Humanoid Robots - New Developments Part 4 ppsx

... torso torsoctorsotorsoctorso torsoctorsoeeectorsotor fswingfswingcfswingfswingfswingcfswing fswingfswingcfswing fswingfswingcfswing fswingfswingecfswinge eeecfswing ccc eceee ccc eceecc ecececc IIII IIqqllqqllqqll qllqllqlllllm qqllqqll qqllqqllqqll qqllqqllqqll qqllqqllqllqll qllqllqlllllllm qqllqqllq qllqqllqqll qqllqllqllqllqll llllmqqllqqllqqll qllqllqlllllmqqll qllqllllmqlllm  ...

Ngày tải lên: 11/08/2014, 07:23

... J 2,2 +J 2,3 +J 2 ,4 1 J 1,1 6 J 2,1 +J 4, 1 +J 5,1 11 J 3 ,4 2 J 1,2 6 J 3,2 +J 3,3 +J 3 ,4 2 J 1,2 7 J 2,2 (differential) 12 J 4, 2 +J 4, 3 3 J 1 ,4 +J 1,5 7 J 4, 2 +J 4, 3 +J 4, 4 3 J 1,3 8 J 2,2 +J 2,3 13 J 4, 4 4 J 2,1 +J 4, 1 +J 5,1 ... joint angles of the right and left leg: q13, q17, q20, q 2 4- roll, q 14, q21, q16, q18, q23, q25-pitch, q15, q22-yaw. 40 4 Humanoid...

Ngày tải lên: 11/08/2014, 07:23

... average over 5 recurrences. Fig. 13 Tilt values for rear-front and right-left pitch as an average over 5 recurrences. 49 4 Humanoid Robots, New Developments Whether or not complex motion control ... Robotics and Automation, pp. 1 04 6-1 051, vol.3, 2003 II-Woo Park "Mechanical Design of Humanoid Robot platfrom KHR-3(KAIST Humanoid Robot-3: HUBO)", in Humanoids 2...

Ngày tải lên: 11/08/2014, 07:23

... 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° to 150° Shoulder lj 5 lj 6 lj 7 -1 80° to 180° -4 5° to 180° -1 0° to ... -1 0° to 180° Neck lj 8 lj 9 lj 10 lj 11 -1 80° to 180° -4 5° to 45 ° -4 5° to 45 ° -6 0° to 60° Range of motion Torso lj 12 lj 13 lj...

Ngày tải lên: 11/08/2014, 07:23

... When the system is not linear, 46 Humanoid Robots, New Developments 2004e), sound / face segmentation (Arsenio, 2004f), object / face / hand tracking (Arsenio, 2004e;f) or even robot actuation ... as for ǂ Q , taking into account of the sampling period. − §· ¨¸ = ¨¸ ¨¸ ©¹ 10 4x4 4x1 4x5 -5 01x4 1x5 -2 5x4 5x1 5x5 8 10 I 0 0 P 0 1.7 10 0 005 10I All the tests in simulations...

Ngày tải lên: 11/08/2014, 07:23

... in Fig. 2 left. 70 Humanoid Robots, New Developments 2. Compass-like Biped Robot In this chapter, a simplest planar 2-link full-actuated walking model, so-called compass-like walker (Goswami ... Intelligent Robots and Systems (IROS- 04) , 20 04. Arsenio, A. (2004f). Object recognition from multiple percepts. Proceedings of IEEE/RAS International Conference on Humanoid Robots...

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... 0 -4 4 4- 8 193 3-9 , 20 04. Pongas, D., Guenter, F., Guignard, A. & Billard, A. (20 04) . Development of a Miniature Pair of Eyes With Camera for the Humanoid Robot Robota, Proceedings of IEEE-RAS/RSJ ... IEEE-RAS/RSJ 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 04. Po...

Ngày tải lên: 11/08/2014, 07:23

... synthesis of biped gait, IEEE Trans. Bio-Med. Eng., vol. BME-16, no. 1 , 1969, 1-6 . 1 94 Humanoid Robots, New Developments 5. Experimental Results Part 1 We now provide results from a series ... protruding metal 1 84 Humanoid Robots, New Developments Vukobratovic, M. (1973). How to control artificial anthropomorphic system, IEEE Trans. Syst. Man. Cyb., vol. SMC-3,...

Ngày tải lên: 11/08/2014, 07:23

... Humanoid Robots, New Developments The partial derivatives appeared in (38), (39), (44 ), (48 ), and (49 ) are computed by using modified Newton-Euler formulations. 5. Numerical Study of Five-link ... w w f s f T fs T s f s T T v f nnT Tn Tn z f TD TD TT D D    1 0 0 1 0 0 0 0 0 0 0 0 (41 ) (42 ) » » » » » » ¼ º « « « « « « ¬ ª /* c w w 100 00 00 ~ 0 00 0 0 I K I z z T (43...

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 ... joints [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