Humanoid Robots - New Developments Part 12 ppsx
Humanoid Robots - New Developments Part 12 ppsx
... Humanoid Robots, New Developments
Fig. 13. Nominal joint angles of the right and left leg: q13, q17, q20, q24-roll, q14, q21, q16,
q18, q23, q25-pitch, q15, q22-yaw.
404 Humanoid Robots, New ... 30 40 50 60 70 80 90 100
-0 .02
-0 .015
-0 .01
-0 .005
0
0.005
0.01
0.015
Time (m s)
Error ZMP - y direction (m)
Fig. 16. Error of ZMP in y-direction (- with learning...
Humanoid Robots - New Developments Part 4 ppsx
... 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) ...
543
2122 1 1122 1
2211
22
2
2
1
3344
3443222442
2332111441
133 1122 144
332211
22
4
2
3
2
2
2
15
43344242233241411331
122 144332
211
2
4
2
3
2
2
2
143232313 1122 1
332211
2
3
2
2...
Humanoid Robots - New Developments Part 15 ppsx
... Robotics and
Automation, pp. 104 6-1 051, vol.3, 2003
II-Woo Park "Mechanical Design of Humanoid Robot platfrom KHR-3(KAIST Humanoid
Robot-3: HUBO)", in Humanoids 2005, Japan
Ishiguro, ... Bulletin & Review, 9, p. 62 5-6 36.
508 Humanoid Robots, New Developments
In equation (3), the first part is independent from
't
&
, the second part reveals...
Humanoid Robots - New Developments Part 1 potx
... consuming iterations in the development,
Humanoid Robots
New Developments
Edited by
Armando Carlos de Pina Filho
I-Tech
10 Humanoid Robots, New Developments
Part D.O.F amount total
Wrist
Elbow
Shoulder
Neck ... 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°...
Humanoid Robots - New Developments Part 2 pptx
...
40 Humanoid Robots, New Developments
the four experimental torques
i
ƥ (i=1,2,3,4) are the inputs of the extended Kalman filter. In
both cases, the state vector
ªº
¬¼
T
123 4 123 4
ljljljljǂljljljljǂ
... 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...
Humanoid Robots - New Developments Part 3 pot
... 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 ... 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. 12 s...
Humanoid Robots - New Developments Part 5 pot
... 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. ... contact
points on the eye-ball support. The fixation axis at the primary position, h
3
, points upward.
150 Humanoid Robots, New Developments
Fig. 16. The body of...
Humanoid Robots - New Developments Part 6 pdf
... 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 ... metal
184 Humanoid Robots, New Developments
Vukobratovic, M. (1973). How to control artificial anthropomorphic system, IEEE Trans.
Syst. Man. Cyb., vol. SMC-3, no. 5, 1973, 49...
Humanoid Robots - New Developments Part 7 pot
... 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 ...
where
)6(2
),,,,,(),(
N
fffffff
ppxxw
MTMT
is a state vector.
212 Humanoid Robots, New Developments
tasks than those used in pick-and-place; for example, both po...
Humanoid Robots - New Developments Part 8 pdf
... joints [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
-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 ... Automation, pp. 91 1-9 16, 0-7 80 3-7 73 6-2 ,
Taipei, May 2003, IEEE, New York
Raibert, M., H. (1986). Legged Robots That Balance,...