Dynamic 3D Point-Cloud-Driven Autonomous Hierarchical Path Planning for Quadruped Robots.

Aiming at effectively generating safe and reliable motion paths for quadruped robots, a hierarchical path planning approach driven by dynamic 3D point clouds is proposed in this article. The developed path planning model is essentially constituted of two layers: a global path planning layer, and a local path planning layer. At the global path planning layer, a new method is proposed for calculating the terrain potential field based on point cloud height segmentation. Variable step size is employed to improve the path smoothness. At the local path planning layer, a real-time prediction method for potential collision areas and a strategy for temporary target point selection are developed. Quadruped robot experiments were carried out in an outdoor complex environment. The experimental results verified that, for global path planning, the smoothness of the path is improved and the complexity of the passing ground is reduced. The effective step size is increased by a maximum of 13.4 times, and the number of iterations is decreased by up to 1/6, compared with the traditional fixed step size planning algorithm. For local path planning, the path length is shortened by 20%, and more efficient dynamic obstacle avoidance and more stable velocity planning are achieved by using the improved dynamic window approach (DWA).

High-Throughput Additive Manufacturing of Continuous Carbon Fiber-Reinforced Plastic by Multifilament.

Additive manufacturing (or 3D printing) of continuous carbon fiber-reinforced plastics with fused deposition modeling is a burgeoning manufacturing method because of its potential as a powerful approach to produce lightweight, high strength and complex parts without the need for a mold. Nevertheless, it cannot manufacture parts rapidly due to low throughput. This paper proposes a high-throughput additive manufacturing of continuous carbon fiber-reinforced plastics by multifilament with reference to fiber tape placement. Three filaments were fed and compaction printed simultaneously by a robotic manufacturing system. The coupled thermal-mechanical model of the filament deformation during printing was developed to eliminate the initial interval between the filaments and improved mechanical properties. Furthermore, the mathematical relationship between filament deformation and printing parameters consisting of printing temperature, printing speed and roller pressure was proposed using response surface methodology with the line width as the response. The tensile tests demonstrate that the tensile properties of printed parts are positively correlated with the line width, but not infinitely improved. The maximum tensile strength and tensile modulus are 503.4 MPa and 83.11 Gpa, respectively, which are better than those obtained by traditional methods. Void fraction and scanning electron microscope images also reveal that the appropriate line width achieved by the reasonable printing parameters contributes to the high-throughput multifilament additive manufacturing of continuous carbon fiber-reinforced plastics. The comparison results indicate that the high-throughput multifilament additive manufacturing proposed in this paper can effectively improve the speed of continuous carbon fiber-reinforced plastics additive manufacturing without degrading the mechanical performance.