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...

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... 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 1. Details ... (Eds.), XIV, MIT Press, Cambridge, MA, pp82 1-8 49 274 Humanoid Robots, New Developments STT S TTT   '],[ 2 '],[ aa a aa MM M MM (10) |||| . cos 1 ji ji vv...

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... joint actuators. Humanoid robots are inevitably restricted to a limited amount of energy supply. It would therefore be 368 Humanoid Robots, New Developments hand, to design robots and systems ... actor calculates the j-th value u j (t) of the action u(t) as follows (Gullapalli, 1990): 364 Humanoid Robots, New Developments Fig. 14. Time during trial (averaged over 100...

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... Advanced Humanoid Robot Based on the Evolutionary Inductive Self-organizing Network 457 5 101 520 5 10 15 20 25 30 y_tr Data number Actual output Model output 5101 520 -2 0 -1 5 -1 0 -5 0 5 10 15 20 Errors Data ... output of training data set (b) errors of (a) ` 5101 520 5 10 15 20 25 30 y_te Data number Actual output Model output 5 101 520 -2 0 -1 5 -1...

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... neglect active sensor control. 0 500 100 0 1500 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 ... 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 huma...

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

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... taking into account of the sampling period. − §· ¨¸ = ¨¸ ¨¸ ©¹ 10 4x4 4x1 4x5 -5 01x4 1x5 -2 5x4 5x1 5x5 8 10 I 0 0 P 0 1.7 10 0 005 10I All the tests in simulations and in experiments were done ... 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) A...

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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 ... Embodied vision - perceiving objects from actions. Proceedings of IEEE International Workshop on Human-Robot Interactive Communication, San-Francisco, 2003. 82 Humanoid Robots, Ne...

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... parameters have been evaluated. Also, Humanoid Robots, New Developments1 12 (a) Stick Diagram (b) ZMP (c) Velocity (d) Acceleration Humanoid Robots, New Developments1 16 (a) Stick Diagram (b) ... configurations. Humanoid Robots, New Developments1 14 (a) Stick Diagram (b) ZMP (c) Velocity (d) Acceleration Analytical Criterions for the Generation of Highly Dynamic Gait...

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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. ... 9. CAD model of the eye-ball support (first concept). 7.1 The Eye-Ball Support The eye-ball support is made of two C-shaped PTFE parts mated together, Fig. 10. The rear...

Ngày tải lên: 11/08/2014, 07:23