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Leg/wheel robots has a hybrid movement mechanism which combines leg and wheel mechanism. In this paper, we propose a posture control for three-dimensional leg/wheel robots in which the distance between zero moment point and center of gravity are minimized using model predictive control. It is expected to prevent overturning of the robots based on prediction and considering zero moment point. The proposed...
A flexible fiber conditioner was developed as a surface reference conditioning tool in CMP (Chemical Mechanical Planarization) process. The conditioner keeps contact force of each fiber edge constant to the pad by making use of fiber bending effect. In this paper, the running test was evaluated using the flexible fiber conditioner. The result indicated that the fiber conditioner achieved long life...
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