InTech-Climbing and walking robots towards new applications Part 11 docx

... 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 ... 3-degree-of- freedom (3DOF) movement. Climbing & Walking Robots, Towards New Applications 304 Moreover, the height, and the pitching and rolling angles of the...

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... two drive wheel and one castor wheel inside the chamber. Since the locomotion system and the payload are mounted on the plate, thus the Climbing and Walking Robots, Towards New Applications 384 State ... at Vanderbilt University, FLIPPER & CRAWLER robots (Tummala et al., 2002) at Michigan O pen Access Database www.i-techonline.co m Source: Climbing & Walking R...

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... 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, ... approximated by Fourier series and parameters were searched by GA. Climbing & Walking Robots, Towards New Applications 408 GA gives joint angles and step height...

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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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... 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 New Applications 22 Frantsevich, ... α 0 . Climbing & Walking Robots, Towards New Applications 8 Therefore, substituting the Cartesian components of () Fi i tp in Eqs. (3), (5) and (7), the joint...

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... m(X P − X D )]; 84 Climbing & Walking Robots, Towards New Applications ; d d 2 2 t IM j Gjij ϕ −= j = 3,1 , ; d d )sincos( d d )cossin( d d d d 2 1 111 111 2 1 2 111 111 2 2 2 1 2 ¸ ¹ · ¨ © § ϕ ϕ−ϕ− − ϕ ϕ+ϕ−= t yx t yx t X t X GG GG A G ; d d )cossin( d d )sincos( d d d d 2 1 111 111 2 1 2 111 111 2 2 2 1 2 ¸ ¹ · ¨ © § ϕ ϕ+ϕ− − ϕ ϕ−ϕ+= t yx t yx t Y t Y GG GG AG ); d d c...

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... ¸ ¸ ¹ · ¨ ¨ © § ¸ ¸ ¹ · ¨ ¨ © § − −−+ = ¸ ¸ ¹ · ¨ ¨ © § ¸ ¸ ¹ · ¨ ¨ © § − −−++ − − + + 3 1 111 111 1111 11 2 1 3 1 2 111 11 111 1111 1 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 ... the swing and the stance leg interchange their roles, and a new gait cycle begins. Fig. 3. Gait cycle in knee...

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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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... performance were carried out. 180 Climbing & Walking Robots, Towards New Applications Transactions on Systems, Man, and Cybernetics - Part C: Applications and Reviews Vol. 34, No. 2, Carlson, J., ... Climbing and Walking Robots, Karlsruhe, Germany. Spong, M. W. and M. Vidyasagar (1989). Robot Dynamics and Control. Ed. John Wiley and Sons, New York, USA....

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... 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) Fig. 11. A three-wheeler hamster-ball ... 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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