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A well-designed biped robot has its own natural dynamics suitable for efficient walking. Such natural dynamics was not considered in the conventional ZMP (zero moment point) based control method. In addition, ZMP based control method has the problems on autonomous adaptation. In this paper, we report on a biped robot: 'Tetsuro' designed with consideration of natural dynamics, and indicate inverted...
In this paper we present the system design and analysis of a quadruped robot, Rush, that we have constructed to study autonomous and efficient running on flat and rough terrain. The Rush robot is a compact, kneed, four legged machine with only one actuator per compliant leg. We have proposed a novel control strategy for the quadruped robot in consideration of several engineering limitations on sensory...
We report, for the first time, a detailed study of intra-die variation (IDV) of CMOS inverter delay for the 65nm technology, driven by mm-scale variations of rapid thermal annealing (RTA). We find that variation in VT and REXT accounts for most of the IDV in delay and leakage and is modulated by lamp RTA ramp rate. We show a good correlation of inverter delay to mm-scale variation in the predicted...
An H/sub /spl infin// control problem with simultaneous consideration of preview and delay is solved, where past signals and future signals are essential to describe behaviors of the control system. Solvability conditions and complete controller parameterization are derived in the frequency domain within the scope of finite dimensional computations, that is, infinite dimensional aspects attributed...
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