In order to make a robot track a desired trajectory with high precision and steady gait, a novel intelligent controller was designed based on a new mechanical structure and optimized foot trajectory. Kinematics models in terms of the D-H method were established to analyze the relationship between the angle of the driving joint and the foot position. Inspired by a dog’s diagonal trot on a flat terrain, foot trajectory planning in the swing and support phases without impact were fulfilled based on the compound cycloid improved by the Bézier curve. Both the optimized cascade proportional–integral–derivative (PID) control system and improved fuzzy adaptive PID control system were applied to realize the stable operation of a quadruped robot, and their parameters were optimized by the sparrow search algorithm. The convergence speed and accuracy of the sparrow search algorithm were verified by comparing with the moth flame optimization algorithm and particle swarm optimization algorithm. Finally, a co-simulation with MATLAB and ADAMS was utilized to compare the effects of the two control systems. The results of both displacement and velocity exhibit that the movement of a quadruped bionic robot with fuzzy adaptive PID control systems optimized by the sparrow search algorithm possessed better accuracy and stability than cascade PID control systems. The motion process of the quadruped robot in the co-simulation process also demonstrates the effectiveness of the designed mechanical structure and control system.
First-principle calculations were performed to study electronic structures and magnetic properties of V-doped LiZnAs, as well as the effect of Li interstitial. The results showed that the magnetism origin of V-doped LiZnAs could be explained by [Formula: see text]–[Formula: see text] hybridization and the ferromagnetic (FM) state of the system was the ground state. The introduction of Li interstitials increased the distance between V and As atoms, which impaired the hybridization of V-[Formula: see text] and As-[Formula: see text]. As a result, the magnetic moment of V atom increased but the stability of FM coupling between V impurities was weakened.
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