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The posture of a humanoid robot needs to be changed from lying state to others in order to complete required missions. With the rolling motion, it is possible for a humanoid robot to change lying state and adapt itself to the environmental uncertainties. The study of rolling motion for humanoid robots is fairly rare. This paper proposed a highly dynamic whole-body rolling motion. The planned rolling...
This paper presents a control strategy based on phase modification during double support period to enhance a humanoid robot's walking stability. When the foot of the swing leg touches the ground, if Zero Moment Point(ZMP) is not in the stable margin, the phase modification will start. According to the position of ZMP and the relationship between the motion of Center of Gravity(COG) and ZMP position,...
Fast and stable walking is one of the important prerequisite for humanoid robots to serve the people. Pelvic rotations play a significant role when one walks fast. This paper proposes a method to generate human-like walking patterns with pelvic rotation in the transverse plane for a humanoid robot to effectively improve its quickness and stability. First, the regularities of pelvic rotation in the...
Balance control is a critical step to ensure tip-over stability for stair-climbing wheelchair. This paper presents a novel fuzzy method for adjusting the gravity center and controlling inclination of a stair-climbing wheelchair. The proposed fuzzy controller is designed based the kinematic relationship between the position of the gravity centre and the obliquity of the wheelchair in obstacle environments...
The surrounding rock stress field monitoring of sequential mining method has done and the field monitoring data has been compared with numerical simulation results. The result shows: Surround rock stress changes violently when the distance from monitoring section to the lower bench is less than a tunnel diameter, when the distance is more than a tunnel diameter, the surround rock presents rheological...
An improved ZMP (Zero Moment Point) trajectory for a biped robot is designed in this paper, which imitates a human's actual ZMP trajectory in the walking process. A new method of walking pattern generation based on forward moving ZMP in SSP (Single Support Phase) is also provided. It can keep the ZMP moving forward instead of staying in the center of supporting region during SSP, which is helpful...
According to actual engineering of a highway tunnel, this paper studies the tunnel stability without support and with support by Poynting-Thomson model. The transformation law of the stress with time of the bolt-shotcrete support is discussed. The results show that theoretical calculations and field monitoring data are in comparative agreement. The stress of the surrounding rock release with time...
Today's data center often employs virtualization to allow multiple enterprise applications to share a common hosting platform in order to improve resource and space utilization. It could be a greater challenge when the shared server becomes overloaded or enforces priority of the common resource among applications in such an environment. In this paper, we propose Apad, a feedback-based resource allocation...
A waist joint is designed for a humanoid robot in this paper, which has the characteristics of a large range of motion and high mechanical strength. A new method of balance control based on waist joints is also provided. It can effectively increase the stability margin during single support phase. We have been developing BHR, which has 38 DOF (degree of freedom). Each arm of BHR has 11 DOF in total...
Most of low-cost and small-size humanoid robots have been developed by using the conventional mechanism and simple control units. The conventional mechanism has a unique structure when the pose of feet and waist is fixed, and the small humanoid robot has to walk with bending knee joints without waist joints. On the other hand, these small humanoid robots perform low capability in the dynamic walking...
When a humanoid robot moves in an actual working environment, it is necessary for the robot to generate appropriate locomotion trajectory in real-time to ensure its stability. But it is difficult to solve nonlinear differential equations of stability constraints in real-time to get stable locomotion trajectory. This paper proposed a method to generate stable and smooth locomotion trajectory through...
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