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This paper discusses biped walking which is robust to external disturbances and how it could be realized by means of achieving compliance and dynamic trajectory generation. A method of limiting the ground reaction forces is presented. It is mathematically equivalent to a conventional position control system when the ground reaction forces are within the set limits, therefore in this case the positioning...
A previously reported simplified vector control for position-sensorless permanent magnet synchronous motors can be affected by errors in setting the motor parameters, because no feedback compensator is used. We examine the effects of errors on the steady-state performance of these motors in this paper. It was found that the current amplitude increases when a parameter error is given and the effect...
In this paper, a new considering approach for frictional constraint is proposed. It is pointed out that the conventional method only considering translational friction is not appropriate for biped walking, and the frictional rotation constraint should be taken into account. It is stressed that the translational motion and rotational motion will occur simultaneously when slip starts in biped walking,...
When the wheels of the train slip on the rails, the torque is reduced to avoid the continuously slipping condition. This is because the coefficient between the wheels and the rails have a peak at a certain slip velocity. As the adhesive force changes at the rail condition, the wheels of the train suddenly slips. We propose to estimate the adhesive force by a disturbance observer. And the gradient...
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