Flexibility is one of the most significant advantages of legged robots in unstructured environments. However, quadruped robots cannot interact with environments to complete some manipulation tasks. One effective way is to load a manipulation arm. In this paper, we exhibit a quadruped locomotion manipulation system (LMS) named HITPhanT. This system comprises a quadruped locomotion platform and a six-degree-of-freedom manipulation arm. Besides, when the LMS moves to a designated position for operation, it is necessary to constrain the foot contact points to avoid sliding. Therefore, the foot contact point is regarded as a spherical hinge. So the locomotion platform can be considered as a parallel mechanism. A hybrid kinematics model is established by considering the serial robotic arms connecting this parallel mechanism. Besides, the trajectory planning method, which improves the system’s manipulability in evaluating the system balance, is also proposed. Finally, corresponding experiments verify the overall system’s stabilization and algorithm’s effectiveness.
To detailed elaborate the content and function of the Electrical Health Record system, this paper respectively introduces its data model, function structure, user role, data collection process and deployment model. And the present pilot work of the system is briefly described in 32 units of Guangdong area. The summary in this paper offers a theoretical basis for the further improvement and application of the system, and provides the theoretical basis and practical experience for the exploration of a new mode of digital health management.
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