quadruped robots have unique capabilities for motion over uneven natural environments. this article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. first, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-dof quadruped robot. thereafter, an inverse-dynamics...

Considering present shortage of fossil fuels and discharges ozone harming substances, power developed from Renewable Energy Sources (RES) is identified as the excellent choice for producing electricity. The characteristic an inverter to transform dc into ac fulfill out requirements load. Despite its advantage, presence harmonics in output voltage reduces both efficiency performance inverter. Se...

Hilbert Vibration Decomposition (HVD) is introduced to the voltage flicker analysis. When voltage flicker accompanies with high order harmonics, the instantaneous frequency of its analytic signal in principle consists of two different parts, power frequency and a rapidly varying asymmetrical oscillating part. The important property of the instantaneous frequency offers a direct way to estimate ...

Active power filter are been widely used for harmonic elimination. Harmonics are generated by nonlinear load in ac distribution system. The active power filters are broadly classified as shunt active power filter, series active power filter and hybrid filters. With regard to circuit topology, there are two basic kinds of active filter, voltage source and current source. The series active power ...

Multilevel inverter have been attracting increasing interest recently due to the increased power rating, improving harmonic performance, and reduced electromagnetic inference (EMI) emission. A voltage source inverter is commonly used to supply a variable frequency variable voltage to a three phase induction motor in a variable speed application. The output voltage contains harmonics the differe...

Nowadays Multilevel inverters are widely using in various applications. Modulation strategy at fundamental switching frequency like, SHEPWM is prominent technique to eliminate lower order of harmonics with less switching losses and better harmonic profile. The equations which are formed by SHE are highly nonlinear transcendental in nature, there may exist single, multiple or even no solutions f...

In larges electrical system used in industries, office builidings, or hotels, capacitor banks are usually utilized to compensate the required VAR absorbed by the loads. As the nonliniear loads are increasing rapidly, the risk of resonance phenomenon occured is becoming higher as its terminal voltages are not anymore sinusoidal. On the other hand, many customers have become aware to the problems...