Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.

A series of novel ferrite carbon nanomaterials are considered to obtain the potential advantages in elimination of the electromagnetic interference effects. Herein, the iron nanoparticles coated on amorphous carbon were prepared by facile agar-gel synthesis. Meanwhile, the synergy between carbon supporting and ferrite nanomaterials could be proved to promote the absorption properties. Among all samples, the iron nanoparticles coated on amorphous carbon show the highest microwave absorption properties, achieving the maximum reflection loss (RL) of −14.3 dB at 6 GHz (5.5-milimeter thickness), and the bandwidths over −10 dB (90% absorption) was 2.5 GHz. Combining analysis results, it is confirmed that the as-prepared iron nanoparticles have the highest surface area, homogeneous distribution, abundant defect, and well-defined pore structure, which could significantly affect the absorption properties at 6 GHz. Furthermore, the abundant defects derived from the interface were the essential reason for the improved absorption properties. Overall, it provided a new strategy to design an effective method to absorb nanomaterials for the elimination of electromagnetic interference, especially the coordination of metal species and carbon supporting.