Mobile Robots -Towards New Applications 2008 Part 6 ppsx

... 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

... 2 2 d d t where: () () + á ạ Ã ă â Đ ằ ằ ằ ằ ẳ + ô ô ô ô ô ơ ê + = 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 + + ; ... ,0 d d cos 1 d d cos sin2 d d d d d d d d d d 2 d d d d d d d d d d 2 3 2 3...

Ngày tải lên: 11/08/2014, 09:20

... almD [] )cos()( 42 42 544 242 4 ϕ ϕ ++−= llmallmD )cos()( 52552525 ϕ ϕ +−= allmD 31 13 D D= 32 23 D D= 2 33333 amID += 34 35 0DD== 41 14 DD= (18) Non-time Reference Gait Planning and Stability Control ... 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...

Ngày tải lên: 11/08/2014, 09:20

... & Walking Robots, Towards New Applications, Book edited by Houxiang Zhang, ISBN 978-3-90 261 3- 16- 5, pp.5 46, October 2007, Itech Education and Publishing, Vienna, Austria 1 76 Climbing & Walking ... lean-to, and cantilever earthquake collapse patterns. Structural loading categories and basic collapse patterns are discussed in . 162 Climbing & Walking Rob...

Ngày tải lên: 11/08/2014, 09:20

... 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. Tanie, K. (2001). New trends of walking ... www.i-techonline.co m Source: Climbing & Walking Robots, Towards New Applications, Book edited by Houxiang Zhang, ISBN 978 -3-902613-16-5, pp.546, October 20 07,...

Ngày tải lên: 11/08/2014, 09:20

... following +++++= 54 32 0 123 45 ap ap ap ap ap a 0 , 2 p =λ (25 ) with = 0 adetD l , == 5 adetG l () () () () () +++++ êê ơẳơẳ 5 1313 122 2 23 1111 1 322 22 gmmss ml ms 2m m l m 2l s m m l m 2l s According ... Γ    1 1 1 11 1 12 2 13 3 14 4 2 222 1 122 223 324 4 333311 322 333344 yy dddd yyd d dd yydd d d (26 ) Now we want to suppress the instability of the three variables i...

Ngày tải lên: 11/08/2014, 16:22

... Equation ( 13) the coupling can be described for the equations: ( ) () () () 0][1 1 231 2 ,39 999 ,33 3 2 33 2 33 33 =−−−−−Ω+−− θθθθθθθθθδθ  ccq oo (20) ( ) () () ( ) 0][][1 12121212, 933 33, 999 2 99 2 9999 =−−−−−Ω+−− ooo ccq θθθθθθθθθθδθ  ... Ω i , i ∈ {3, 9, 12}) can be determined. Then: () 3 3 3 2 9 ,3 2 933 1 231 2 ,3 3 12 44 δω δ A cAAAAc q ++− = (26) ω 2...

Ngày tải lên: 11/08/2014, 16:22

... number Reinforcement R3, C > 0 R4, C = 2 R4, C = 3 R4, C = 4 R4, C = 5 R4, C = 6 R1 = 0.99 R2 = 0 .49 5, C > 0 Fig. 6. Evolution of the reinforcements R 1 , R 2 , R 3 and R 4 relative to the iteration ... Proceedings of the 1999 IEEE Int. Conf. on Robotics and Automation, pp 1 247 - 12 54, 1999, Detroit MI, USA 140 Mobile Robots, Towards New Applications multisine...

Ngày tải lên: 11/08/2014, 16:22

... 9 .6 1 .6 5 +6+ 7 16 9.9 5.1 14.8 5.4 11.4 1.9 Female 1 89 13.7 3.8 16. 2 3 .6 9.2 2 .6 2 46 14.8 3.7 17.1 4.0 10.5 2 .6 3 21 15.2 4.9 16. 4 3.8 9 .6 2 .6 4 13 14.8 2.5 14.8 3.4 8.1 2.3 5 +6+ 7 ... 9 86 Ǘ 162 ** .078 143 ** . 367 *** 060 072 .111 * 10 N 31 20 10 1 0 1 3 66 Ǘ 028 .135 * 0 06 0 96 051 009 021 11 N 4 3 1 1 0 0 6 15 Ǘ 094 .007 049 002 023 02...

Ngày tải lên: 11/08/2014, 16:22

... People Treat Computers, Televisions and New Media Like Real People and Places. New York: Cambridge Univ. Press, 1996. 240 Mobile Robots, Towards New Applications based on the input set of ... the targeted 242 Mobile Robots, Towards New Applications nine-point Likert scale. Self-reports were used as reference points to link the objective physiological data to partici...

Ngày tải lên: 11/08/2014, 16:22

... actuator activity has to be 3 cf. Figure 10 in the paper Underwater Robots Part I : current systems and problem pose. 358 Mobile Robots, Towards New Applications where  sİ is a positive ... http://www.ifremer.fr/flotte/coop_europeenne/essais.htm and cf. Figure 9 in the paper Underwater Robots Part I : current systems and problem pose. 374 Mobile Robots, Towards Ne...

Ngày tải lên: 11/08/2014, 16:22

... are defined: z m A3 & Part of 3 m & perpendicular to z m & 3Az m & Part of z m & perpendicular to 3 m & 392 Mobile Robots, Towards New Applications embedded control ... robust detection of the facial parts contour. 418 Mobile Robots, Towards New Applications Toft, P., “The Radon transform - Theory and Implementation,” Ph.D. Thesis, Depa...

Ngày tải lên: 11/08/2014, 16:22

... simply cannot maneuver. Thus, mechanical mine clearance is particularly suited for roads, and favorable 464 Mobile Robots, Towards New Applications additional traction, the vehicle negotiates ... a front ramp section which lowers to provide a variable footprint. With this 466 Mobile Robots, Towards New Applications activities, and they found it suitable for use in humanitar...

Ngày tải lên: 11/08/2014, 16:22

... 490 Mobile Robots, Towards New Applications Fig. 12. Positioning sensor unit. Fig. 13. Result of the position measurement. Fig. 14. Excavation type mine removal robot. 502 Mobile Robots, ... missions after disasters, or explore the surfaces of other planets (See Fig. 13) . 506 Mobile Robots, Towards New Applications ằ ẳ ô ơ ê : ằ ẳ ô ơ ê : e e V N V 0 0 (24)...

Ngày tải lên: 11/08/2014, 16:22

... as shown in Fig. 3. Mobile robots with centred wheels must overcome dry-friction torque when reorienting the mobile robots because of the fixed wheels, however, mobile robots with dual wheels, ... the relationship among entertainment, humans, and robots. We also describe an example of a robot that can dance. 512 Mobile Robots, Towards New Applications Yangsheng Xu (19...

Ngày tải lên: 11/08/2014, 16:22