Humanoid Robots - New Developments Part 14 docx

... generate human-like walking motion. To realize human-shaped and human-like walking robots, we call this as humanoid robot, many researches on the biped walking robots have been reported [ 1-4 ]. In ... 0.25. 25 Advanced Humanoid Robot Based on the Evolutionary Inductive Self-organizing Network Dongwon Kim, and Gwi-Tae Park Department of Electrical Engineering, Korea University,...

Ngày tải lên: 11/08/2014, 07:23

... hand’ and Sticky 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 ... human and a humanoid robot. The robot ‘s behaviour 290 Humanoid Robots, New Developments In the simulation experiments presented here, a fully three-dimensional bipedal...

Ngày tải lên: 11/08/2014, 07:23

... 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...

Ngày tải lên: 11/08/2014, 07:23

... 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 ... environment, the 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 (a...

Ngày tải lên: 11/08/2014, 07:23

... 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...

Ngày tải lên: 11/08/2014, 07:23

... (2002). New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs, Mechanism and Machine Theory, Vol. 37 , No. 11, (November 2002) 139 5-1 411. Gunawardana, R. & Ghorbel, ... 1, (January 2005) 3 3-4 4. Ji, Z. (2003) Study of planar three-degree-of-freedom 2-RRR parallel manipulators, Mechanism and Machine Theory, Vol. 38, No. 5, (May 2003) 40 9-4 1...

Ngày tải lên: 21/06/2014, 19:20

... 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

... 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) After impact, both legs ... well as cross-modal signatures, are segmented as well (Fitzpatrick & Arsenio, 2004). This data is employed afterwards as inputs for learning (section 3). 54 Humanoid Robots, Ne...

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

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) ... configurations. Humanoid Robots, New Developments1 14 (a) Stick Diagram (b) ZMP (c) Velocity (d) Acceleration Analytical Criterions for the Generation of Highly Dynamic Ga...

Ngày tải lên: 11/08/2014, 07:23