Climbing and Walking Robots part 1 pps

... energy-autarkic, autonomous climbing robots, in M. O. Tokhi, G. S. Virk and M. A. Hossain (eds), Climbing and Walking Robots, Springer, pp. 10 7 11 4. Cepolina, F., Zoppi, M., Zurlo, G. and Molfino, R. (2004). ... Systems, Beijing, China, pp. 17 32 17 37. ASurveyofTechnologies and Applicationsfor Climbing Robots Locomotion and Adhesion 11 Fig. 12 . The robot on the clim...

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... rubber belts, and the handrail to assist the elders while walking and moving up -and- down stairs, and the latter uses two legs and the handrail to assist walking and moving up -and- down stairs ... 4 1 | 2 Universality 1 1 | 1 2 | 2 3 | 3 Total score 17 23 20 w = weight, rank | weighted score Table 1. Robot type comparison Climbing and Walking Robots8 4 ar...

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... 1, apply the Set B. Otherwise, go to step 1. 3. If the sequence of footsteps is successfully calculated, go to step 1. Otherwise, the plan fails. Climbing and Walking Robots1 40 Climbing and Walking Robots1 18 ... path. (c) changed the set of footsteps at the narrow part of the path. Climbing and Walking Robots1 16 3. Robot Arm and Image Processing 3 .1 Robot arm The to...

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... 1 57 11 3 9 17 25 33 41 49 65 73 81 89 97 10 5 12 1 12 9 13 7 14 5 15 3 16 1 16 9 17 7 18 5 19 3 2 01 209 217 225 233 2 41 249 257 265 273 2 81 289 297 305 313 3 21 329 337 345 353 3 61 369 377 385 393 4 01 409 417 425 433 4 41 449 -1 0 1 2 3 4 5 6 Normal ... 3 273 543 813 33 63 93 12 3 15 3 18 3 213 243 303 333 363 393 423 453 483 513 573 603 633...

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... (11 ) Climbing and Walking Robots4 00 Fig. 12 . Start of walking support by intention estimation. Fig. 13 . Right leg joint angles with reference angles and power units’ torques in each phase. Climbing and Walking Robots3 90 Fig. ... shows step inputs and actual angular variations, respectively. Climbing and Walking Robots3 96 Fig. 9. Experimental setting. 5.2 Results Figures 10...

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...                                                                            2 1 2 2 21 21 211 211 2 11 4 3 2 1 21 21 21 21 11 2 11 21 4 3 2 1 ) (1 00 11 00 0 )( 0 )( 10 00 00 )( 0 010 u u lmm mm llm llm lm x x x x lm mmg lm mmg lm gm lm mmg x x x x     (10 0) ...         ...

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... (m 1 +m 2 ) x 1 ’’ = f x (1a) m 1 z 1 ’’ + k(z 1 - z 2 ) = - m 1 g - T w - μ t F f (1b) m 2 z 2 ’’ + k(z 2 - z 1 ) = - m 2 g + T w + μ t F f + N where (x 1 , z 1 ) and (x 2 , ... on Climbing and Walking Robots (CLAWAR 20 01) , pp. 569-576, ISBN 1- 86058-365-2, Karlsruhe, Germany, September, 20 01, Professional Engineering Publishing, Suffolk...

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... Trajectory (Lateral m otion) 400 600 800 10 00 12 00 14 00 16 00 18 00 13 00 14 00 15 00 16 00 17 00 18 00 19 00 Position X m m Position Y m m Fig. 15 . Reference and actual trajectories of the 4WD wheelchair ... 4 Stair Climbing Robots and High-gripCrawler 73 Stair Climbing Robots and High-gripCrawler KanYoneda,YusukeOta and ShigeoHirose X Stair Climbing Robots...

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... po- sitioning mechanism using a ball screw and a nut (as shown in Fig. 12 ). The low stiffness Climbing and Walking Robots1 62 0 0.5 1 1.5 2 2.5 0.7 0.8 0.9 1 1 .1 1.2 1. 3 1. 4 1. 5 Time [sec] V body [m/s] Single ... 65–78. OnAdjustableStiffnessArticialTendonsinBipedal Walking Energetics 16 1 0 0.05 0 .1 0 .15 0.2 0.25 0.3 0.35 0.4 −20 10 0 10 20 Joint angles [deg]...

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... m 2 l 1 + m 3 l 1 )g sinθ 1 + m 2 ga 2 sin(θ 2 −θ 1 ) + m 3 ga 3 sin(θ 1 + γ −θ 3 ), where m 1 (Θ) = [M 11 (Θ), M 12 (Θ), M 13 (Θ)]. m 1 J 1 m 2 J 2 J 3 m 3 a 1 l 1 a 3 a 2 γ γ θ 3 θ 2 θ 1 Fig. ... is, θ 1 = f 1 (θ) = θ, (14 ) θ 2 = f 2 (θ) = 2θ, and (15 ) θ 3 = f 3 (θ) = θ. (16 ) From Eqs. (14 )- (16 ) and (1) , Eq. (6) is M s (θ) = J 1 − J 2 + m 1 a 2...

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