InTech-Climbing and walking robots towards new applications Part 1 doc

... Climbing & Walking Robots, Towards New Applications 16 0 200 400 600 800 10 00 12 00 14 00 16 00 18 00 0 5 10 time [s] (Leg 1) z S1 0 200 400 600 800 10 00 12 00 14 00 16 00 18 00 0 5 10 time [s] (Leg ... 400 600 800 10 00 12 00 14 00 16 00 18 00 0 5 10 time [s] (Leg 3) z S3 0 200 400 600 800 10 00 12 00 14 00 16 00 18 00 0 5 10 time [s] (Leg 4) z...

Ngày tải lên: 11/08/2014, 09:20

... System 305 + » » » » » » » » » » » ¼ º « « « « « « « « « « « ¬ ª ×××××× ×××××× ××××× ××××× ××××× ××××× ××××× ××××× u B B B B B B 13 1 313 1 313 13 13 1 313 1 313 13 613 1 313 1 313 13 513 1 313 13 13 13 413 1 313 13 1 313 313 13 13 1 313 13 213 13 1 313 1 313 1 000000 000000 00000 00000 00000 00000 00000 00000 g d » » » » » » » » » » » ¼ º « « « « « « « « « « « ¬ ª × × × × × × × 8 13...

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... − − «» «» «» − «» =+ − + «» «» −+ − «» +− «» ¬¼ 1 31 1 313 2 38 31 1 12 6 12 13 5 3 268 268 4 2 212 23 12 6 12 13 99 38 910 37 12 6 12 13 4 5 13 12 3 422 21 1 1 /10 11 1 211 11 21 1 21 1 1 Wb W W b WW W bb MMCMC MCC g A MC ... (16 ) ~ (19 ). ()() ( ) ()( ) () ªº ++− − +− «» «» «» −+ «» =+ − «» «» − «» − «» ¬¼ 1 1 31 1 313 2 1 31 38 1 126 12 13 37 910 99 38 3...

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... supported in part by the U.S. Army Research Office under grant W 911 NF-05- 1- 0 011 , and the U.S. National Science Foundation under grants ECS-04 211 59, CNS-05 515 98, CNS-0 619 577 and IIS-064 412 7. The ... Magnetics, 36-4, pp1052 -10 56, 2000 Climbing and Walking Robots, Towards New Applications 400 to increase the robot intelligence by adding new sensors, improvi...

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... the magnetic field (l.) and the corresponding video sequences (r.)) Climbing and Walking Robots, Towards New Applications 454 Here two problems (and actually opposite demands) are to be solved: ... Climbing and Walking Robots, Towards New Applications 452 Fig. 25 shows schematically the magnetic field, which emerges from an electromagnet, the shape of the fluid an...

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... ;2 ,1, 1 d d * d d d d 1 4 4 4 3 3 210 2 3 210 1 3 210 0 0 0 =+ ¨ © § += i z y x t tt z y x i P i P i P iiii iiiiiiii i P i P i P θ θθ θ θθ AQAAA AAQAAAAAQA    ;4,3 , 1 d d * d d d d d d d d d d 1 4 4 4 3 3 21 9 3 8 2 7 10 2 3 21 9 3 8 2 7 10 1 3 21 9 3 8 2 7 10 9 3 3 21 9 3 8 2 7 10 8 2 3 21 9 3 8 2 7 10 7 1 3 21 9 3 8 2 7 10 0 0 0 = ¸ ¸ ¹ · ++ ++ + ¨ ¨ ©...

Ngày tải lên: 11/08/2014, 09:20

... ¸ ¸ ¹ · ¨ ¨ © § ¸ ¸ ¹ · ¨ ¨ © § − −−+ = ¸ ¸ ¹ · ¨ ¨ © § ¸ ¸ ¹ · ¨ ¨ © § − −−++ − − + + 3 1 111 11 111 111 1 2 1 3 1 2 11 111 11 111 111 2 11 2 1 0 2cos)2( 2cos )2cos()2cos( θ θ α θ θ α αα     bam bambamlamlm bmlbm lbbmbllmamlm c c (4) and this event happens when 0 31 =+ −− θθ . To ... )( 1 ),()( 1 2 11  (8) With [] [] ¸ ¸ ¸ ¹ · ¨ ¨ ¨ © § −+−+− −+++−+++− −+−−+...

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... & Walking Robots, Towards New Applications, Book edited by Houxiang Zhang, ISBN 978-3-902 613 -16 -5, pp.546, October 2007, Itech Education and Publishing, Vienna, Austria 17 6 Climbing & Walking ... robot with the human and the interoperability with other robots 17 4 Climbing & Walking Robots, Towards New Applications The American Society of Civil Engi...

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... “ ___ ” and simplified model “- - -“) Climbing & Walking Robots, Towards New Applications 208 0 10 203040 50 60 70 80 90 10 0 11 0 12 0 13 0 14 0 15 0 time -20 -10 0 10 20 30 40 angle 0 50 10 0 15 0 Fig. ... 18 8 » » » » » » » ¼ º « « « « « « « ¬ ª = ¦¦¦ ¦¦¦ ¦¦¦ = ⋅ = ⋅ = ⋅ = ⋅ = ⋅ = ⋅ = ⋅ = ⋅ = ⋅ ⋅ 3 1 33 3 1 32 3 1 31 3 1 2 31 3 1 22 3 1 21 3 1...

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... speed & ballast mass for a 6 m Thistle, obstacle 40 cm 1 10 10 0 1 10 10 0 10 00 Thistle total mass (kg) Wind speed (m/s) 1 10 10 0 10 00 Ballast mass (kg), Ball mass (kg) Wind propulsion Ballast ... it would be a very demanding task. Climbing & Walking Robots, Towards New Applications 244 Fig. 10 . Early hamster-ball by A.D. McFaul (U.S. Patent 1, 263,262)...

Ngày tải lên: 11/08/2014, 09:20