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Linear switched reluctance machines (LSRM) have a relatively low force output and high force ripples. This paper discusses a double-sided linear hybrid switched reluctance machine (LHSRM) which includes permanent magnets to be embedded into the stator leg slots. The proposed LHSRM has hybrid excitation flux circuits, derived from the permanent magnets and external current excitations. Machine design...
Routing a given set of flows with bandwidth requirements is a fundamental problem, which has been formulated as Unsplittable Flow Problem (UFP). One of the key issues in this formulation is that the bandwidth requirement is fixed for each flow. In practice, however, many applications (e.g., video-on-demand, backup and replication services) would greatly benefit from getting more bandwidths beyond...
The on-line walking speed control in human-powered exoskeleton systems is a big challenge, the real-time translations of human intention to increase or decrease walking speed in maneuverable coupled human exoskeleton systems is still complex field. An adaptive trajectory frequency control algorithm has been developed to guide the exoskeleton's joint in HUman-powered Augmentation Lower Exoskeleton...
Crabster CR200 is a remotely operated vehicle which has six artificial and articulated legs driven by BLDC motors. It is supposed to walk on the sea floor. As a result, the robot has a very complicated appearance and hydrodynamic forces and moment acting on the robot experience a variety of changes according to configurable legs and body postural position. This paper describes the experiments to estimate...
The focus of this research is to consider control and energy regeneration for a robotic manipulator with both actively and semi-actively controlled joints. The semi-active joints are powered by a regenerative scheme. The problem of designing an impedance controller to track a desired joint trajectory and regenerate energy in the storage element is considered here as a multi-objective optimization...
Robotic rehabilitation has a significant potential to reduce the clinical labor costs of physiotherapy. Robotic therapy allows patients to have more in-depth repetitive movements while the therapists evaluate the progress of the recovery. This paper investigates the potential of a 6 degrees of freedom parallel robot, designed and built at the University of Birmingham, for use in robotic rehabilitation...
This paper presents an optimal synthesis of crank-rocker linkage for an exoskeleton knee which operates when the user walks on the levelled ground. The linkage is synthesized optimally based on gait biomechanics. An optimization problem is formulated to minimize the difference between the desired- and generated- torque while to get a feasible solution using, teaching-learning-based optimization (TLBO)...
The weightless environment causes difficulties for anchoring and sampling in asteroid exploration. In this paper, we present the analyses of the anchoring and sampling processes of a landing robot to deal with the difficulties. The mechanism and electrical system of the robot are introduced. The robot is composed of a body, three landing legs, three anchoring legs, one sampling arm, three reverse...
To realize energy efficient and high speed biped locomotion, many control method and optimal configuration were proposed. In the research field of passive dynamic walking, some researchers focused on the mechanism and confirmed that robots applied with mechanical impedances like spring have good performance of locomotion. The rotational inerter was also proposed as one of the mechanisms to increase...
Usual above-knee prosthetic legs prescribed to above-knee amputees are composed of springs and dampers; transfemoral amputees are restricted in daily movement such as stairs ascent and descent. The Attachable Cybernic Unit is able to be attached with the prosthetic leg, and operate the prosthetic leg. The purpose of this study is to develop the Attachable Cybernic Unit to operate the prosthetic leg...
Inspired by gecko's movement characteristics, we proposed a gecko inspired climbing robot, which is based on the GPL (Gecko inspired mechanism with a Pendular waist and Linear legs) model. In this paper, further research is made to analysis its gait and continuity. We optimist the driving angle to maintain the cyclical movement. Furthermore, the issues related configuration and motion planning are...
Quadrupedal animals adaptively change their trunk posture to avoid falling down and to facilitate directive locomotion even on rough terrain. This paper focuses on an animal-like trunk mechanism that has passive viscoelastic joints. The effect of the trunk mechanism is observed by changing the elasticity and configuration of the joints. Simulation results show that the success rate of the locomotion...
Force distribution is an important problem for the legged robots with active force control, the allocation of the foot forces can also achieve a desired force and torque on the hexapod robot. This paper presents a force distribution algorithm for redundant problem reduction, linearization and reducing the internal force. Combining the distribution algorithm with force control, the robot can walk on...
In recent years, various robots have been researched and developed. As a part of them, robots working in dangerous place for human beings are attracted attention. The dangerous places include the outdoor irregular ground or the narrow place mainly, so the robots need to have high moving ability. In addition, It also requires high operational ability as same as human. To satisfying these necessities,...
Stability is a key point in developing quadruped robot. In this paper, we focus on allowing heavy quadruped robot to be self-adaptive to various disturbances. The Spring Loaded Inverted Pendulum method is applied in regulating feet landing positions. Moreover, yaw motion is discussed to revise direction-deflection after disturbance of external force. In dynamics analysis, both inverse dynamics and...
Human following is one of the most important tasks for a service robot sharing its workspace with humans. The human following behavior design for service robots is considered in this paper, with applications to human-robot interaction and human companion in indoors environments. In this work, we present the necessary of future motion expectation and natural interaction for human following model. The...
In this paper, we focus on the problem of group detection in crowd, which is a task of partitioning a set of pedestrians in a scene into small subsets called groups based on their trajectories. Most of previous methods use only a single model for representing a relationship between trajectories of pedestrians who belong to the same group. However, such relationship would vary depending on the activity...
Biped locomotion created by controlling methods based on Zero-Moment Point (ZMP) has been realized in real world and been well verified its efficacy for stable walking. However the walking strategies that have been proposed so far seem to avoid such considerations as slipping of foot on the floor, even though there should exist the slipping large or small in real world. In this research, a dynamical...
Gait monitoring technology has recently become of increasing interest in the biometric as well as biomedical fields for observation of the human movement, especially walking that can refer to physical status of individuals. For this objective, data shoes own many advantages such as cheaper cost and rich of direct information from the walking. In this paper, we have developed a data shoe system for...
In gait training for walking rehabilitation, it is essential to maintain a good balance during walking (i.e., both legs equally loaded). Therefore, scales are frequently used in order to feed back the load of the lower limbs to the trainee. However, in this situation, the trainee has to look down to check whether the scale and the trainee's walking posture is affected in an undesirable manner. In...
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