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Bipedal robot has many advantages to locomotion in complex environments that wheeled robot cannot achieve. However, because of biped robot's complicated mechanism and the naturally unstable system, it is very susceptible to disturbance from the environment and humans in comparison with wheeled robots. Therefore, the prime task for biped robot walking is to maintain dynamic balance and recover from...
In the beginning, a dynamic sensing system including the hardware and the low-pass and Kalman filtering is designed. It is then installed at the center of gravity (CoG) of the humanoid robot (HR) and can capture the responses of the pitch and roll axes during the execution of specific task. After the analytic design, a set of desired pitch and roll trajectory for a specific task is achieved. In addition,...
In this paper we present synaptic weight optimization for dynamic locomotion in four-legged robot (cat, dog) based on neural oscillator. We investigate the muscular structure to design the relationship for both extensor neuron and flexor neuron. The robot has 3 joints in each leg and each joint is represented by 2 neurons, extensor and flexor neuron. The robot has 4 main circular neurons as the server...
Bipedal robots capable of various dynamic motions — such as walking, running, and jumping — have been developed in recent years. In particular, these dynamic motions require high power for short durations of time when the robot kicks off the ground. Furthermore, it is necessary to reduce the impact force that a robot is subjected to when landing during these motions. When humans perform similar motions,...
In this paper, Selective Harmonic Mitigation (SHM) and Selective Harmonic Elimination (SHE) modulation techniques are combined to generate the appropriated firing pulses for a 4-leg 3-Level Neutral Point Clamped (NPC) inverter. SHM modulation technique is applied to the phase legs in order to get a desired modulation index (ma) and to mitigate the lower order odd non-triplen harmonics (5th, 7th, …)...
This paper deals with the integration of the electric power-conditioning interface to the Fuel Cell (FC) module for embedded electric power generation. Specifically, the current study aims to propose an adequate control strategy to achieve a high efficiency of a compact 20kW DC/DC PEMFC output multiphase converter based on new wide-bandgap technology devices. The proposed control strategy is based...
This paper presents an approach to stabilization control using image feature tracking for biped walking robot. The authors have developed several vision-based control for dynamic balance and stabilizing the body motion of biped walking robot. For example, the ground reaction force was estimated from visual target position in camera image. However, in our past developments, some landmark object is...
The open-end winding machines can be fed by two three-phase inverters. In each phase, three-level voltages are generated by an H-bridge. Three-level PWM can reduce current ripple in α-β frame by using the voltage vectors on the vertices of small triangle. For open-end winding configuration, PWM methods which use the small triangle have been implemented with space vector modulation based techniques...
This paper proposes a transmission torque linearization method for a leg robot using bi-articular simultaneous drive mechanism. A planetary gear is the primary mechanism of a bi-articular simultaneous drive system. Energy consumed for walking is reduced by the use of bi-articular muscles. However, the planetary gear causes a torque transmission loss in the leg robot system. The proposed method linearizes...
It is ethically problematic to engage people with impaired motor functions in experiments, wherein they may face severe pain and unacceptable risk of injuries. We developed a wearable robot for healthy adults and its control algorithm to simulate the behaviors of patients with knee osteoarthritis. We focused on invariant motions, which are typically presented for avoiding knee pain. In order to simulate...
In this paper, discontinuous space vector pulse width modulation for a five-phase quasi Z-source inverter is presented. Two schemes are introduced for the continuous SVM of five-phase qZSI (SVQ1 & SVQ2) and two schemes of discontinuous SVM (DSVQ1 & DSVQ2) are proposed SVQ1 method is based on subtracting the shoot-through state interval from the zero state interval only. While SVQ2 subtract...
This paper discusses visual servo system for ball dribbling by using bipedal robot "Nao". Countless papers have been written by researchers since the establishment of RoboCup in 1993, which contributes to the progress in robotics and artificial intelligent. However, only few papers discuss dribbling even though ball dribbling is one of major techniques to master to win a game. To achieve...
Activity recognition is possible to be used to understand behavior of infants and effective for health and development of children. In our previous study, action of children were assumed as sleeping, sitting, hand motion, walking, running, and playing. Revise of action items were, however, required because it was difficult to calculate calorie consumption in the previous. In this study, 11 action...
The increase in care-receiver/caregiver ratio is becoming a social problem in Japan, one factor in which is the increase in the number of falls in the elderly. The purpose of this study is to develop a balance training ability system for fall prevention. To effectively improve balance ability while walking, dynamic training specialized for somatic sensation is useful. We developed a system that greatly...
The legged mechanism has flexibility to change its movement for ground conditions such as flat, slope, step or any other rough terrain. If mobile robots have such mobility and stability, they were able to work more wider fields and situations This paper proposes a method to acquire the gait pattern by using a genetic algorithm. A robot model which is based on real robot specifications is created to...
Chip-scale thermoelectric energy harvester designs based on Bi2Te3 are presented with a focus on improving power density per device area for applications exchanging heat with ambient air through a heat sink. Practical vacuum capping is found to be beneficial for improving energy density despite the additional shunt created by the bonding ring around the 10mm2 harvester chip. Optimized device performance...
With the increase in aging population of many developed countries, the demand of walking or standing assist device has grown. This paper presents structure and control system of novel assist device, Intelligent Tension Pole (ITP), to assist walking and standing in room considered supporting for self-reliance, space saving, and stability. Two-wheel and one-wheel are added to lower and upper ends of...
Recently robots working in various situations as workplace and nursing home autonomously are expected. In those situations, it is important for such robots to recognize surrounding environment and to avoid the risk to people. We propose a method to realize an autonomous robot moving smoothly and safely with low calculation cost by performing motion prediction and human detection in dynamic or static...
This paper presents the development of a quadruped robot and introduces its trotting control algorithm. Dynamic control of a four-leg robot is not an easy task. Several attentions are required especially on the stability aspect. During trotting, the quadruped robot is supported only by its two diagonal legs. In this stage, the robot is unstable and easy to fall over. The instability becomes even worse...
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