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

The dynamic behavior and its optimization of a planar 3-link biped robot under randomly uncertain disturbance were investigated. Based on the biped kinematic model and hybrid dynamic model under ideal situation, the control objective function and HZD (Hybrid zero dynamics) feedback control were firstly established, from which the biped state parameters were optimized with the energy consumption function, and the robotic stable walking under the ideal situation was achieved. Secondly, the biped kinematic model and hybrid dynamic model under the randomly uncertain disturbance were established, from which the robotic dynamic behavior controlled by the HZD feedback control method was investigated under the randomly uncertain disturbance. Finally, taking the randomly uncertain disturbance into account, the disturbance compensator integrated into the HZD feedback control was constructed based on a back propagation neural network, and a novel BPNN-HZD (Back propagation neural network-hybrid zero dynamics) feedback control method was proposed to optimize the biped dynamic behavior. The dynamic simulation results and the stick figures showed that the planar 3-link biped robot would gradually appear divergent dynamic behavior if the randomly uncertain disturbance could not be well compensated, while the BPNN-HZD feedback control can effectively weaken the randomly uncertain disturbance effect on the dynamical response of robot, and the biped divergent dynamic behavior would be avoided.