Climbing and Walking Robots part 3 pdf

... of wheels. 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 and High-grip Crawler ... and 5 motors are used in Hyperion-2, a wall climbing robot “Hyperion-1SP” and “Hyperion-2SP” was developed. Wall climbing motion and ceiling walking motion of Climbing...

Ngày tải lên: 10/08/2014, 23:21

... Smrekar Climbing and Walking Robots, Edited by Behnam Miripour p. cm. ISBN 978-9 53- 307- 030 -8 Climbing and Walking Robots2 0 Kang, T., Kim, H., Son, T. and Choi, H. (20 03) . Design of quadruped walking ... ASurveyofTechnologies and Applicationsfor Climbing Robots Locomotion and Adhesion 001 ManuelF.Silva and J.A.TenreiroMachado 2. MechanicalSynthesisforEasy...

Ngày tải lên: 10/08/2014, 23:21

... MechanicalSynthesisforEasy and FastOperationin Climbing and Walking Robots 23 Mechanical Synthesis for Easy and Fast Operation in Climbing and Walking Robots AntonioGonzalez-Rodriguez,AngelG.Gonzalez-Rodriguez and RafaelMorales X ... MechanicalSynthesisforEasy and FastOperationin Climbing and Walking Robots 35 respectively, the leg inertia is reduced – in t...

Ngày tải lên: 10/08/2014, 23:21

... 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 ... conductors and especially to other types of obstacles. w Climbing Climbing- flying Flying Design and construction 4 1 | 4 2 | 8 3 | 12 Inspection quality 3 2 | 6...

Ngày tải lên: 10/08/2014, 23:21

... 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 4. Fuzzy ... locate at (50, 70), (25, 30 ), and ( 23, 28), respectively. In order to reduce the effect of light variation, the image in RGB space will Climbing and Walking Robots1 32 resear...

Ngày tải lên: 10/08/2014, 23:21

... 1. The robot variables. Climbing and Walking Robots1 60 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] 0 0.05 0.1 0.15 0.2 0.25 0 .3 0 .35 0.4 0.5 1 1.5 V body [m/s] −0.21 ... human friendly robot design, The International Journal of Robotics Research 23( 4-5): 37 9 39 8. Climbing and Walking Robots1 66 The employed methods generate the desired combined...

Ngày tải lên: 10/08/2014, 23:21

... time. 0 0.5 1 1.5 2 0 0.5 1 1.5 2 θ k+1 [rad/s] θ k [rad/s] 30 0 31 0 32 0 33 0 34 0 35 0 30 0 31 0 32 0 33 0 34 0 35 0 PDAC Constant (k+1 th step) PDAC Constant (k th step) Fig. 7. Simulation ...                      67666564 636 261 57565554 535 251 47464544 434 241 37 3 635 3 433 3 231 27262524 232 221 17161514 131 211 )( hhhhhhh hhh...

Ngày tải lên: 10/08/2014, 23:21

... terms of energy consumption. 13 Climbing and Walking Robots2 28 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 −4 −2 0 2 4 Time (s) q (rad) q 1 q 2 q 3 q 4 q 5 q 6 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 −4 −2 0 2 4 Time ... 0 .3 0 0.5 1 1.5 2 q 3 (rad) q’ 3 (rad/s) −4 3. 8 3. 6 3. 4 3. 2 3 −2.8 −2.6 −2.4 −2.2 −1 −0.5 0 0.5 1 1.5 2 2.5 3 q 4 (rad) q’ 4 (rad/s) −1.2 −1 −0.8 −0.6 −0.4 −0.2 0 3 −2...

Ngày tải lên: 10/08/2014, 23:21

... Climbing and Walking Robots2 52 Climbing and Walking Robots2 42 0 0.1 0.2 0 .3 0.4 -4 -3 -2 -1 0 1 -5 0 5 10 15 Angular of stance leg(rad)  =15 A ngular ... torso and consists of two point feet and two legs that are connected at the hip joint. Each leg has a Climbing and Walking Robots2 34 order to improve the stability of the biped robot and expand ... (c) ˙ q 2 versus q 2...

Ngày tải lên: 10/08/2014, 23:21

... 14.12 934 -0.49655 -2.48955 exp4 -0.8 0.6 -0.1 13. 84468 -0.64595 -3. 4 832 7 exp5 -1.2 0.6 -0 .3 15. 439 3 -0.7 231 6 -4.4749 exp6 -0.5 0.4 -0.05 8.68 038 4 -0.544 03 ... 14.12 934 -0.49655 -2.48955 exp4 -0.8 0.6 -0.1 13. 84468 -0.64595 -3. 4 832 7 exp5 -1.2 0.6 -0 .3 15. 439 3 -0.7 231 6 -4.4749 exp6 -0.5 0.4 -...

Ngày tải lên: 10/08/2014, 23:21