Humanoid Robots - New Developments Part 9 docx
Humanoid Robots - New Developments Part 9 docx
... generating (Witkin & Kass 198 8;
Cohen 199 2; Ngo & Marks 199 3; Li et al. 199 4; Rose et al. 199 6; Gleicher 199 7) and manipulating
(Hodgins & Pollard 199 7) dynamically correct motion, ... Studies 6, 30 9- 3 21
Harris, C.M. & Wolpert, D.M. ( 199 8). Signal-dependent noise determines motor planning.
Nature 394 , pp78 0-7 84
Hikiji, H. (2000). Hand-Shaped Force Interf...
Humanoid Robots - New Developments Part 10 docx
... 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 ... thumb
Curvature of
the coxa of
four fingers
324 Humanoid Robots, New Developments
T
Tk
23
. (1)
Fig.2. Analytical model of two-degree-of-freedom swing leg (Ono, K. et al, 2001...
Humanoid Robots - New Developments Part 11 docx
...
NeuroImage, 14, 74 9- 7 58
Reeves, B. & Nass, C. ( 199 6). The Media Equation,
CSLI/Cambridge University Press
366 Humanoid Robots, New Developments
Samejima, K. & Omori, T. ( 199 8). Adaptive ... Network (A-
GSBFN) (Morimoto & Doya, 199 8, 199 9). A-GSBFN only allocates basis functions, whereas
our method both allocates and eliminates them. In this section, we first...
Humanoid Robots - New Developments Part 14 docx
... out
[5].
466 Humanoid Robots, New Developments
[5] Park, J. H.; Rhee, Y. K. ( 199 8). ZMP Trajectory Generation for Reduced Trunk
Motions of Biped Robots. Proc. IEEE/RSJ Int. Conf. Intelligent Robots ... sways scope of ankle and
lumbosacral were 0 .94 ±0.36degree (eye-open), 1.35±0.52degree (eye-closed) and
0 .99 ±0.41degree (eye-open), 1.27±0.72degree (eye-closed), respectively...
Humanoid Robots - New Developments Part 16 docx
... 2000 2500
-3 00
-2 50
-2 00
-1 50
-1 00
-5 0
0
50
time steps
l
o
g
(
d
e
t
(
P
)
)
1- st ep , n o ac ti ve vis ion
1- step
3- step
Fig. 13. Entropy measure log(|P
k+1|k+1
|) over time for a one-step planning ... this work.
524 Humanoid Robots, New Developments
3. A Humanoid Robot HRP-2 and Control System Software
3.1 Specifications of the HRP-2
A hu...
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 °
-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° ... Filho
p. cm.
ISBN 97 8-3 -9 0 261 3-0 0-4
1. Humanoid Robots. 2. Applications. I. Armando Carlos de Pina Filho
Design of Modules and Components...
Humanoid Robots - New Developments Part 2 pptx
... G. ( 199 5a). A model of the neuro-musculo-skeletal system for human locomotion I.
Emergence of basic gait. Biol. Cybern., Vol. 73, 97 –111.
Taga, G. ( 199 5b). A model of the neuro-musculo-skeletal ... 1 49 4-1 496 .
Plestan, F. & Glumineau, A. ( 199 7). Linearisation by generalized input-ouput injection,
Systems and Control Letters, Vol. 31, 11 5-1 28.
Spong, M. & Vidyasa...
Humanoid Robots - New Developments Part 3 pot
...
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., 199 6), ... October 199 4.
Rao, K.; Medioni, G.& Liu, H. ( 198 9). Shape description and grasping for robot hand-eye
coordination, IEEE Control Systems Magazine, 9 (2) 22{ 29, 198 9.
Rissanen,...
Humanoid Robots - New Developments Part 4 ppsx
... Control”, Addison-Wesley, 198 9.
H. K. Lum, M. Zribi, Y. C. Soh, “ Planning and Contact of a Biped Robot”, International
Journal of Engineering Science 37( 199 9), pp. 131 9- 1 3 49
Eric R. Westervelt, ... parameters have been evaluated. Also,
Humanoid Robots, New Developments1 12
(a) Stick Diagram
(b) ZMP
(c) Velocity (d) Acceleration
Humanoid Robots, New Developments1 16...
Humanoid Robots - New Developments Part 5 pot
... of Neurophysiology,
vol. 79, pp. 265 3-2 667, 199 8, ISSN 002 2-3 077.
Robinson, D. A., ( 199 1). Overview, In: Carpenter, R.H.S. ed., Macmillan ,pp. 32 0-3 32, 199 1,
ISSN
030 1-4 738.
Straumann D.; Zee. ... Robota, Proceedings of IEEE-RAS/RSJ
International Conference on Humanoid Robots – Humanoids 2004, vol. 2, pp. 89 9- 91 1,
ISBN 0-7 80 3-8 86 3-1 ,Santa Monica...
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