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According to the existing problems in the WLAN fingerprint positioning technology and wireless signal propagation characteristics under indoor environment, this paper proposes an indoor location method with better rapidity, better self-adaptation and higher positioning accuracy. WLAN fingerprint positioning method is improved from three aspects in this article: first of all, by multi-fingerprints...
This paper considers a multi-input multi-output (MIMO) wireless relay network, where the source S communicates wirelessly to the destination D via the help of a nonregenerative relay R. Previous studies are almost exclusively based on the assumptions of equal time-duration phases for S-R and R-D transmission and equal number of multiple antennas for every node, and the results concerning arbitrary...
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,...
In this paper, we conduct a comparative study of three well known robot kinematic calibration algorithms, namely the Denavit-Hartenberg (DH) parameter algorithm, the product of exponentials (POE) algorithm, and the local POE (LPOE) algorithm. To cope with distinct formulations associated to different algorithms, we propose a unified geometric framework which is based on POE kinematics and a novel...
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...
This paper considers a multiuser two-way relaying system with time division broadcast (TDBC) protocol, where one multiantenna base station (BS) and one out of N single-antenna mobile stations (MSs) exchange information with the aid of one single-antenna amplify-and-forward (AF) relay. We first propose an optimal joint user-antenna selection scheme, which minimizes the system outage probability. Then...
This paper presents an acceleration-based inverse dynamics method to control the floating base of a force-controlled bipedal robot. The desired accelerations of the floating base are derived by PD control in operational space and then used to calculate the accelerations of the joints. Given kinematic constraints to the feet, a relationship between the accelerations of the floating base and the desired...
Bionic knee was important basic driving element for biped robot. with the adult male's right leg knee working as bionic prototype, the three-dimensional finite element model was established, and the cinnections balance equation was established with the help of nonlinear contact theory, then system penalty function was used to deal with the contact constraint by considering the minimum potential energy...
We investigate the energy-aware joint power and rate control in the overlay cognitive radio networks, and we expect to achieve the optimal performance tradeoff between individual fairness and network energy efficiency. Therefore, a quality of energy efficiency-based Nash bargaining cooperative game (QoE$^2$-NBCG) is formulated with the aid of the newly-built 'energy-per-bit' individual utility function...
Random beamforming (RBF) can obtain the same capacity scaling compared with the optimal precoding scheme in a sufficient number of users. However, the performance of RBF is decreased severely when with few users. In this letter, we propose a joint RBF and zero-forcing precoding scheme. Based on RBF, the initial scheduling is achieved, then these selected users are requested to feed back quantized...
This paper investigates the system design of a 7-DOFs Anthropomorphic arm robot for fast dynamic interaction task, taking the ping-pong rally task against human as an example. The robot system includes the arm mechanism, real-time stereo vision sub-system, ball trajectory prediction, racket motion trajectory planning, and distributed joint controllers. The algorithms for ball identification, ball...
A waist joint is designed for a humanoid robot in this paper, which has the characteristics of a large range of motion and high mechanical strength. A new method of balance control based on waist joints is also provided. It can effectively increase the stability margin during single support phase. We have been developing BHR, which has 38 DOF (degree of freedom). Each arm of BHR has 11 DOF in total...
This paper presents an open control system consisting of decision-making system, teleoperation system, and motion control system for humanoid robots. In order to enhance the expandability of the robot, this system supports CANopen protocol. Communication time is reduced effectively via multiple CAN channels in parallel mode. In addition, CANopen driver and Mini Multi-Axis controller are designed complying...
This paper introduces a new humanoid robot capable of facial expression modifications. Since the face and its expressions play a significant role for natural communication, the robotic face was developed using highly vivid facial expressions. After having outlined the development of the humanoid robot, we describe the hardware and the distributed control system. Then, the design of the robotic face...
Most of low-cost and small-size humanoid robots have been developed by using the conventional mechanism and simple control units. The conventional mechanism has a unique structure when the pose of feet and waist is fixed, and the small humanoid robot has to walk with bending knee joints without waist joints. On the other hand, these small humanoid robots perform low capability in the dynamic walking...
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