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There is a common belief that muscle strengthening would enhance the capability of fast walking, but the specific impact of different joint's strength on walking speed and the quantitative relation between them is not well explored. While the majority of the previous works in this area are based on experimental methods, it would be very expensive and time consuming to conduct as much experiment as...
Application of robotic manipulators for grinding purposes may cause unreasonable behavior during grinding of uneven surfaces such as damaging workpiece surface, or following undesired roughness of the surface depending on the control strategy. This paper presents an adaptive control strategy which is a combination of a closed loop position control to track the desired path, an open loop force control...
Fast motion of bipeds is an interesting subject for researchers. It is well known that for a specified biped, with certain physical parameters and actuation capability, change of kinematic parameters of motion may change the speed of motion. Among such parameters is the share of single support phase (SSP) in one complete step. This work presents a parameter study in which a phase-plane analysis for...
Stability and performance are two main issues in motion of bipeds. To ensure stability, motion of a biped needs to follow specific pattern to comply with certain stability criterion such as zero moment point. Actuator torques limitation is also a serious restriction on motion path. Indeed, the velocity of the robot during each step is bounded with robot's physical limitations. The motion path of the...
Stability and performance are two main issues in motion of bipeds. To ensure stability, motion of a biped need to follow specific pattern to comply with certain stability criterion such as zero moment point. However, there are infinity many patterns of motion, i.e. different paths, which may ensure stability, so one might think of achieving better performance by choosing proper parameters of motion...
Walking like human might be considered as the most important objective for humanoid robots. Toe-joint is perhaps one of the most important missing parts of the structure of humanoid, which can play essential role in natural walking. Regarding this fact, the effect of toe-joint in improving performance of motion is studied in this paper. To this end, a nine-link biped is studied and compared with a...
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