mapping between the output angle of joint and input voltage. Tracking control experiments were performed in tracking step and sinusoidal reference signals, which showed the feasibility of CMAC neural network control method, while reasons for long response time and phase difference were discussed in details.