InTech-Climbing and walking robots towards new applications Part 3 pdf

... 2 2 d d t λ where: () () + ¸ ¹ · ¨ © § λ » » » » ¼ º λ+λ λλ−λ−λ λλ − − « « « « « ¬ ª λ+λ λ λ −λ λ = 2 2 2 3 2 3 33 2 3 2 3 3 3 2 3 2 3 3 2 3 2 3 2 3 2 2 2 d d )()( )()()()( d d d d 2 )()( )( d d )( d d d d t yx Qyxyx y x yx y x x y t u 2 2 2 3 2 3 3 3 3 3 d d )()( )( d d )( d d tyx y x x y λ λ+λ λ λ −λ λ + ; 68 ... ,0 d d cos 1 d d cos sin2 d d d d d d d d d d 2...

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... www.i-techonline.co m Climbing & Walking Robots, Towards New Applications 6 and, in turn, by 222 atan2(s , c ) iii ϑϑϑ = , (6) where ( ) () () 22 33 2 33 2 22 23 233 22 33 2 33 s()() c s 2c sc c s Fi ... angles ϑ 1i , ϑ 2i and ϑ 3i ( i = 1,…,6) can be expressed as 1 atan2 ( , ) Fi Fi iiyix pp ϑ = (3) and 33 3 atan2(s , c ) iii ϑϑϑ = , (4) where 2222 222...

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... ++++= )cos( 32 3 232 3 ϕ ϕ −= almD [] )cos()( 42425442424 ϕ ϕ ++−= llmallmD )cos()( 52552525 ϕ ϕ +−= allmD 31 13 D D= 32 23 D D= 2 33 333 amID += 34 35 0DD== 41 14 DD= (18) Non-time Reference Gait Planning and ... Planning and Stability Control for Bipedal Walking 97 23 4 134 5 13 () (0) 22 s hip s hip s s s s s S x T x S a aT aT aT T −= =+ + + (30 ) Then we have: 23...

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... & Walking Robots, Towards New Applications, Book edited by Houxiang Zhang, ISBN 978 -3- 9026 13- 16-5, pp.546, October 2007, Itech Education and Publishing, Vienna, Austria 176 Climbing & Walking ... Climbing & Walking Robots, Towards New Applications Several requirements for robots applied to USAR involve mobility capabilities. Aerial, ground, and aquat...

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... & Walking Robots, Towards New Applications 188 » » » » » » » ¼ º « « « « « « « ¬ ª = ¦¦¦ ¦¦¦ ¦¦¦ = ⋅ = ⋅ = ⋅ = ⋅ = ⋅ = ⋅ = ⋅ = ⋅ = ⋅ ⋅ 3 1 33 3 1 32 3 1 31 3 1 231 3 1 22 3 1 21 3 1 13 3 1 12 3 1 11 ... describe a part, Bezier-polynoms are used which are described by the following equation: PtPttPttPtP =−⋅+−⋅⋅⋅+−⋅⋅⋅+⋅ 32 23 )1 (3) 1 (32 )1 (31 0 (2) P0...

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... C. E. Merril et al. (U.S. Patent 3, 722, 134 ) Climbing & Walking Robots, Towards New Applications 250 operational scenarios. One scenario would be a large and light purely wind-driven ball, ... Climbing & Walking Robots, Towards New Applications Contraction by torsion Consider a strand-muscle that consists of two ideal muscle fibers of natural length L and...

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... perk) (Ave.) [%] 32 .3 32 .3 36 .3 33. 6 Reduction rate (energy consumption) (Ave.) [%] 49.6 32 .3 55.0 45.6 Table 2. Phase Differences and Reduction Rate of Energy Consumption and Moment Per 4. ... Walking Robots, Towards New Applications, Book edited by Houxiang Zhang, ISBN 978 -3- 9026 13- 16-5, pp.546, October 2007, Itech Education and Publishing, Vienna, Austria...

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... = » » » » » » » » » » » ¼ º « « « « « « « « « « « ¬ ª 8 7 6 5 4 3 2 1 x x x x x x x x         » » » » » » » » » » » ¼ º « « « « « « « « « « « ¬ ª ×× ××××××× ××××××× ××××××× ××××××× ××××××× ××××××× ××××××× 33 338 68584 838 281 7 833 333 333 333 333 33 336 633 333 333 33 333 333 5 533 3 33 333 33 333 333 4 433 333 3 33 333 333 333 333 33 333 333 333 333 2 233 33 333 333 333 3...

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... & Walking Robots, Towards New Applications, Book edited by Houxiang Zhang, ISBN 978 -3- 9026 13- 16-5, pp.546, October 2007, Itech Education and Publishing, Vienna, Austria 35 0 Climbing & Walking ... & Walking Robots, Towards New Applications, Book edited by Houxiang Zhang, ISBN 978 -3- 9026 13- 16-5, pp.546, October 2007, Itech Education and Publishing, Vi...

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... − «» «» +++ «» + «» ¬¼ 133 1 31 3 2 68 4 1112 2 38 33 38 99 126 12 13 3 2 1 13 126 12 13 4 5 67 910 910 6 1 23 4 3 23 3 3 3 /10 32 33 33 3 23 3 3 Wb WW Wb W b MME ME MEA gg g AAAA MEE MEEEE Ng g AAA ME E AA EE EA g AAA (32 ) ()() () ... ) {} μ μ ªº ++ − «» «» «» +− + «» =+ + + «» «» +++ «» − «» ¬¼ 132 31 1 31 3 11 2 32 31 38 38 99 126 12 13 3 268 4 2 112 13 126...

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