Humanoid Robots - New Developments Part 5 pot
Humanoid Robots - New Developments Part 5 pot
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146 Humanoid Robots, New Developments
The insertion points form an angle of 55 deg, with respect to the (geometric) optical axis of
the eye, therefore the eye-ball can ... 0.136
Table 1. “Bonten-Maru” humanoid robot link parameters.
5. Results
5. 1 “Bonten-Maru” Humanoid Robot
In the simulations and experiments, we use the the “Bonten-Maru” humano...
Humanoid Robots - New Developments Part 1 potx
... lj
1
lj
2
-3 0° to 30°
-6 0° to 60°
Elbow lj
3
lj
4
-9 0° to 90°
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Shoulder lj
5
lj
6
lj
7
-1 80° to 180°
-4 5 to 180°
-1 0° to 180°
Neck lj
8
lj
9
lj
10
lj
11
-1 80° to 180°
-4 5 to 45
-4 5 to ... consuming iterations in the development,
Humanoid Robots
New Developments
Edited by
Armando Carlos de Pina Filho
I-Tech
10 Humanoid Robots, N...
Humanoid Robots - New Developments Part 3 pot
... 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 ... I
3. Active knee-lock on
4. Virtual compass phase (2-link mode)
5. Active knee-lock off
6. 3-link phase II
7. Passive knee-strike
8. Compass phase (2-link mode)
9. Heel-strike
Fig....
Humanoid Robots - New Developments Part 7 pot
... 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 ... [N.m] 48.2 117.6
peak power (positive) [W] 355 12 65
peak power (negative) [W] -6 99 -8 49
consumption power [W] 27.9 -5 .37
total consumption power [W] 45. 1
Table 2. Actuat...
Humanoid Robots - New Developments Part 2 pptx
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All the tests in simulations and in experiments were done following the scheme of figure 5. In
simulations, the ... period, and
are larger than those corresponding to position variables.
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The initialization of the covariance m...
Humanoid Robots - New Developments Part 4 ppsx
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Humanoid Robots - New Developments Part 6 pdf
... synthesis of biped gait, IEEE
Trans. Bio-Med. Eng., vol. BME-16, no. 1 , 1969, 1-6 .
194 Humanoid Robots, New Developments
5. Experimental Results Part 1
We now provide results from a series ... Uchiyama, M. (2000). Development of a light-
weight biped humanoid robot in Proc. 2000 IEEE-RSJ Int. Con. Intell. Rob. Sys., 2000,
156 5- 1 57 0.
Miller, W. (1994). Real-time neur...
Humanoid Robots - New Developments Part 8 pdf
...
Fig. 5. Joint torques (solid line: right leg, dashed line: left leg).
-1 50
-1 00
-5 0
0
50
100
150
-0 .4 -0 .2 0 0.2 0.4 0.6 0.8 1
Torques of knee joints [N.m]
Time
[
s
]
-1 50
-1 00
-5 0
0
50
... 150
-0 .4 -0 .2 0 0.2 0.4 0.6 0.8 1
Torques of hip 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...
Humanoid Robots - New Developments Part 9 docx
... Sticky Hands 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 ... computer, to it. The second approach is a
2D-appearance-based approach (Athitos & Scarloff, 2002; Hoshino & Tanimoto, 20 05) that
282 Humanoid Robots, New Developments
been...
Humanoid Robots - New Developments Part 10 docx
... layers.
processing time [ms] mean error [degree] standard deviation
5 0. 656 -0 .0 35 5.868
10 0.764 0.373 5. 5 65
20 1.086 0.1 45 5.400
Table 2. Performance according to the amount of data in a class ... height.
336 Humanoid Robots, New Developments
Fig.12. The result of using inequality constraint at intermediate time (
G
=20[mm], S=0. 150 [m],
T=0 .55 [s]) (Hase T....
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