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...

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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 ... 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...

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... 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...

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... 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...

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... 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...

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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° ... 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...

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... 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...

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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., 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,...

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... 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...

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... 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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