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...

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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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... 30 40 50 60 70 80 90 100 -0 .02 -0 . 015 -0 .01 -0 .005 0 0.005 0.01 0. 015 Time (ms ) Error ZMP - x direction (m) Fig. 15. Error of ZMP in x-direction (- with learning - . - without learning). Reinforcement ... 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 Z...

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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, New...

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... 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...

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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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... 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...

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... 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 ... Uchiyama, M. (2000). Development of a light- weight biped humanoid robot in Proc. 2000 IEEE-RSJ Int. Con. Intell. Rob. Sys., 2000, 156 5-1 570. Miller, W. (1994). Real-time neural...

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... 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 ... pick-and-place, have been discussed frequently in the manipulator robotics literature- e.g., (Lozano-Pérez et al., 1989); (Alami et al., 1989); (Burridge et al., 1995 )- researchers i...

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... Eight-axis Biped Robot, Proceedings of IEEE -1 500 -1 000 -5 00 0 500 1000 150 0 -0 .4 -0 .2 0 0.2 0.4 0.6 0.8 1 Power of knee joints [W] Time [ s ] -1 500 -1 000 -5 00 0 500 1000 150 0 -0 .4 -0 .2 ... hip joints [N.m] Time [ s ] -1 5 -1 0 -5 0 5 10 15 -0 .4 -0 .2 0 0.2 0.4 0.6 0.8 1 Anglular velocities of knee joints [rad/s ] Time...

Ngày tải lên: 11/08/2014, 07:23