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In this paper, we present a high-speed pick-and-place method for cell-assembly applications. In addition to the range of motion and accuracy, the agility of a manipulation system is an important parameter, but it has been so far underrated in the literature. To begin high-speed micromanipulation, obtaining 3-D positions of both the target microobject and the end effector rapidly is necessary. Controlling...
Adaptive gait for limb mechanism robot ASTERISK's dynamic rotational walking motion is designed. The adaptive gait is a motion where the robot can adapt itself to environment by utilizing virtual plane without any case-by-case command for each situations from user. With internal sensing and proposed method, the robot knows how to response to its environment. As all the terrains in actual world is...
New inclined-plane motion for limb mechanism robot ASTERISK's dynamic rotational walking motion is designed. The dynamic rotational walking motion is designed based on the isotropic leg arrangement. Two controllers are used to control the robot; the Preview control of zero moment point with cart-table model to control the robot's center of mass trajectory and the resolved momentum control to maintain...
New dynamic rolling-walk motion for multi-legged robot is proposed. The motion is realized by using the isotropic leg arrangement and the dynamic center of mass (COM) control inspired by bipedal robots. In the new dynamic rolling-walk motion, the robot switches between two phases to achieve the motion; three legs supporting phase and two legs supporting phase. By using the Preview Control with table-cart...
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