Climbing and Walking Robots part 1 pps
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.
ASurveyofTechnologies and Applicationsfor Climbing Robots Locomotion and Adhesion 11
Fig. 12 . The robot on the clim...
Climbing and Walking Robots part 4 pps
... 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...
Climbing and Walking Robots part 5 ppsx
... 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...
Climbing and Walking Robots part 12 ppsx
...
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...
Climbing and Walking Robots part 14 ppsx
... (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...
Climbing and Walking Robots part 17 ppsx
...
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)
...
...
Climbing and Walking Robots part 2 pptx
...
(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...
Climbing and Walking Robots part 3 pdf
... 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-gripCrawler 73
Stair Climbing Robots and High-gripCrawler
KanYoneda,YusukeOta and ShigeoHirose
X
Stair Climbing Robots...
Climbing and Walking Robots part 6 doc
... 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.
OnAdjustableStiffnessArticialTendonsinBipedal 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]...
Climbing and Walking Robots part 7 pptx
... 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...
Từ khóa: