Adaptive Legged Robots Through Exactly Constrained and Non-Redundant Design
نویسندگان
چکیده
منابع مشابه
ASIC Design of Butterfly Unit Based on Non-Redundant and Redundant Algorithm
Fast Fourier Transform (FFT) processors employed with pipeline architecture consist of series of Processing Elements (PE) or Butterfly Units (BU). BU or PE of FFT performs multiplication and addition on complex numbers. This paper proposes a single BU to compute radix-2, 8 point FFT in the time domain as well as frequency domain by replacing a series of PEs. This BU comprises of fused floating ...
متن کاملAdaptive visual servoing for legged robots-vision-cued swaying of legged robots in unknown environments
This paper describes a method to achieve a visioncued swaying task in unknown environments utilizing adaptive visual servoing. The proposed method has a hybrid structure consisting of a controller to keep the distances between feet constant (a stance servoing controller), and an adaptive visual servoing controller. Making use of the method, the motion of each joint need not be pre-programmed, b...
متن کاملTowards versatile legged robots through active
Robots with legs and arms have the potential to support humans in dangerous, dull or dirty tasks. A major motivation behind research on such robots is their potential versatility. However, these robots come at a high price in mechanical and control complexity. Hence, until they can demonstrate a clear advantage over their simpler counterparts, robots with arms and legs will not fulfill their tr...
متن کاملAdaptive Control of Kinematically Redundant Robots
A redundant robot has more degrees of freedom than what is needed to uniquely position the robot end-effector. In a usual robotic task, only the end-effector position tr'ajectory is specified. The joint position trajectory is unknown, and it must be selected from a self-motion manifold for a specified end-effector. In many situations the robot dynamic parameters such as link mass, inertia and j...
متن کاملLegged Robot 16 . Legged Robots
In this chapter, we introduce legged robots. After introducing the history of legged robot research in Sect. 16.1, we start to discuss hopping robots and analyze a simple passive walker as a typical cycling walking robot in Sect. 16.2; the Poincaré map is one of the most important tools to analyze its dynamics and stability. In Sect. 16.3, the dynamics and control of general biped robots are di...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Access
سال: 2017
ISSN: 2169-3536
DOI: 10.1109/access.2017.2704088