InTech-Climbing and walking robots towards new applications Part 10 pot

... Walking Robots, Towards New Applications, Book edited by Houxiang Zhang, ISBN 978-3-902613-16-5, pp.546, October 2007, Itech Education and Publishing, Vienna, Austria Climbing & Walking Robots, ... chest part and the waist part rotate independently around the perpendicular axis as shown in Figure 9 (a). The pelvic rotation can be implemented to HRP- Climbing & Wal...

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... point, the swing and the stance leg interchange their roles, and a new gait cycle begins. Fig. 3. Gait cycle in kneed-passive walk Climbing & Walking Robots, Towards New Applications 114 Dynamic ... Climbing & Walking Robots, Towards New Applications 96 Fig. 5. Spatial path of the ankle of swing leg 2.2 Gait planning based on ZMP stability Based on peri...

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... robot with the human and the interoperability with other robots 174 Climbing & Walking Robots, Towards New Applications The American Society of Civil Engineers (ASCE) and the Structural Engineering ... v-shape, lean-to, and cantilever earthquake collapse patterns. Structural loading categories and basic collapse patterns are discussed in . 162 Climbing & Walkin...

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... cm 1 10 100 1 10 100 100 0 Thistle total mass (kg) Wind speed (m/s) 1 10 100 100 0 Ballast mass (kg), Ball mass (kg) Wind propulsion Ballast drive Ball mass k=0.8 rho=0.02 kg/m3 258 Climbing & Walking ... StMAs 260 Climbing & Walking Robots, Towards New Applications Contraction by torsion Consider a strand-muscle that consists of two ideal muscle fibers of natural...

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... humanoid walking robot. In Proceedings of the 5th International Conference on Climbing and Walking Robots, 2002. Climbing & Walking Robots, Towards New Applications 334 M.Wada, A.Takagi and ... simulation library, and Mr. David Sandberg for valuable comments on the manuscript. Climbing & Walking Robots, Towards New Applications 358 This paper propose...

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... thigh 0 10 20 30 40 50 60 70 80 90 100 -10 -5 0 5 10 force(kgf) 0 10 20 30 40 50 60 70 80 90 100 -20 -10 0 10 20 30 time (100 ms) speed(rpm) Transition Assist (b). the right calf time (100 ms) time (100 ms) speed(rpm) ... human lower limb and PAWL. Fig. 7. Output response to experiment 0 10 20 30 40 50 60 70 80 90 100 -10 -5 0 5 10 force(kgf) 0 10 20 30 40 50 60...

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... Climbing & Walking Robots, Towards New Applications 16 0 200 400 600 800 100 0 1200 1400 1600 1800 0 5 10 time [s] (Leg 1) z S1 0 200 400 600 800 100 0 1200 1400 1600 1800 0 5 10 time [s] (Leg ... the next segment command 1 θ and then shifts 1 θ to the following segments according to the moved distance, and 2) “Geometric Climbing & Walking Robots, Towards...

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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 3 321 9 3 8 2 7 10 2 321 9 3 8 2 7 10 1 321 9 3 8 2 7 10 9 3 321 9 3 8 2 7 10 8 2 321 9 3 8 2 7 10 7 1 321 9 3 8 2 7 10 0 0 0 = ¸ ¸ ¹ · ++ ++ + ¨ ¨ © § = i z y x tt tt tt z y...

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... “ ___ ” and simplified model “- - -“) Climbing & Walking Robots, Towards New Applications 208 0 102 03040 50 60 70 80 90 100 110 120 130 140 150 time -20 -10 0 10 20 30 40 angle 0 50 100 150 Fig. ... performance were carried out. 180 Climbing & Walking Robots, Towards New Applications Transactions on Systems, Man, and Cybernetics - Part C: Applicat...

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... Climbing and Walking Robots, pp 103 - 110, ISBN 1 86058 409 8, Catania, Italy, September, 2003, Professional Engineering Publishing, London. Climbing & Walking Robots, Towards New Applications ... derived by Eq. (2) and Eq. (6) are shown together with the experimental results in Section 6. Climbing & Walking Robots, Towards New Applications 310 Figure...

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