Based on the large-scale wall-pressing three-legged crawler pipeline inspection robot, our team proposed a cornering algorithm based on space constraints, that aims to better control the smooth operation of the pipeline robot in the pipeline. This algorithm is aimed at large robots that use an electric telescopic rod structure to replace the elastic structure on traditional small robots. The electric telescopic rod structure meets the large-scale weight change of the robot and provides sufficient supporting force. However, this structure also makes it difficult for the robot to automatically adapt to the change of pipe diameter and increases the difficulty of the robot’s control. In order to solve this problem and more accurately control the operation of the robot during cornering, this paper analyzes the space constraints of the robot when turning, the optimization analysis of the telescopic rod expansion and the ratio of the speed of each crawler, obtaining a stable turning algorithm for pipeline robots. The algorithm guarantees that the robot can provide sufficient support in the bend pipeline, and that it has good stability and mobility.

The four-wheeled Mecanum robot is widely used in various industries due to its maneuverability and strong load capacity, which is suitable for performing precise transportation tasks in a narrow environment. While the Mecanum wheel robot has mobility, it also consumes more energy than ordinary robots. The power consumed by the Mecanum wheel mobile robot varies enormously depending on their operating regimes and environments. Therefore, only knowing the working environment of the robot and the accurate power consumption model can we accurately predict the power consumption of the robot. In order to increase the applicable scenarios of energy consumption modeling for Mecanum wheel robots and improve the accuracy of energy consumption modeling, this paper focuses on various factors that affect the energy consumption of the Mecanum wheel robot, such as motor temperature, terrain, the center of gravity position, etc. The model is derived from the kinematic and kinetic model combined with electrical engineering and energy flow principles. The model has been simulated in MATLAB and experimentally validated with the four-wheeled Mecanum robot platform in our lab. Experimental results show that the accuracy of the model reached 95%. The results of energy consumption modeling can help robots save energy by helping them to perform rational path planning and task planning.

Soccer, as a high-intensity sport, places significant physical demands on athletes and is associated with a high risk of injury. Electrical muscle stimulation (EMS), a training and rehabilitation technology, has gained attention for its potential benefits in sports settings. This systematic review, conducted under the PRISMA guidelines, rigorously assessed the effectiveness of EMS in improving muscle strength, promoting post-exercise recovery, and facilitating injury rehabilitation among soccer players. A comprehensive search of the PubMed, Scopus, and Web of Science databases identified 10 studies meeting the inclusion criteria. Among these, six studies demonstrated a significant improvement in athletic performance following local or whole-body EMS application. Four studies provided evidence supporting EMS’s efficacy in enhancing post-exercise recovery and reducing recovery time after injuries, with observed reductions in recovery time. However, the majority of the included studies were not double-blind, which limits the strength of the evidence. None of the included studies reported EMS-related adverse effects. Overall, the current results suggest that EMS may be a useful adjunct to improve athletic performance and facilitate recovery in soccer players. This review offers actionable insights for coaches and athletes regarding the safe and effective application of EMS in soccer training and rehabilitation programs.