Design and control of a small size humanoid robot
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 cheaper However, backlash ... the actuators require The advantage of planning in Cartesian space is that path planning is on parameters with resultant of motions of many actuators, instead of going down to plan the paths of...
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Design and control of a soccer playing humanoid robot
... 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 and famous Italian artist and engineer ... introduction of several impressive commercial robots such as ASIMO, Qrio, HOAP, HRP, and H7 However, it is still far away from the final goal that aims at making humanoid robot a companion of human in factory,...
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Design and control of a teleoperation system for humanoid walking
... 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 Walking Control Achieve stable walking ... fire disaster area, or radiation in the nuclear plant, etc Taking advantage of the advancement in bipedal walking control, several humanoid robots, namely the Honda Asimo (Hirai, 1998) and Sony...
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Design and Implementation of a Three-Phase Induction Motor Control Scheme
... 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 the AC quantities and are, ... the induction motor s many advantages are clearly explained Wildi also presents the two types of induction motors: “the squirrel cage induction motor and the “wound motor An explanation of the...
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báo cáo hóa học: " The design and testing of a novel mechanomyogram-driven switch controlled by small eyebrow movements" docx
... 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 final version of the manuscript Acknowledgements ... factor was selectable in the 1.2-2.5 range, and was adjusted for each participant such that false activations due to blinks and movement were avoided and participants were able to activate the switch...
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Design and development of a self balancing bicycle using control moment gyro
... 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 this research is the use of a CMG as an actuator ... torque applied to the handlebar to balance the bicycle Advantages of such a system include low mass and low energy consumption Disadvantages of such as system is its lack of robustness against large...
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The Design and Implementation of a Log-Structured File System
... 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 repository for data: a separate data area is reserved ... has the disadvantage of increasing the amount of data lost during a crash For this paper we will assume that crashes are infrequent and that it is acceptable to lose a few seconds or minutes of...
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Design and Simulation of A CMOS-MEMS Accelerometer
... 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 can be measured, and the ... Integrate During the Sample phase, Vs+ and Verror are sampled to sampling capacitor Ci1, and Vs- is sampled to Ci2 At the same time, integration capacitors Cf1 and Cf2 are reset to zero charge, and...
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Tài liệu Design And Simulation Of A Cmos-Mems Accelerometer doc
... 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 can be measured, and the ... Integrate During the Sample phase, Vs+ and Verror are sampled to sampling capacitor Ci1, and Vs- is sampled to Ci2 At the same time, integration capacitors Cf1 and Cf2 are reset to zero charge, and...
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Tài liệu Experiences in Design and Implementation of a High Performance Transport Protocol doc
... 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 bandwidth-delay product) ... shortcomings of TCP • We explained the design rationale and implementations details in this paper Future Work • Bandwidth Estimation • CPU utilization – Self-clocking – Code optimization • Theoretical...
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Tài liệu The Design and Performance of a Real-time CORBA Event Service doc
... 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-time Event Service (RT Event Service) ... and Filtering Module connect and disconnect from the channel The CORBA Event Service defines Event Channels as broadTAO’s RT Event Service model extends the standard casters that forward all events...
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Tài liệu Báo cáo khoa học: "DESIGN AND IMPLEMENTATION OF A LLXICAL DATA BASE " docx
... 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 of substantial size, of ... order of at least tens of thousands of entries, perhaps even more than I00,000 lexical entries Needless to say the task of creating as well as the one of updating such huge databases represents an...
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The Design and Implementation of a Sequence Database System * docx
... 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 Proceedings of the International Conference ... that drill down and up the dimensions) There are also severalopen researchissuesin the design of systemsbasedon the E-ADT paradigm, and in extensions of the paradigm to handle optimizations that...
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Báo cáo " Research, design and fabrication of a high-power combiner using Wilkinson bridge of L-band " pptx
... 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 measured the characteristics ... was studied because this frequency will application in our the next reseach for design and fabrication of a transmitter system for the phase identification code D.T Thuy et al / VNU Journal of...
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Từ khóa: the design and development of a solar powered refrigeratordesign and construction of a synchronous generator test setupdynamic modelling and control of a wheeled mobile robotdesign and development of a productdesign and fabrication of a line follower robotselection design and simulation of a drive systemdesign and implementation of a shared health maintenance module in a us integrated healthcare delivery networkdesign and control of an emg driven ipmc based artificial muscle fingerconstruction operation and control of a complex solar drying and hot water supply systemdesign and operation of a microalgae outdoor test facility otf in new mexicomodeling identification and control of a micro cantilever arraydesign and implementation of a sampling programprinciples design and construction of a two photon laser scanning microscope for in vitro andmodeling simulation and control of a power assist robot for manipulating objects based on operator s weight perceptionthe design and realization of a portable positioning systemBáo cáo thực tập tại nhà thuốc tại Thành phố Hồ Chí Minh năm 2018Nghiên cứu sự biến đổi một số cytokin ở bệnh nhân xơ cứng bì hệ thốngNghiên cứu tổ hợp chất chỉ điểm sinh học vWF, VCAM 1, MCP 1, d dimer trong chẩn đoán và tiên lượng nhồi máu não cấpMột số giải pháp nâng cao chất lượng streaming thích ứng video trên nền giao thức HTTPNghiên cứu vật liệu biến hóa (metamaterials) hấp thụ sóng điện tử ở vùng tần số THzNghiên cứu tổ chức chạy tàu hàng cố định theo thời gian trên đường sắt việt namGiáo án Sinh học 11 bài 13: Thực hành phát hiện diệp lục và carôtenôitGiáo án Sinh học 11 bài 13: Thực hành phát hiện diệp lục và carôtenôitGiáo án Sinh học 11 bài 13: Thực hành phát hiện diệp lục và carôtenôitĐỒ ÁN NGHIÊN CỨU CÔNG NGHỆ KẾT NỐI VÔ TUYẾN CỰ LY XA, CÔNG SUẤT THẤP LPWANQuản lý hoạt động học tập của học sinh theo hướng phát triển kỹ năng học tập hợp tác tại các trường phổ thông dân tộc bán trú huyện ba chẽ, tỉnh quảng ninhThơ nôm tứ tuyệt trào phúng hồ xuân hươngThiết kế và chế tạo mô hình biến tần (inverter) cho máy điều hòa không khíChuong 2 nhận dạng rui roBT Tieng anh 6 UNIT 2Tăng trưởng tín dụng hộ sản xuất nông nghiệp tại Ngân hàng Nông nghiệp và Phát triển nông thôn Việt Nam chi nhánh tỉnh Bắc Giang (Luận văn thạc sĩ)Giáo án Sinh học 11 bài 15: Tiêu hóa ở động vậtNguyên tắc phân hóa trách nhiệm hình sự đối với người dưới 18 tuổi phạm tội trong pháp luật hình sự Việt Nam (Luận văn thạc sĩ)BÀI HOÀN CHỈNH TỔNG QUAN VỀ MẠNG XÃ HỘITÁI CHẾ NHỰA VÀ QUẢN LÝ CHẤT THẢI Ở HOA KỲ