Zhiying Qiu

Highly dispersed platinum and phosphomolybdic acid (PMo) on the UIO-66 metal-organic framework (MOF) for highly efficient and selective nitroaromatics hydrogenation The Pt-PMo@UIO-66 catalysts with different platinum loadings are synthesized by solvothermal method using phosphomolybdate acid as stabilizing agent. The nanostructure of the Pt-PMo@UIO-66 catalysts are demonstrated by ICP, XRD, XPS, TEM, HRTEM, STEM-EDS and other characterizations.

Abstract : Terrain adaptation research can significantly improve the motion performance of hexapod robots. In this paper, we propose a method that combines reinforcement learning with a central pattern generator (CPG) to enhance the terrain adaptation of hexapod robots in terms of gait planning. The hexapod robot’s complex task presents a high-dimensional observation and action space, which makes it challenging to directly apply reinforcement learning to robot control.

Abstract : Gait plays a decisive role in the performance of hexapod robot walking; this paper focuses on adaptive gait generation with reinforcement learning for a hexapod robot. Moreover, the hexapod robot has a high-dimensional action space and therefore it is a great challenge to use reinforcement learning to directly train the robot’s joint angles.