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...

Ngày tải lên: 11/08/2014, 07:23

... 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...

Ngày tải lên: 11/08/2014, 07:23

... 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...

Ngày tải lên: 11/08/2014, 07:23

... 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°...

Ngày tải lên: 11/08/2014, 07:23

... 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...

Ngày tải lên: 11/08/2014, 07:23

... 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...

Ngày tải lên: 11/08/2014, 07:23

... 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...

Ngày tải lên: 11/08/2014, 07:23

... 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...

Ngày tải lên: 11/08/2014, 07:23

... 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...

Ngày tải lên: 11/08/2014, 07:23

... 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,...

Ngày tải lên: 11/08/2014, 07:23