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The posture of a humanoid robot needs to be changed from lying state to others in order to complete required missions. With the rolling motion, it is possible for a humanoid robot to change lying state and adapt itself to the environmental uncertainties. The study of rolling motion for humanoid robots is fairly rare. This paper proposed a highly dynamic whole-body rolling motion. The planned rolling...
Slip occurrence puts not only the humans but also the humanoid robots into dangerous situations. Although the detection and the estimation of slip have been well researched, studies on slip avoidance control in a humanoid robot are rare. Previous methods used to restrict the horizontal motion or regulate the vertical motion of the humanoid robot did not take the important rotational motion into account...
Long segment congenital tracheal stenosis (LSCTS) is one of most severe malformation with high mortality rate and dismal prospective. Hypoventilation is the main issue for the death of children with LSCTS after surgical correction. However, currently, little information is available on local aerodynamics to disclose the reasons for the improvement of such therapies, especially LSCTS with distal bronchus...
A humanoid robot may suffer from slip since its two feet are not fixed on the ground. Slip occurrence may induce the loss of robot's balance. The previous literature focused on the detection or estimation of the slip occurrence, or only employed the translational acceleration regulation to overcome slip. This study proposes a slip prevention method by coordinating acceleration vector including the...
Demand on the high quality of parts takes the task that the CNC machine tool should have more accuracy and high productivity when it processes parts. From this task we can track back to the performance of the feed drive system of CNC machine tools. The test stand of feed drive system made up of ball screw assemblies is here modeled. The natural frequency of the test stand is analyzed on the modeling...
In this paper, a novel ball trajectory prediction method is proposed for a robot ping-pong player. The method is based on the dynamic model in the sky and the bouncing dynamic model between the ball and the table. First, the ambiguity of the dynamic model in the sky is removed. Then, the bouncing model between the ball and the table is proposed to get the relationship of the emergence speed and the...
Using least squares support vector machines (LS-SVM) technology, a new multi-sensor data fusion model for online predication of underwater flux-cored arc welding (FCAW) penetration depth is presented. In this model, welding speed, wire feed rate, arc voltage, contact-tube-to-work distance (CTWD), and weld pool width are used as inputs, while the depth of welding penetration as output. The radial basis...
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