Humanoid Robots - New Developments Part 15 ppsx
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 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) ... configurations.
Humanoid Robots, New Developments1 14
(a) Stick Diagram
(b) ZMP
(c) Velocity (d) Acceleration
Analytical Criterions for the Generation of Highly Dynamic Gait...
Humanoid Robots - New Developments Part 12 ppsx
... 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...
Humanoid Robots - New Developments Part 1 potx
... 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...
Humanoid Robots - New Developments Part 2 pptx
... 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...
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 ... Embodied vision - perceiving objects from actions. Proceedings of IEEE
International Workshop on Human-Robot Interactive Communication, San-Francisco, 2003.
82 Humanoid Robots, Ne...
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 ... 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...
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 ... 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...
Humanoid Robots - New Developments Part 8 pdf
... 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...