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This paper investigates the behavior of central Jacobi differentiator in robot identification applications. Jacobi differentiator is a Jacobi orthogonal based algebraic differentiator. It is applied to compute acceleration from noisy position measurements. Moreover, its frequency domain property is analyzed via a finite impulse response (FIR) filter point of view, indicating clearly the differentiators...
The falling of a biped humanoid robot is treated as an extremely unstable state. When an unexpected fall happens, it may cause serious damage to both the robot itself. This study focuses on the falling issue and investigates the effect of the “torso protective strategy” for safe landing of a biped humanoid robot. First, the effectiveness of the torso strategies to the safe landing is analyzed from...
Low melting 57Bi42Sn1Ag (BiSnAg) was explored for replacing SAC solders as a low-cost solution. In this study, BGAs with SAC105, SAC305, and BiSnAg balls were assembled with SAC105, SAC305 or 57Bi42Sn1Ag solder paste. Joint mechanical strength, drop test performance, and voiding performance were evaluated against the reflow profile. SnPb was included as a control. The findings are as follows: (1)...
Fast and stable walking is one of the important prerequisite for humanoid robots to serve the people. Pelvic rotations play a significant role when one walks fast. This paper proposes a method to generate human-like walking patterns with pelvic rotation in the transverse plane for a humanoid robot to effectively improve its quickness and stability. First, the regularities of pelvic rotation in the...
For humanoid robots, there exist a class of challenging tasks, e.g. playing table tennis, which are non-repeatedly, triggered randomly by sensor events, and compelling the robots to produce reactive operations in very short time. Additionally, some key poses of the robot are partially constrained to accomplish the operations, and are usually adjusted during the operation execution. In this paper,...
Low melting 57Bi42Sn1Ag (BiSnAg) was explored for replacing SAC solders as a low-cost solution. In this study, BGAs with SAC105, SAC305, and BiSnAg balls were assembled with SAC105, SAC305 or 57Bi42Sn1Ag solder paste. Joint mechanical strength, drop test performance, and voiding performance were evaluated against the reflow profile. SnPb was included as a control. The findings are as follows: (1)...
This study investigates the design of a humanoid ping-pong robot system with a 7-DOFs redundant arm. The design of the arm mechanism, real-time binocular vision system, and a distributed control structure was presented. The methods for ball trajectory prediction and motion planning for the ping-pong racket were proposed. A Jacobian pseudoinverse method considering joint limits and manipulability optimization...
The out-of-plane bending performance of unstiffened X-joints with similar brace and chord diameters are studied, and the influence of brace inclination angles, axial stress and diameter-thickness ratio of chord on failure mode, ultimate bearing capacity and flexural rigidity of tubular joints are discussed in this paper. The results indicate that failure mode for X-joints with high brace-to-chord...
In this paper we introduced a new R-tree node splitting algorithm. As an indexing technique for multi-dimensional data, R-tree is widely used in geographical information systems, CAD systems and spatial databases. An R-tree consists of nodes which in turn consist of records. Each node in R-tree must contain limited number of records in order that it can be stored within one disk block, thus a node...
A modification of the central limit theorem indicates that for a stationary or asymptotically stationary random process, its Fourier coefficients are independent complex Gaussian random variables in Reedman, D. and Lane, D., (1980). We apply this idea in the short time Fourier transform, where most process has the asymptotic stationary property in short time sense. The estimated parameters of the...
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