Humanoid Robots - New Developments Part 5 pot

... R( φ i - φ 0i ) (11) 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...

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... 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 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...

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... 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....

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... 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...

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... − §· ¨¸ = ¨¸ ¨¸ ©¹ 10 4x4 4x1 4x5 -5 01x4 1x5 -2 5x4 5x1 5x5 8 10 I 0 0 P 0 1.7 10 0 0 05 10I 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. − − §· = ¨¸ ©¹ 10 5x5 5x5 ǂ 5 5x5 5x5 3.0 10 I 0 Q 03.0 10I The initialization of the covariance m...

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... following: » » » » » » » » ¼ º « « « « « « « « ¬ ª 67 57 47 37 27 17 66 656 4636261 56 555 453 5 251 46 454 4434241 36 353 4333231 26 252 4232221 16 151 4131211 )( h h h h h h hhhhhh hhhhhh hhhhhh hhhhhh hhhhhh hhhhhh qH » » » » » » » » ¼ º « « « « « « « « ¬ ª ... 67 57 47 37 27 17 66 656 4636261 56 555 453 5 251 46 454 4434241 36 353 4333231 26 252 4232221 16 151 4131211 )( h h...

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... 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...

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... 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...

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... 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...

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... 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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