Humanoid Robots - New Developments Part 6 pdf

... synthesis of biped gait, IEEE Trans. Bio-Med. Eng., vol. BME- 16, no. 1 , 1 969 , 1 -6 . 194 Humanoid Robots, New Developments 5. Experimental Results Part 1 We now provide results from a series ... Biol. Cybernet. Vol. 61 , pp. 8 9-1 01. 190 Humanoid Robots, New Developments Fig. 4. Spoken Language Programming Architecture. The fundamental unit of meaning is the pr...

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... Automation, pp. 91 1-9 16, 0-7 80 3-7 73 6- 2 , Taipei, May 2003, IEEE, New York Raibert, M., H. (19 86) . Legged Robots That Balance, MIT Press, 0-2 6 2-1 811 7-7 , Cambridge Roussel, L.; Canudas-de-Wit, C. & ... [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...

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... 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 180° ... consuming iterations in the development, Humanoid Robots New Developments Edited by Armando Carlos de Pina Filho I-Tech 10 Humanoid...

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... of the world, they are a potentially useful tool for introducing new informative percepts to a robot. 36 Humanoid Robots, New Developments 1 21 0 T Re Dq + × =  (9) After impact, both legs ... 30 Humanoid Robots, New Developments Mori, S. (1987). Integration of posture and locomotion in acute decerebrate cats and in awake, free moving cats. Prog. Neurobiol., Vol. 28...

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... 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 et al., 19 96) , ... 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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... Robota, Proceedings of IEEE-RAS/RSJ International Conference on Humanoid Robots – Humanoids 2004, vol. 2, pp. 89 9- 911, ISBN 0-7 80 3-8 86 3-1 ,Santa Monica, Los Angeles, 2004. Porrill, J.; Warren, P. ... Neurophysiology, vol. 79, pp. 265 3-2 66 7, 1998, ISSN 002 2-3 077. Robinson, D. A., (1991). Overview, In: Carpenter, R.H.S. ed., Macmillan ,pp. 32 0-3 32,1991, IS...

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... bipedal humanoid robot that could run at 6km/h. Kajita, et al. proposed a method to generate a running pattern and reported that it requires 2 36 Humanoid Robots, New Developments The partial ... 22(4), 56 6- 5 80. Khatib, O. (19 86) . Real-time obstacle avoidance for manipulators and mobile robots. The Intl. J. of Robotics Research, 5(1), 9 0-9 8. Kuffner, Jr., J. J. (19...

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... Academic Publishers. Grillner, S. (19 96) . Neural networks for vertebrate locomotion, Scientific American, Vol. 274, pp. 6 4 -6 9 280 Humanoid Robots, New Developments may be modulated in various ... hand’ and 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...

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... follow. 330 Humanoid Robots, New Developments Symbols Description m i i-th link mass I i i -th link moment of inertia l i i -th link length a i Length between i-th joint and i-th link COG ... items. Fig. 6. Schematic structure of a database with multiple layers. processing time [ms] mean error [degree] standard deviation 5 0 .65 6 -0 .035 5. 868 10 0. 764 0.373 5. 565...

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