Humanoid Robots - New Developments Part 2 pptx
Humanoid Robots - New Developments Part 2 pptx
... N =20 00
points per revolution, the variance of measurement is taken equal to
()
22
Ǒ 3ƦN =8 .22 5 10
-4
.
The errors of incremental encoders being independent, we have chosen
ǃ
Q =8 .22 5 10
-4
×44
I
.
The ... Pfeiffer, F. (20 03). Sensors and control concept of walking
``Johnnie’’. Int. J. Robotics Res., Vol. 22 , No. 3-4 , 22 9 23 9.
Teaching a Robotic Child - Machin...
Humanoid Robots - New Developments Part 1 potx
...
Humanoid Robots
New Developments
Edited by
Armando Carlos de Pina Filho
I-Tech
10 Humanoid Robots, New Developments
Part D.O.F amount total
Wrist
Elbow
Shoulder
Neck
Torso
2
2
3
4
3
2
2
2
1
1
4
4
6
4
3
Degree ... presenting the design of the upper
body of the humanoid robot ARMAR III.
22 Humanoid Robots, New Developments
)(
,
ˆ
,
ˆ
ˆ
ˆ
L2L1L
A2A1A
TT
II...
Humanoid Robots - New Developments Part 3 pot
...
1
m
23
mm
5.0
kg
2
m
3.0
kg
3
m
2. 0
kg
H
m
10.0
kg
I
2
23 2 3 1
/mm a b m
0 .24 3
2
kg m
1
a
23 2 33 1
/ml a ma m
0. 52
m
1
b
0.48
m
2
a
0 .20
m
2
b
0.30
m
3
a
0 .25 ... (1)
where
>
@
T
12
TT
ș
is the angle vector of the robot's configuration, and the details of the
matrices are as follows:
22 2
12
2
12
1...
Humanoid Robots - New Developments Part 4 ppsx
...
543
21 221 1 122 1
22 11
22
2
2
1
3344
344 322 24 42
23 321 11441
1331 122 144
3 322 11
22
4
2
3
2
2
2
15
4334 424 223 324 1411331
122 1443 32
211
2
4
2
3
2
2
2
14 323 23131 122 1
3 322 11
2
3
2
2
2
13 122 1
22 11
2
2
2
121 1
2
1111
)) ]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
)co...
Humanoid Robots - New Developments Part 5 pot
... objectives are considered
simultaneously.
22 0 24 0 26 0 28 0 300 320 340
1700
1800
1900
20 00
21 00
22 00
23 00
TC[(Nm)
2
/s]
CE [J
2
s]
1
2
3
4
5
TC[(Nm)
2
/s]
CE [J
2
s]
Analytical Criterions for the Generation ...
International Conference on Humanoid Robots – Humanoids 20 04, vol. 2, pp. 89 9- 911,
ISBN 0-7 80 3-8 86 3-1 ,Santa Monica, Los Angeles, 20...
Humanoid Robots - New Developments Part 6 pdf
... robot (HRP -2 ) development, Proc. 20 02, IEEE-RSJ Int. Conf. Intell. Rob.
Sys. EPFL, Lausanne, Switzerland, 20 02, 24 5 5 -2 460.
Konno, A.; Kato, N.; Shirata, S.; Furuta, T. & Uchiyama, M. (20 00). ... 5, 21 4 0 -2 155.
Nasu, Y., Capi, G., Yamano, M. (20 02) . “Bonten-Maru I”: Development and Perspectives of a
Humanoid Robot Project, Proc. of Pacific Conference on Manufacturi...
Humanoid Robots - New Developments Part 7 pot
... Graphics, 22 (4), 16 3-1 69.
Lozano-Pérez, T., Jones, J. L., Mazer, E., & O’Donnell, P. A. (1989). Task-level planning of
pick-and-place robot motions. Computer, 22 (3), 2 1 -2 9.
Maciejewski, ... negative power is also
22 6 Humanoid Robots, New Developments
Sciavicco, L., & Siciliano, B. (20 00). Modeling and control of robot manipulators, 2nd ed. London:
Springer...
Humanoid Robots - New Developments Part 8 pdf
... [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 ... Automation, pp. 91 1-9 16, 0-7 80 3-7 73 6 -2 ,
Taipei, May 20 03, IEEE, New York
Raibert, M., H. (1986). Legged Robots That Bal...
Humanoid Robots - New Developments Part 9 docx
... Sticky Hands tasks.
29 8 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 ... computer, to it. The second approach is a
2D-appearance-based approach (Athitos & Scarloff, 20 02; Hoshino & Tanimoto, 20 05) that
28 2 Humanoid R...
Humanoid Robots - New Developments Part 10 docx
... g
mag
cos
cos
sin( )
sin( )
sin
.
sin
22
11 21 22 1 3 2
2
2
3
22 1 2 1 2 22
221 2 1 2 2
22 1 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 ... g k
mag
cos
cos
sin( )
sin( )
sin
.
sin
22
22 2 32 3 32 32
2
2
3
3 32 3 2 3 33
33 323 23 32
3 32 3 2 2 3 3 3
2
22 32 2 2
3
33 3 3
0...