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The present paper introduces a novel standing-up control strategy using Initial Value Compensation (IVC) for a Personal Mobility Robot (PMR). Personal mobility robots, which are wheeled inverted pendulum type mobility-assist devices, have the advantages of a small turn radius, maintaining a level seating posture on a slope, and a small footprint as compared to conventional electric wheelchairs with...
Brachiating is the hand over hand swinging locomotion used by various primates, especially the long armed apes. By analyzing the behavior of gibbon, which moves from branch to branch swinging its body like a pendulum, the basic principle and brachiating control of the simplified two-link gibbon-type robot is studied. Based on Lagrange equations and analyzing the postural characteristic of gibbon a...
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