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When quadrupedal robots execute locomotion, their interactions with the ground surface will make themselves unstable without careful compliance control for each leg. This paper presents a control method which uses a virtual leg compliance with instantaneous reflexes to external disturbance to obtain the self-stabilization for legged robots. Each leg was modeled as two sets of virtual spring and damper...
Photovoltaic (PV) models are usually composed by nonlinear exponential functions, where several unknown parameters must be identified from a set of experimental measurements. Owing to the ability to handle nonlinear functions regardless of the derivatives information, bio-inspired algorithms for parameter identification have gained much attention. In this work, six bio-inspired optimization algorithms,...
In this paper, singular configurations of a new spatial rotation 4-SPS-1-S parallel manipulator are examined. The 4-SPS-S parallel manipulator has 3 purely rotational degrees of freedom in the space, and can perform spatial roll, pitch and yaw rotation motions. It possesses high load capacity, stiffness and stability. Inverse position analysis and velocity mapping equations of the mechanism are presented,...
In this paper, kinematic performance of a new spatial rotation 4-SPS-1-S parallel robot mechanism is investigated. The 4-SPS-S parallel robot mechanism has spatial three pure rotation degrees of freedom, it can achieve spatial roll, pitch and yaw rotation movements, and possesses high bearing capacity, stiffness and stability. Inverse position analysis and velocity mapping equation is established...
Tracking experiments were conducted using the moving targets with different predictabilities. Human temporal information processing during the tracking was examined using physiological measurement. We used nonlinear methods of DFA, chaos theory and phase dynamics to analyzing the data. Our results on tracking errors in positions showed that the most unpredictable random target lead to most larger...
Some problems associated with building map in confined environments for mobile robots are studied in this work. The uncertainties arising from specular reflection of ultrasonic sensors cannot make mobile robots recognize their surrounding environments correctly when mobile robots navigate in a confined environment. If the environment is known and unchanged, its map can be built with ultrasonic sensors...
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