Design and Control of a Novel Single Leg Structure of Electrically Driven Quadruped Robot

Compliant Leg Design for a Quadruped Robot

malian animals, i.e. that of a cat. It was also influenced by the spring-mass model representation [2]. Compliant prismatic legs show an intrinsic robustness for their angle of attack [2], they have a stability region. If the leg design is changed into a two segmented leg with a specific linear torsional spring, the leg stiffness kleg becomes nonlinear (Fig. 2(b) blue line), similar to that of ...

wuthering heights and the concept of marality/a sociological study of the novel

to discuss my point, i have collected quite a number of articles, anthologies, and books about "wuthering heights" applying various ideas and theories to this fantastic story. hence, i have come to believe that gadamer and jauss are rightful when they claim that "the individaul human mind is the center and origin of all meaning," 3 that reading literature is a reader-oriented activity, that it ...

Task-space Control of Electrically Driven Robots

Actuators of robot operate in the joint-space while the end-effect or of robot is controlled in the task-space. Therefore, designing a control system for a robotic system in the task-space requires the jacobian matrix information for transforming joint-space to task-space, which suffers from uncertainties. This paper deals with the robust task-space control of electrically driven robot manipula...

Effect of Leg Design on Locomotion Stability for Quadruped Robot

Locomotion Control for Electrically Powered Quadruped Robot Dynarobin

This paper presents the methodology used for finding the optimal set of foot trajectories for a quadruped robot using manual tuning and multiobjective genetic algorithm optimization that provide energy efficient and fast locomotion. Manual trajectory tuning is used to obtain initial set of trajectories for the multiobjective GA optimization. The multiobjective optimization evaluates the energy ...