Biped locomotion stability analysis, gait generation and control

... stance leg and the other is the swing leg Research on biped locomotion can be classified into three major directions: postural stability analysis, control and gait generation (Fig 1.4) Biped is ... trajectories is known as gait Computing gaits for ceratin activity is known as gait generation Gait generation essentially brings in issues associated with biped s pos...

Ngày tải lên: 12/09/2015, 09:10

... walking in near darkness also parallels the effects of an attention demanding task on the gait of healthy young and older adults [35,36] When healthy young or older adults are asked to walk and ... http://www.jneuroengrehab.com/content/2/1/27 also been associated with inadequate lighting, but the effects of vision and lighting have not been studied...

Ngày tải lên: 19/06/2014, 10:20

... PST in a Spin Chain with Engineering Couplings 26 2.1.3 Entanglement Generation in a Spin Chain 27 2.2 Entanglement generation with pre-engineered couplings 28 2.3 A physical interpretation ... solutions of PST in a chain containing an odd number of spins The proof will be presented in the Appendix B and C 29 Chapter Entanglement generation in a spin chain In E...

Ngày tải lên: 10/09/2015, 15:48

... longer critical times in elderly subjects, implying that a greater time spent in openloop control could be a factor in falls in the elderly [29] Since the pioneering work of Collins and De Luca, ... either clinically, using tests such as the "Timed Get-up -and- go" [13], "Berg Balance Scale" [14] and the "Tinetti Balance Scale" [15], or biomechanically, using a force pla...

Ngày tải lên: 19/06/2014, 10:20

... intermittent control, and some exponential stability criteria are established Finally, some conclusions and remarks are drawn in Section Problem Formulation and Preliminaries Consider a class of nonlinear ... ≥ to denote a positive negative, seminegative, and semipositive definite matrix P Journal of Inequalities and Applications Exponential Stabilization of a C...

Ngày tải lên: 21/06/2014, 06:20

... 5] and controller design [19, 20, 21] In this dissertation, we limit the scope of our study to the stability analysis and controller synthesis of switched systems, for which a brief review of ... field of stability analysis and controller synthesis of switched systems, there are still some challenges that have not been studied thoroughly The principle ai...

Ngày tải lên: 09/09/2015, 11:27

... thesis studies the stability analysis and distribution control of systems with random parametric uncertainties Parametric uncertainties are common in natural and man-made systems due to inaccurate ... Chapter Stability Analysis of Systems with A Single Uncertain Parameter Chapter Stability Analysis of Systems with A Single Uncertain Parameter In this...

Ngày tải lên: 10/09/2015, 09:25

... general method for joint trajectory generation to achieve optimized stable locomotion for bipedal robots is first proposed and referred to as Genetic Algorithm Optimized Fourier Series Formulation ... profile The entire bipedal walking control algorithm proposed in this thesis has shown to be general for different walking postures and for robots with different me...

Ngày tải lên: 11/09/2015, 09:02

... constants A and B are determined by substitution into the differential equation and, as expected, are found to be -2 and A, respectively Then * x ( t ) = - + fie 2t + Cle-’ + C2em2’ + Cse’ and the ... inversion, the one that we shall develop and make consistent use of is that of partial-fraction expansion A simple example will serve to illustrate steps and 2, and a trivial case o...

Ngày tải lên: 22/12/2013, 21:18

... C o Coughanowr: Process Systems Analysis and Control Douglas: Conceptual Design of Chemical Processes Edgar and Himmelblau: Optimization of Chemical Processes Gates, Katzer, and Schuit: Chemistry ... mathematics, and process dynamics and control At Purdue, he developed a new course and laboratory in process control and collaborated with Dr Lowell B Koppel on the...

Ngày tải lên: 22/12/2013, 21:18

... using various SLLPs One can view such formalisms as specifications for writing SLLPs, as illustrated in Figure (akin to specifications used in software engineering) I linguistic knowledge (in ... the linguistic model [Zaharin 87b], but they are designed principally for bridging the gap between linguistic formalisms and SLLPs Such formalisms are designed to cater for MT problems,...

Ngày tải lên: 18/03/2014, 02:20

... examples of disturbance data in books such as The BMI Handbook of Power Signatures, Second Edition, and the Dranetz Field Handbook for Power Quality Analysis ß 2006 by Taylor & Francis Group, ... be used in conjunction with power quality monitors to find a solution to the problem 33.4 Summary Most power quality problems can be solved with simple hand-tools and attention to detail S...

Ngày tải lên: 21/03/2014, 12:11

... Distribution System Modeling and Analysis William H Kersting 22 Power System Operation and Control George L Clark and Simon W Bowen 23 Hard to Find Information (on Distribution System Characteristics and ... transmission, distribution, and utilization of electric power and energy as well as the modeling, analysis, planning, design, monitoring, and control of electr...

Ngày tải lên: 21/03/2014, 12:11