Design and control of a small size humanoid robot

... hardware, (2) walking control and (3) artificial intelligence CHAPTER 2: LITERATURE REVIEW 2.1 Mechanical Design and Hardware In the area of mechanical design, one of the important areas is ... normal gearbox remains the common selection by small size humanoid robots as they are usually integrated with motors as a compact package by the manufacturer and are much cheape...

Ngày tải lên: 04/10/2015, 10:25

... creating a small-sized humanoid robot, which is capable of walking stably and performing some basic soccer playing skills such as approaching a ball and kicking it toward a goal, defending a goal, avoiding ... repetitive and hazardous tasks can be dated back to the era of ancient Greek and Egyptian with their automata More recently, Leonardo da Vinci, a talented...

Ngày tải lên: 04/10/2015, 10:25

... user a full information for the hardware and software interface The humanoid robot weighs 6kg and stands 48cm tall It has a total of 20 Degree of Freedom (DOF) - DOF each leg and DOF each arm ... researchers adopt for bipedal walking Section 2.2 is an overview of teleoperation and classifications of the control methods of teleoperation system 2.1 Bipedal...

Ngày tải lên: 04/10/2015, 10:25

... processes and variables are modelled mathematically Furthermore, the MATLAB program can convert a MATLAB design into a C-code design in a relatively straightforward manner Hence, this stage of the ... two-phase currents to generate a means of instantaneously controlling the torque and flux Field-orientated controllers require control of both magnitude and phase of...

Ngày tải lên: 27/10/2013, 23:15

... work was supported in part by an Ontario Graduate Scholarship, Natural Sciences and Engineering Research Council of Canada and the Canada Research Chairs program The authors acknowledge Mr Ka Lun ... the manuscript TC conceived the study, advised on the design and coordination of the experiments, and edited the manuscript All authors read and approved the fin...

Ngày tải lên: 19/06/2014, 08:20

... moment gyro (CMG) as an actuator The control moment gyro (CMG) is typically used in a spacecraft to orient the vessel [5] Appling a CMG as an actuator to balance a bicycle is a creative and novel approach; ... provides a comparison of the various methods to balance a bicycle, evaluated their advantages and disadvantages The most significant contribution of thi...

Ngày tải lên: 02/10/2015, 17:14

... purpose The separate data area of these database systems means that they not need the segment cleaning mechanisms of the Sprite LFS to reclaim log space The space occupied by the log in a database system ... log as the most up to date ‘‘truth’’ about the state of the data on disk The main difference is that database systems not use the log as the final repositor...

Ngày tải lên: 12/09/2012, 15:05

... estimated value is calculated assuming a total sensing capacitance of 60fF Parasitic capacitance and mismatch of sensing capacitance is measured in a way as shown in Figure 5.4 The capacitance ratios ... first-generation accelerometer were performed on a probe station Table lists major parameters of the device Only the ratio of parasitic capacitance and sensing capacitance...

Ngày tải lên: 27/10/2013, 23:15

... estimated value is calculated assuming a total sensing capacitance of 60fF Parasitic capacitance and mismatch of sensing capacitance is measured in a way as shown in Figure 5.4 The capacitance ratios ... first-generation accelerometer were performed on a probe station Table lists major parameters of the device Only the ratio of parasitic capacitance and sensing capacitance...

Ngày tải lên: 22/12/2013, 08:16

... Efficiency and Fairness Characteristics • Takes 7.5 seconds to reach 90% of the link capacity, independent of BDP • Satisfies max-min fairness if all the flows have the same end-to-end link capacity ... (Additive Increase Multiplicative Decrease) • Fair: max-min fairness • Stable: globally asynchronously stable • But, inefficient and not scalable – In grid networks (with high band...

Ngày tải lên: 15/01/2014, 15:59

... registration, location, and actiThe CORBA Event Service model simplifies application vation; request demultiplexing; framing and error-handling; parameter marshalling and demarshalling; and operation ... filtering and corINTERFACES INTERFACES FACILITIES relation mechanisms To alleviate the limitations with the standard CORBA Event Service, we have developed a Real-ti...

Ngày tải lên: 19/02/2014, 18:20

... be of primary importance for any "real life" system involving a large lexical data base is what I would call "practical requirements" and has to with the complexity of the task of creating a lexical ... instance, a translation system or any other type of natural language processing program that must be able to handle very large amounts of text necessitates dictionaries...

Ngày tải lên: 22/02/2014, 09:20

... supports relational data as well as sequencedata, using a novel design paradigm of enhancedabstractdata types (BADTs ) The systemimplementation basedon this paradigmallows sequence relational queriesto ... PIVceeding of the ACM SIGMOD Conference on Management of Data, May 1994 [CS92] RakeshChandmand Arie Segev.ManagingTemporalFinancial Data in anExtensible Database. In Procee...

Ngày tải lên: 16/03/2014, 16:20

... Thanh, Nguyen Anh Tuan, Bach Gia Duong, Research, Design And Fabrication Of The 45W And The 200W, L-Band Power Amplifier Using The Modern Microstrip Technology For Application In The National ... have also investigated the S11 factor of the power divider Wilkinson on network analyzer, the result was relatively similar to that of the simulink model Afterthat we have measu...

Ngày tải lên: 22/03/2014, 11:20