The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Effects of maltose on the stability and rheological properties of orange oil-in-water (O/W) emulsion formed by octenyl succinic anhydride modified waxy corn starch (OS-starch) were investigated. Emulsion samples were prepared using a jet homogenizer. Creaming behavior, droplet size distribution and rheological properties of emulsions during storage were studied. Results showed that the emulsion with...
This paper introduced a PLC-based control system in a NC wheelset assembly machine, which included the system configuration, control mode, closed-loop control technology in cylinders and communication protocol between IPC and PLC by MPI network. The PLC-based control system is feasible, and it can strengthen the system stability and improve the efficiency of products. The control system has been successfully...
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...
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...
When a humanoid robot moves in an actual working environment, it is necessary for the robot to generate appropriate locomotion trajectory in real-time to ensure its stability. But it is difficult to solve nonlinear differential equations of stability constraints in real-time to get stable locomotion trajectory. This paper proposed a method to generate stable and smooth locomotion trajectory through...
Since a biped robot tends to tip over easily due to impacts, rough terrain or obstacle object, stable and reliable biped walking is a very important achievement. Well designed foot plays a crucial role in stabilization control for a humanoid robot. In this paper, we present a flexible foot design for our humanoid robot, including a landing impact absorption mechanism and a foot attitude estimation...
This paper presents a humanoid robot BHR-2 capable of performing stepping on and off a flat obstacle of known dimension. The trajectory comprises of two phases for the task completion. The first phase starts with the left foot raised from the ground and reaching the obstacle base tracking the trajectory points generated by spline interpolation. The end of the first phase is the state when both feet...
Walking pattern generation is a main issue for humanoid robot. We have already proposed a method for planning stable walking pattern. Based on this method, this paper mainly discusses generating stable and harmonious walking pattern by considering upper body motion, and planning hip trajectories in both sagittal plane and lateral plane. To reduce the iterative computation cost, some constraints of...
This paper explores the method of designing humanoid motion considering rhythm based on human motion capture. Captured human data must be adapted for the humanoid because its kinematics and dynamics differ from those of the human actor. On the other hand, it is expected that humanoid movements are highly similar to those of the human actor. In this paper, first the motion of the human actor is segmented...
Stability balance is a very important issue of the motion planning humanoid robot. Theoretically, the motion which has the higher stability is more stable, so how to evaluate the stability is very important in the motion planning for humanoid robot. Some researchers have proposed stability evaluation method based on ZMP, the stability margin is used to evaluate the stability, however these method...
The captured human data can't be used to drive the humanoid robot directly because of different body's configurations and physical properties between the humanoid robot and the human actor, and it must be adapted through stability adjustment. The stability is a fundamental condition for humanoid motion. A method of stability adjustment considering high similarity with the human actor is proposed in...
A conformational change of the homotrimeric glycoprotein hemagglutinin (HA) of influenza virus mediates fusion between the viral envelope and the endosome membrane. The conformational change of the HA ectodomain is triggered by the acidic pH of the endosome lumen. An essential step of the conformational change is the formation of an extended coiled-coil motif exposing the hydrophobic fusion peptide...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.