Humanoid Robots - New Developments Part 1 potx

... 18 0° Neck lj 8 lj 9 lj 10 lj 11 -1 80° to 18 0° -4 5° to 45° -4 5° to 45° -6 0° to 60° Range of motion Torso lj 12 lj 13 lj 14 -1 80° to 18 0° -1 0° to 60° -2 0° to 20° Table 1. Degrees of freedom ... Torso 2 2 3 4 3 2 2 2 1 1 4 4 6 4 3 Degree of freedom Upper body 21 Wrist lj 1 lj 2 -3 0° to 30° -6 0° to 60° Elbow lj 3 lj 4 -9 0° to 90° -1 0°...

Ngày tải lên: 11/08/2014, 07:23

... uses data available before t k +1 1 1 − + − α + =Γ =+ s kkk T kkkk xf(x,) PAPAQ   (14 ) • a posteriori estimation: uses data available at t k +1 () () 11 11 1 10 10 11 1 −− ++ ++ + − × +++ =+ − =− kk ... 73, 97 11 1. Taga, G. (19 95b). A model of the neuro-musculo-skeletal system for human locomotion II. - Real-time adaptability under various constraints. Biol. Cybern., Vo...

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... 62 Humanoid Robots, New Developments m Tk nm k nm xcCA >−−<= −++ ))(()( 11 , 1 , μμ & & & & (10 ) m Tk nm k nm cAxa >−=< ++ ))(( 1 , 1 , & * (11 ) m TTk nm k nm Tk nm k nm k nm cAaxcAaxX ... slope where 0. 01 I [rad]. Humanoid Robots, New Developments9 4 (10 ) ° ¯ ° ®       ceds dcsds ceds Dech TktxDk TkTtxDk kTtxkD x...

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... 543 212 211 12 21 2 211 22 2 2 1 3344 3443222442 233 211 14 41 13 311 2 214 4 332 211 22 4 2 3 2 2 2 15 433442422332 414 113 31 12 214 4332 211 2 4 2 3 2 2 2 14 3232 313 112 21 332 211 2 3 2 2 2 13 12 21 2 211 2 2 2 12 11 2 11 11 ))]2/(cos(2))2/(cos(2)cos(2 ))2/(cos()cos()cos(([ ))])2/(cos(2))2/(cos(2 )cos(2))2/(cos(2)cos(2 )cos(2))2/(cos(2)cos(2 )cos(2)cos(2))2/(cos()c...

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... Journal of Neurosciences, vol. 19 , pp. 1- 1 0, 2004, ISSN 027 0-6 474. Becker, W. (19 91) . Eye Movements, Carpenter, R.H.S. ed., Macmillan, pp. 9 5 -1 37 ,19 91, ISSN 030 1- 4 738. MASTER CONTROLLER HOST ... Science, vol. 43, n. 1, pp. 11 2 -1 18 , Jan. 2002, ISSN 014 6-0 404. Multicriteria Optimal Humanoid Robot Motion Generation 16 1 3. Optimal Gait Generation During...

Ngày tải lên: 11/08/2014, 07:23

... synthesis of biped gait, IEEE Trans. Bio-Med. Eng., vol. BME -1 6 , no. 1 , 19 69, 1- 6 . 19 4 Humanoid Robots, New Developments 5. Experimental Results Part 1 We now provide results from a series ... Michigan, 19 99, 36 8-3 74. Taga, G.; Yamaguchi Y. & Shimizu, H. (19 91) . Self-organized control of bipedal locomotion by neural oscilators in unpredictable environm...

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... variable at the instant of the taking-off.                222 2 2 2 1 111 111 11 111 1 fsfsfs fsfsfs pppp Wzg     ¨ © §  MM MMTTTT (20) where W is an weight ... WGO W GO G W O OGOGOG df d dz v v f v f z d d z f z f z z g z z z E T T T T ¸ ¸ ¹ · ¸ ¹ · ¨ © §  ¸ ¸ ¹ · ¨ ¨ © § w w  w w  ¨ ¨ © § ¸ ¸ ¹ · ¨ ¨ © §  w w  w w  ¸ ¸ ¹ · ¨ ¨ © § ...

Ngày tải lên: 11/08/2014, 07:23

... [rad/s] Time [ s ] -2 -1 .5 -1 -0 .5 0 0.5 1 1. 5 2 -0 .4 -0 .2 0 0.2 0.4 0.6 0.8 1 Angles of knee joints [rad] Time [ s ] -2 -1 .5 -1 -0 .5 0 0.5 1 1. 5 2 -0 .4 -0 .2 0 0.2 0.4 0.6 0.8 1 Angles of ... [N.m] Time [ s ] -1 5 -1 0 -5 0 5 10 15 -0 .4 -0 .2 0 0.2 0.4 0.6 0.8 1 Anglular velocities of knee joints [rad/s...

Ngày tải lên: 11/08/2014, 07:23

... tasks. 298 Humanoid Robots, New Developments Case Support t DOFs CPG genes Feedback genes 1. 1 2 sec, 2-point, 0.25, 2 40 8 40 14 1. 2 2 sec, 2-point, 0.25, 2 40 12 32 10 Table 1. Details regarding ... 3.23 2.36 Kinematically Compliant Sticky Hands 11 .86 10 .73 13 .15 10 .73 Kinematically Compliant ‘Positionable Hand’ 8.90 10 .38 12 .93 11 .40 Table 1 Forces exper...

Ngày tải lên: 11/08/2014, 07:23

... ) sin( ) sin . sin 22 11 21 2 21 3 2 2 2 3 2 21 2 1 2 22 2 21 2 1 2 2 2 21 2 1 1 3 1 11 21 1 1 2 22 2 2 0 0 0 0 0 (8) Energy-Efficient Walking for Biped Robot Using Self-Excited Mechanism and ... OJO ªº   4 ªº «» «» 4 «»  ¬¼ ¬¼ ᇫ akak aak . 22 11 3 11 12 3 2 22 3 21 3 22 3 22 0 (4) 338 Humanoid Robots, New Developments Fig .16 . The influence of ins...

Ngày tải lên: 11/08/2014, 07:23