Humanoid Robots Human-like Machines Part 2 docx

... foot. Figure 2 illustrates the procedure with a partial example. m 1 m 2 m 3 m 4 r 22 r 23 r 24 IJ 2 = m 2 r 22 ×g+ m 3 r 23 ×g+ m 4 r 24 ×g Figure 2. Calculating static torques on the Humanoid and ... pp.50-55, 20 05. I.W. Park, J. Y. Kim, S.W. Park, and J.H. Oh, Development of Humanoid Robot Platform KHR -2 (KAIST Humanoid Robot - 2) , Int. Conf. on Humanoid...

Ngày tải lên: 11/08/2014, 07:23

... Autonomous Robots, Vol. 11, No. 3, 20 7 21 3. Aoi, S. & Tsuchiya, K. (20 05). Locomotion control of a biped robot using nonlinear oscillators. Autonomous Robots, Vol. 19, No. 3, 21 9 23 2. Aoi, ... NeuroReport, Vol. 7, 22 77 22 85. Nagasaki, T.; Kajita, S.; Kaneko, K.; Yokoi, K. & Tanie, K. (20 04). A running experiment of humanoid biped. Proc. IEEE/RSJ Int. Conf. on Intel...

Ngày tải lên: 11/08/2014, 07:23

... Sticky Hands tasks. 29 8 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 1. Details ... of CPG 2 2 sec, 2- point, 0 .25 , 2 40 12 56 18 torque 3 2 sec, 2- point, 0 .25 , 2 40 12 56 18 angle Table 2. Details regarding the experiments made...

Ngày tải lên: 11/08/2014, 07:23

... I ma mal mal ma ml g mag cos cos sin( ) sin( ) sin . sin 22 11 21 22 1 3 2 2 2 3 22 1 2 1 2 22 221 2 1 2 2 22 1 2 1 1 3 1 11 21 1 1 2 22 2 2 0 0 0 0 0 (8) Energy-Efficient Walking for Biped Robot ... g k mag cos cos sin( ) sin( ) sin . sin 22 22 2 32 3 32 32 2 2 3 3 32 3 2 3 33 33 323 23 32 3 32 3 2 2 3 3 3 2 22 32 2 2 3 33 3 3 0 0 (2) We not...

Ngày tải lên: 11/08/2014, 07:23

... 1.1, 2. 0, 1.1, 2. 0, 1.1, 2. 0, 1.1, 2. 0, 1.1, 2. 0, 1.1, 2. 0, 1.1, 2. 0, 1.1, 2. 0, 1.1, 2. 0, 1.1), 5.0 max G , and 135.0 min a in Section 3.1, and 0.1 add T [s], 9.0 N , 0.5 max H , and 0 .2 erase ... Engineers, Series C, Vol. 72, No. 721 , pp .28 45 -28 52 (in Japanese) Huang, Q & Hase, T. (20 06). Energy-Efficient Trajectory Planning for Biped walking Robot,...

Ngày tải lên: 11/08/2014, 07:23

... (%) EPI (%) GMDH model[ 12] 4.7 5.7 Model 1 1.5 2. 1 Fuzzy model [11] Model 2 0.59 3.4 Type 1 0.84 1 .22 Type 2 0.73 1 .28 FNN [14] Type 3 0.63 1 .25 GD-FNN [13] 2. 11 1.54 EISON 0.188 1.087 ... 20 40 60 80 100 120 140 160 180 0 1 2 3 4 5 6 7 2nd layer 3rd layer 1st layer Value of error function(E) Generations 0 20 40 60 80 100 120 140 160 180 0.1 0 .2 0.3 0.4 0.5 0.6 2nd...

Ngày tải lên: 11/08/2014, 07:23

... 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 humanoid robot HRP -2 was developed in the Humanoid Robotics ... Thomson S. & Kagami, S. (20 05). Humanoid robot localization using stereo vision, Proceedings of IEEE-RAS Intl. Conf. on Humanoid Robots (HUMANOIDS), 20 05, pp....

Ngày tải lên: 11/08/2014, 07:23

... 89.5 7.5 10 88.1 88.7 87 .2 11 15 90 .2 91.0 90 .2 11 15 89.4 898.0 88.7 15 20 90 .2 91.0 90 .2 15 20 90.3 90.6 89.7 18.5 25 91.0 92. 4 91.7 18.5 25 90.9 91 .2 90.4 22 30 91.0 92. 4 91.7 22 30 91.3 91.6 90.9 ... 92. 4 93.0 92. 1 55 75 92. 1 92. 1 91.9 55 75 93.0 93 .2 93.0 75 75 92. 1 92. 1 91.9 75 75 93.0 93 .2 93.0 90 125 92. 7 92. 7 92. 6 90 125 93.0 93.5 94.1 110 150 93.0 93...

Ngày tải lên: 21/06/2014, 01:20

... 20 1 VB 92 \=-B\- 120 VB 92 = -B\- 121 VB 92 =B|. 122 VB 92 120 VB 92 121 VB 92 122 QO.O 1 Q0.1 1 Q0 .2 1 Q0.0 1 Q0.1 1 Q0 .2 1 NETWORK 5 LDB= VB91 ,20 0 LPS AB= VB 92, 120 ... LRD AB= VB 92, 121 S QO.l, 1 LRD AB= VB 92, 122 S Q0 .2, 1 NETWORK 6 LDB= VB91 ,20 1 LPS AB= VB 92, 120 R QO.O, 1 LRD AB= VB 92, 121 R QO.l, 1 L...

Ngày tải lên: 10/08/2014, 04:21

... l 1 2 cos q 1 2 + l 2 2 cos(q 1 2 + q 2 2 ) + l 3 2 cos(q 1 2 + q 2 2 + q 3 2 ) + l 4 2 cos(q 1 2 + q 2 2 + q 3 2 + q 4 2 ) z o2 + l 1 2 sin q 1 2 + l 2 2 sin(q 1 2 + q 2 2 ) + l 3 2 sin(q 1 2 + ... l 2 2 sin(q 1 2 + q 2 2 ) + l 3 2 sin(q 1 2 + q 2 2 + q 3 2 ) + l 4 2 sin(q 1 2 + q 2 2 + q 3 2 + q 4 2 ) q 1 2 + q 2 2 + q 3...

Ngày tải lên: 10/08/2014, 05:20