Climbing and Walking Robots part 10 ppt

... optimization by including a body balance parameter. Climbing and Walking Robots2 90 Climbing and Walking Robots2 84 Fig. 6. The walking trajectory of AIBO robot with default gait ... The Climbing and Walking Robots2 86 first gait cycle. Then, we let 1 Y =8.8 and 2 Y =8.8, and use single gait bias detection algorithm to find 1 X and 2 X . If we know &...

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 ... Fig. 9. Trajectories of two body parts and impact acceleration during stair climbing Climbing and Walking Robots5 2 Fig....

Ngày tải lên: 10/08/2014, 23:21

... International Journal of Robotics Research, Vol.9, No.2, pp.83-98, 1990. Climbing and Walking Robots1 80 Fig. 10. (a) The robot’s stick diagram on λ= -10 , moving ZMP, H min = 0.6 m, H max = 0.62 m. (b) ... the angular Climbing and Walking Robots1 86 m 1 m 2 m n J 2 J 1 J n θ 2 θ n τ 1 τ 2 τ n x y o θ 1 Fig. 1. Mechanical model of the serial n-link rigid robot. θ i and τ i are the...

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 ... several steps (begin wit...

Ngày tải lên: 10/08/2014, 23:21

... that between foot and ground, a virtual spherical joint is assumed. Climbing and Walking Robots3 10 Climbing and Walking Robots3 22 In comparison with the previous reconfiguration experiment ... premise part which constitutes of monitored behaviours: walking, standing, etc.; and particular some characteristics like: current, acceleration, etc. The “Y” in (1) is the consequence...

Ngày tải lên: 10/08/2014, 23:21

... should form Parallel. When β become large, the crossing point move to Climbing and Walking Robots3 70 Climbing and Walking Robots3 58 actuators but also as sensors. The microcantilever can be ... leg. Blue, green and red lines represent the edges of the vertical image of the micromachine at (a), (b) and (c) state, respectively. Climbing and Walking Robots3 82 Theoretical and Experi...

Ngày tải lên: 10/08/2014, 23:21

... 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 and FastOperationin Climbing and Walking Robots ... 4366–4368. Berns, K., Braun, T., Hillenbrand, C. and Luksch, T. (2005). Developing climbing robots for education, in M. A. Armada and P. G. de Santos (eds), Clim...

Ngày tải lên: 10/08/2014, 23:21

... 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 and Walking Robots6 4 ... 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...

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 ... obstacles and stairs exist, crawler-type and leg-type robots become better candidates for application. The robots of the stick type and the biped type are generally desi...

Ngày tải lên: 10/08/2014, 23:21

... is successfully calculated, go to step 1. Otherwise, the plan fails. Climbing and Walking Robots1 40 Climbing and Walking Robots1 18 4. Fuzzy Logic Control A fuzzy logic controller may be viewed ... Design and implementation of a stair -climbing robot,” Proc. of 2008 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO 2008), Taipei, Taiwan. Climbing...

Ngày tải lên: 10/08/2014, 23:21