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An introductory course for humanoid robot motion realization for undergraduate and graduate students is presented in this study. The basic operations of AX-12 motors and the mechanics combination of a 16 degrees-of-freedom (DOF) humanoid robot are presented first. The main concepts of multilink systems, zero moment point (ZMP), and feedback control are then introduced such that the students can understand...
The formation control problem of mobile multiple robots is investigated. A formation control scheme based on a hierarchical virtual structure is proposed. The mobile robots are divided into some clusters according to their distributions in space and then the motion trajectory of every cluster (virtual structure) is defined, so the motion of virtual structure is transformed to desired trajectory of...
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